Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
Supervisor::createTask() - externalCommsServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg
createTask() - navigationServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
upervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: Creating NavigationServer...

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

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

: Done creating NavigationServer...

: Navigation::Navigation _logOnly = 0
: Navigation - Using the Dvl and the echo sounder in the scanning mode to compute altitude.
: Navigation/EchoSounder:: epoch = (1289930495,510792030)
: Navigation: Opening Acoustic Modem Interface:
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Superv: SerialDevice: done...

isor::createTask() - parosciServer
Supervi: creating if InsIFServer

sor::create:  DropWeight::initialize - Resetting counters.
Tas: **** EventTriggers::add() - attaching proxy
k() -: Preparing to fork

 fanServer
: I'm the child...forking

Supervisor::createTask() - bluefinBattDriver
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

Su: SerialDevice: done...

pervisor::createTask() - echoSounderServer
: BluefinBatt driver - running with 2 batteries
Supervis: SerialDevice: done...

or::c: BluefineBatt::init() - 2 batteries on 10 second interval
reateTask() - so: BluefinBatt.cc - Looking for Parosci server
nardy: SerialDevice: done...

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


Supervisor::cre: SerialDevice: done...

ateTask() - cameraServer
: SerialDevice: done...

Supervisor::createTask() - m3dmgx1
: Parosci.cc -- parsed PR (10) and TempInterval (10)
: Navigation: acommsIF = 0x706a0

: Navigation::connectSensors core - connecting to DepthSensor at t = 5429.
: Navigation::connectSensors core - connecting to TailCone at t = 5429.
: Navigation::connectSensors core - connecting to KearfottServer at t = 5429.
: Navigation::connectSensors core - connecting to Dvl at t = 5439.
: Navigation::connectSensors aux - connecting to Gps at t = 5439.
: Navigation::connectSensors aux - connecting to EchoSounder at t = 5479.
: Kearfott:: depthif is 0x64b40

: SerialDevice: done...

: EchoSounderServer::Scanning sonar detected.
: Parosci.cc -- Serial # is 105112
: Parosci::init() - mode set okay
: Parosci.cc -- PR reply = 10

: Parosci.cc -- units = 1
: SonardyneServer.cc was last compiled on Nov 13 2010, 23:42:42

: SerialDevice: done...

: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

: BenthosModem::commandMode() - confirming...
: Set verbose level
: SerialDevice: done...

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


: SerialDevice: done...

: VehicleConstants -- Caught exception while loading vehicle constants
: 3 Modules found
: SerialDevice: done...

: Crossbow.cc: In getSerialNumber()
: EchoSounderDriver:: Constructor beginning.
: Set write delay
: AshtechGps::processRecord() - $GPGGA,180143.00,3649.01111,N,12151.04384,W,1,08,1.1,1.12,M,-32.59,M,,*5E

: Navigation::connectSensors aux - connecting to Velocimeter at t = 7529.
: Navigation: Server for aux sensor "Velocimeter" not found
: Navigation::connectSensors aux - connecting to Usbl at t = 7529.
: Navigation::Navigation() - Error.  The echo sounder IF isn't 
yet connected; can't read it's data.
: Navigation::Navigation(). _es->valid() = 0 at t = 7539.
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000
: SonardyneDriver.cc was last compiled on Nov 13 2010, 23:42:38

: **** EventTriggers::add() - attaching proxy
: Crossbow.cc: device->read succeeded
: Set remote response waiting time
: m3dmgx1: Serial Number is 6548

: CameraDriver:: Before navigation IF.
: PeriodicTask::run() (crossbow) - sampleInterval=200, maxInterval=200
: CameraDriver enabling 12V camera power supply
: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
:  Navigation:: deltaT = 2.36 is impermissible.

: Turn on doppler correction
:  Navigation:: deltaT = 3.39 is impermissible.

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,180146.45,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*66

: BluefinBatt::init() - battery ids are 
aa c0  
: **** EventTriggers::add() - attaching proxy
:  Navigation:: deltaT = 3.42 is impermissible.

: BluefinBatt::init() - found battery aa
: 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

: SonardyneDriver -- configuration:
	PingDelay  = 400 ms
	PresetGain = 1
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1490.000000 m/s
	Beacon     = V4,5
	MRPL       = 2 ms

: BluefinBatt::init() - found battery c0
: Scaled and shifted frequency = 100
: BluefinBatt::init() - battery echo is #aawf


: EchoSounderLog:: Constructor starting.
: KearfottDriver: unable to open ctd interface

:  Navigation:: deltaT = 4.51 is impermissible.

: EchoSounderLog:: Constructor finishing.
: dropWeightDriver::readRecord() - serial device timed out
: Kearfott::deltaTime is 1289930507.569966

: NMEA Update: $GPGGA,180147.57,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*64

: AshtechGps::processRecord() - 364,W,1,08,1.1,1.02,M,-32.59,M,,*51

: BenthosModem::onlineMode() - confirming...
: EchoSounderDriver:: Constructor finishing.
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Kearfott::deltaTime is 1.039929

:  Navigation:: deltaT = 5.56 is impermissible.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 0
: updating external sensors

: Parosci.cc -- Initial pressure = -0.744634
: NMEA Update: $GPGGA,180149.65,000.0000,N,000.0000,W,1,03,00.5,1000.0,M,-99.9,M,,*6b

: EchoSounderDriver::run() _toffset = 0
:  Navigation:: deltaT = 6.62 is impermissible.

: Kearfott::deltaTime is 1.039929

: Kearfott::parseGPS_GGA - lat(36.816853) lon(121.850734)

: Kearfott::parseGPS_GGA - lat(36.816854) lon(121.850734)

: Kearfott::parseGPS_GGA - lat(36.816852) lon(121.850731)

: Kearfott::parseGPS_GGA - lat(36.816851) lon(121.850727)

: Parosci.cc -- Parosci initial pressure period = 29.954780
: Kearfott::parseGPS_GGA - lat(36.816849) lon(121.850728)

: Kearfott::parseGPS_GGA - lat(36.816848) lon(121.850731)

: Kearfott::parseGPS_GGA - lat(36.816848) lon(121.850729)

: Kearfott::parseGPS_GGA - lat(36.816847) lon(121.850726)

: Kearfott::parseGPS_GGA - lat(36.816848) lon(121.850727)

: Parosci.cc -- Parosci initial temp period = 5.813690
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,180145.00,3649.01092,N,12151.04365,W,1,08,1.1,0.55,M,-32.59,M,,*5F

: Kearfott::deltaTime is 1.049928

: DynamicControl - Could not open TerrainAid IF.
: Kearfott::parseGPS_GGA - lat(36.816846) lon(121.850729)

: NMEA Update: $GPGGA,180150.92,3649.0104,N,-12151.0443,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: done initializing modem

: maxLowerPitch = 1745.31
: PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000
: Kearfott::parseGPS_GGA - lat(36.816846) lon(121.850733)

: AshtechGps::processRecord() - $GPGGA,180146.00,3649.01088,N,12151.04384,W,1,08,1.1,0.37,M,-32.59,M,,*5C

: AshtechGps::processRecord() - $GPGGA,180147.00,3649.01089,N,12151.04375,W,1,08,1.1,0.85,M,-32.59,M,,*5B

: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: updating external sensors

: BluefinBatt::init() - battery watchdog state is 
$aawf 1
 
: NMEA Update: $GPGGA,180152.09,3649.0104,N,-12151.0446,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Kearfott::deltaTime is 1.039929

: Kearfott::parseGPS_GGA - lat(36.816848) lon(121.850736)

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


: AshtechGps::processRecord() - $GPGGA,180148.00,3649.01083,N,12151.04358,W,1,08,1.1,0.50,M,-32.59,M,,*59

: AshtechGps::processRecord() - $GPGGA,180149.00,3649.01088,N,12151.04364,W,1,08,1.1,0.32,M,-32.59,M,,*58

: AshtechGps::processRecord() - $GPGGA,180150.00,3649.01078,N,12151.04376,W,1,08,1.1,0.21,M,-32.59,M,,*5E

: AshtechGps::processRecord() - $GPGGA,180151.00,3649.01075,N,12151.04400,W,1,08,1.1,0.12,M,-32.59,M,,*54

: 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 = 0.009999) Behavior getgps:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.019999) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.019999) Behavior missionTimer:-1 has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,180152.00,3649.01085,N,12151.04414,W,1,08,1.1,0.37,M,-32.59,M,,*5A

: Kearfott::deltaTime is 1.049928

: updating external sensors

: NMEA Update: $GPGGA,180153.52,3649.0104,N,-12151.0446,W,1,03,00.5,100.0,M,-99.9,M,,*44

: Kearfott::parseGPS_GGA - lat(36.816844) lon(121.850735)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00
: AshtechGps::processRecord() - $GPGGA,180153.00,3649.01065,N,12151.04412,W,1,08,1.1,0.40,M,-32.59,M,,*53

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Kearfott::deltaTime is 0.789946

: 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

: NMEA Update: $GPGGA,180154.69,3649.0103,N,-12151.0446,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: Kearfott::parseGPS_GGA - lat(36.816846) lon(121.850736)

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,180154.00,3649.01073,N,12151.04416,W,1,08,1.1,0.92,M,-32.59,M,,*58

: 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
: AshtechGps::processRecord() - $GPGGA,180155.00,3649.01062,N,12151.04383,W,1,08,1.1,1.00,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816844) lon(121.850731)

: updating external sensors

: Kearfott::deltaTime is 1.029929

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

: Kearfott::parseGPS_GGA - lat(36.816845) lon(121.850729)

: NMEA Update: $GPGGA,180156.50,3649.0102,N,-12151.0441,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180156.00,3649.01067,N,12151.04371,W,1,08,1.1,0.73,M,-32.59,M,,*56

: 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
: updating external sensors

: Kearfott::deltaTime is 0.829943

: BluefinBatt::init() - battery watchdog state is 
$c0wf 1
 
: NMEA Update: $GPGGA,180157.81,3649.0103,N,-12151.0443,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: Kearfott::parseGPS_GGA - lat(36.816847) lon(121.850732)

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,180157.00,3649.01079,N,12151.04391,W,1,08,1.1,0.23,M,-32.59,M,,*53

: 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
: AshtechGps::processRecord() - $GPGGA,180158.00,3649.01068,N,12151.04414,W,1,08,1.1,0.12,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816845) lon(121.850736)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,180158.79,3649.0103,N,-12151.0447,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180159.00,3649.01081,N,12151.04437,W,1,08,1.1,0.41,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.816847) lon(121.850740)

: updating external sensors

: 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
: NMEA Update: $GPGGA,180159.79,3649.0103,N,-12151.0446,W,1,03,00.5,100.0,M,-99.9,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,180200.00,3649.01060,N,12151.04410,W,1,08,1.1,0.87,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816843) lon(121.850735)

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed
: NMEA Update: $GPGGA,180200.79,3649.0101,N,-12151.0445,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180201.00,3649.01059,N,12151.04409,W,1,08,1.1,0.52,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.816843) lon(121.850735)

: updating external sensors

: Kearfott::deltaTime is 1.059927

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.816842) lon(121.850738)

: NMEA Update: $GPGGA,180202.13,3649.0101,N,-12151.0445,W,1,03,00.5,100.0,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: 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
: AshtechGps::processRecord() - $GPGGA,180202.00,3649.01051,N,12151.04425,W,1,08,1.1,0.17,M,-32.59,M,,*55

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,180203.00,3649.01046,N,12151.04447,W,1,08,1.1,0.18,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.816841) lon(121.850741)

: NMEA Update: $GPGGA,180202.99,3649.0100,N,-12151.0450,W,1,03,00.5,100.0,M,-99.9,M,,*47

: updating external sensors

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

: AshtechGps::processRecord() - $GPGGA,180204.00,3649.01054,N,12151.04447,W,1,08,1.1,0.66,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816842) lon(121.850741)

: NMEA Update: $GPGGA,180203.99,3649.0101,N,-12151.0449,W,1,03,00.5,100.0,M,-99.9,M,,*4f

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 11.799192) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 11.799192) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,180205.00,3649.01051,N,12151.04424,W,1,08,1.1,0.72,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816842) lon(121.850737)

: NMEA Update: $GPGGA,180204.99,3649.0101,N,-12151.0447,W,1,03,00.5,100.0,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180206.00,3649.01044,N,12151.04419,W,1,08,1.1,0.87,M,-32.59,M,,*53

: Kearfott::parseGPS_GGA - lat(36.816841) lon(121.850737)

: NMEA Update: $GPGGA,180205.99,3649.0100,N,-12151.0447,W,1,03,00.5,100.0,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 0.919937

: NMEA Update: $GPGGA,180207.38,3649.0100,N,-12151.0448,W,1,03,00.5,100.0,M,-99.9,M,,*40

: Kearfott::parseGPS_GGA - lat(36.816841) lon(121.850739)

: AshtechGps::processRecord() - $GPGGA,180207.00,3649.01045,N,12151.04434,W,1,08,1.1,0.48,M,-32.59,M,,*5F

: AshtechGps::processRecord() - $GPGGA,180208.00,3649.01037,N,12151.04436,W,1,08,1.1,0.46,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.816840) lon(121.850739)

: NMEA Update: $GPGGA,180208.19,3649.0100,N,-12151.0448,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180209.00,3649.01020,N,12151.04449,W,1,08,1.1,0.36,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.816837) lon(121.850742)

: BluefinBatt Reply: $aaq0 d- 32.67  3.75 15.72 4.09 4.11 0 12791.83 03:28:43 m

: updating external sensors

: NMEA Update: $GPGGA,180209.19,3649.0098,N,-12151.0450,W,1,03,00.5,100.0,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180210.00,3649.01005,N,12151.04476,W,1,08,1.1,0.43,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816834) lon(121.850746)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180210.19,3649.0097,N,-12151.0453,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180211.00,3649.00984,N,12151.04508,W,1,08,1.1,0.63,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816831) lon(121.850751)

: updating external sensors

: NMEA Update: $GPGGA,180211.19,3649.0095,N,-12151.0457,W,1,03,00.5,100.0,M,-99.9,M,,*47

: BluefinBatt Reply: $c0q0 d- 32.79  5.24 16.21 4.07 4.11 0  1385.77 03:28:45 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180212.00,3649.00970,N,12151.04528,W,1,08,1.1,1.03,M,-32.59,M,,*57

: Kearfott::parseGPS_GGA - lat(36.816828) lon(121.850755)

: NMEA Update: $GPGGA,180212.19,3649.0093,N,-12151.0457,W,1,03,00.5,100.0,M,-99.9,M,,*42

: Kearfott::deltaTime is 0.839942

: updating external sensors

: NMEA Update: $GPGGA,180213.31,3649.0092,N,-12151.0457,W,1,03,00.5,100.0,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.080000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.816825) lon(121.850756)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180213.00,3649.00951,N,12151.04535,W,1,08,1.1,1.00,M,-32.59,M,,*5A

: AshtechGps::processRecord() - $GPGGA,180214.00,3649.00932,N,12151.04560,W,1,08,1.1,0.58,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816822) lon(121.850760)

: NMEA Update: $GPGGA,180214.19,3649.0090,N,-12151.0461,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180215.00,3649.00918,N,12151.04615,W,1,08,1.1,0.18,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816820) lon(121.850769)

: updating external sensors

: NMEA Update: $GPGGA,180215.19,3649.0089,N,-12151.0467,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180216.00,3649.00898,N,12151.04674,W,1,08,1.1,0.33,M,-32.59,M,,*5C

: Kearfott::parseGPS_GGA - lat(36.816816) lon(121.850779)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180216.19,3649.0087,N,-12151.0475,W,1,03,00.5,100.0,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180217.00,3649.00877,N,12151.04714,W,1,08,1.1,0.88,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.816813) lon(121.850786)

: updating external sensors

: NMEA Update: $GPGGA,180217.19,3649.0085,N,-12151.0479,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180218.00,3649.00851,N,12151.04751,W,1,08,1.1,1.06,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.816809) lon(121.850792)

: NMEA Update: $GPGGA,180218.19,3649.0082,N,-12151.0482,W,1,03,00.5,100.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180219.00,3649.00828,N,12151.04799,W,1,08,1.1,0.91,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.816805) lon(121.850800)

: BluefinBatt Reply: $aaq0 d- 32.59  4.15 15.62 4.09 4.11 0 12791.33 03:28:53 m

: updating external sensors

: NMEA Update: $GPGGA,180219.19,3649.0081,N,-12151.0487,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180220.00,3649.00817,N,12151.04876,W,1,08,1.1,0.47,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.816803) lon(121.850813)

: NMEA Update: $GPGGA,180220.19,3649.0080,N,-12151.0495,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: Kearfott::deltaTime is 1.019930

: BluefinBatt Reply: $c0q0 d- 32.75  5.35 16.11 4.07 4.11 0  1385.40 03:28:55 m

: NMEA Update: $GPGGA,180221.89,3649.0080,N,-12151.0502,W,1,03,00.5,100.0,M,-99.9,M,,*48

: Kearfott::parseGPS_GGA - lat(36.816801) lon(121.850827)

: AshtechGps::processRecord() - $GPGGA,180221.00,3649.00806,N,12151.04959,W,1,08,1.1,0.26,M,-32.59,M,,*5B

: AshtechGps::processRecord() - $GPGGA,180222.00,3649.00810,N,12151.05020,W,1,08,1.1,0.71,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.816802) lon(121.850837)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180222.79,3649.0081,N,-12151.0512,W,1,03,00.5,100.0,M,-99.9,M,,*44

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.080000

: AshtechGps::processRecord() - $GPGGA,180223.00,3649.00810,N,12151.05082,W,1,08,1.1,0.46,M,-32.59,M,,*56

: Kearfott::parseGPS_GGA - lat(36.816802) lon(121.850847)

: updating external sensors

: NMEA Update: $GPGGA,180223.79,3649.0081,N,-12151.0518,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180224.00,3649.00820,N,12151.05140,W,1,08,1.1,0.43,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816803) lon(121.850857)

: NMEA Update: $GPGGA,180224.79,3649.0082,N,-12151.0523,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180225.00,3649.00820,N,12151.05189,W,1,08,1.1,0.33,M,-32.59,M,,*5B

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.816803) lon(121.850865)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180225.79,3649.0082,N,-12151.0529,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180226.00,3649.00820,N,12151.05254,W,1,08,1.1,0.05,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.816803) lon(121.850876)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180226.79,3649.0084,N,-12151.0536,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180227.00,3649.00839,N,12151.05327,W,1,08,1.1,-0.09,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.816807) lon(121.850888)

: updating external sensors

: NMEA Update: $GPGGA,180227.79,3649.0086,N,-12151.0542,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180228.00,3649.00864,N,12151.05404,W,1,08,1.1,-0.19,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.816811) lon(121.850901)

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180228.79,3649.0090,N,-12151.0551,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180229.00,3649.00891,N,12151.05486,W,1,08,1.1,-0.41,M,-32.59,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.816815) lon(121.850914)

: BluefinBatt Reply: $aaq0 d- 32.59  4.30 15.62 4.08 4.10 0 12791.06 03:29:03 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180229.79,3649.0092,N,-12151.0559,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180230.00,3649.00882,N,12151.05570,W,1,08,1.1,-0.48,M,-32.59,M,,*74

: Kearfott::parseGPS_GGA - lat(36.816814) lon(121.850928)

: NMEA Update: $GPGGA,180230.79,3649.0094,N,-12151.0564,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180231.00,3649.00933,N,12151.05613,W,1,08,1.1,-0.13,M,-32.59,M,,*76

: Kearfott::parseGPS_GGA - lat(36.816822) lon(121.850936)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.79  5.14 16.21 4.06 4.10 0  1384.90 03:29:05 m

: NMEA Update: $GPGGA,180231.79,3649.0098,N,-12151.0565,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180232.00,3649.00955,N,12151.05647,W,1,08,1.1,0.27,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.816826) lon(121.850941)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180232.79,3649.0102,N,-12151.0567,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180233.00,3649.00998,N,12151.05673,W,1,08,1.1,-0.86,M,-32.59,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.816833) lon(121.850946)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180233.79,3649.0106,N,-12151.0572,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180234.00,3649.01091,N,12151.05734,W,1,08,1.1,-0.21,M,-32.59,M,,*76

: Kearfott::parseGPS_GGA - lat(36.816849) lon(121.850956)

: Behavior setpoint - Timed out!
: LayeredControl::execute() -- (t = 41.997123) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 41.997123) Behavior descend:-1 has changed to state Active

: NMEA Update: $GPGGA,180234.79,3649.0111,N,-12151.0579,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180235.00,3649.01143,N,12151.05763,W,1,08,1.1,-0.67,M,-32.59,M,,*79

: Kearfott::parseGPS_GGA - lat(36.816857) lon(121.850961)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180235.79,3649.0115,N,-12151.0584,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180236.00,3649.01211,N,12151.05842,W,1,08,1.1,0.41,M,-32.59,M,,*5B

: Kearfott::parseGPS_GGA - lat(36.816869) lon(121.850974)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180236.79,3649.0121,N,-12151.0589,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180237.00,3649.01261,N,12151.05885,W,1,08,1.1,0.52,M,-32.59,M,,*54

: Kearfott::parseGPS_GGA - lat(36.816877) lon(121.850981)

: updating external sensors

: NMEA Update: $GPGGA,180237.79,3649.0126,N,-12151.0594,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180238.00,3649.01293,N,12151.05935,W,1,08,1.1,0.40,M,-32.59,M,,*5F

: Kearfott::parseGPS_GGA - lat(36.816882) lon(121.850989)

: NMEA Update: $GPGGA,180238.79,3649.0132,N,-12151.0599,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180239.00,3649.01353,N,12151.05981,W,1,08,1.1,0.44,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.816892) lon(121.850997)

: BluefinBatt Reply: $aaq0 d- 32.59  4.23 15.62 4.08 4.10 0 12790.60 03:29:13 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180239.79,3649.0138,N,-12151.0603,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180240.00,3649.01413,N,12151.06014,W,1,08,1.1,0.64,M,-32.59,M,,*51

: Kearfott::parseGPS_GGA - lat(36.816902) lon(121.851002)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180240.79,3649.0144,N,-12151.0605,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180241.00,3649.01487,N,12151.06055,W,1,08,1.1,1.32,M,-32.59,M,,*5A

: Kearfott::parseGPS_GGA - lat(36.816915) lon(121.851009)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.79  4.31 16.21 4.06 4.10 0  1384.54 03:29:15 m

: NMEA Update: $GPGGA,180241.79,3649.0150,N,-12151.0607,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180242.00,3649.01549,N,12151.06080,W,1,08,1.1,0.75,M,-32.59,M,,*50

: Kearfott::parseGPS_GGA - lat(36.816925) lon(121.851013)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180242.79,3649.0156,N,-12151.0611,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180243.00,3649.01596,N,12151.06100,W,1,08,1.1,0.10,M,-32.59,M,,*59

: Kearfott::parseGPS_GGA - lat(36.816933) lon(121.851017)

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180243.79,3649.0163,N,-12151.0614,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180244.00,3649.01633,N,12151.06118,W,1,08,1.1,-0.37,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.816939) lon(121.851020)

: NMEA Update: $GPGGA,180244.79,3649.0170,N,-12151.0617,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,180245.00,3649.01714,N,12151.06150,W,1,08,1.1,-0.56,M,-32.59,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.816952) lon(121.851025)

: updating external sensors

: NMEA Update: $GPGGA,180245.79,3649.0176,N,-12151.0620,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180246.00,3649.01788,N,12151.06186,W,1,08,1.1,-0.80,M,-32.59,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.816965) lon(121.851031)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180246.79,3649.0182,N,-12151.0624,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180247.00,3649.01721,N,12151.06176,W,1,08,1.1,-5.08,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.816954) lon(121.851029)

: updating external sensors

: Kearfott::deltaTime is 0.819944

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180248.72,3649.0187,N,-12151.0625,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180248.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180249.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180249.59,3649.0194,N,-12151.0625,W,1,03,00.5,100.0,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 32.63  3.37 15.62 4.07 4.09 0 12790.33 03:29:24 m

: AshtechGps::processRecord() - $GPGGA,180250.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180250.59,3649.0198,N,-12151.0626,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180251.00,,,,,0,00,,,M,,M,,*47

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

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=5.95
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,180251.59,3649.0202,N,-12151.0628,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180252.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.76 16.30 4.05 4.09 0  1384.10 03:29:26 m

: updating external sensors

: Kearfott::deltaTime is 0.969934

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180253.12,3649.0205,N,-12151.0629,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180253.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Descend::execute() - Descend terminating on depth 3.150214 > 3.000000 at time 61.195808

: LayeredControl::execute() -- (t = 61.195808) Behavior descend:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 61.195808) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 61.21                             (wplog)
  The current location (N,E) = 4075189.6      , 602475.2         (wplog)
  The next waypoint          = 4075293.4      , 602556.7         (wplog)
  The bearing to the next w.p. is 38.2 Degrees.

: LayeredControl::execute() -- (t = 61.205807) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,180254.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180253.99,3649.0213,N,-12151.0633,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180255.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180254.99,3649.0217,N,-12151.0635,W,1,03,00.5,100.0,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180256.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180255.99,3649.0222,N,-12151.0637,W,1,03,00.5,100.0,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180257.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180256.99,3649.0227,N,-12151.0639,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180258.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180257.99,3649.0231,N,-12151.0639,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180259.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180258.99,3649.0235,N,-12151.0639,W,1,03,00.5,100.0,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.75  1.96 15.82 4.07 4.09 0 12789.98 03:29:33 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180300.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180259.99,3649.0239,N,-12151.0640,W,1,03,00.5,100.0,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.019930

: BluefinBatt Reply: $c0q0 d- 32.87  3.73 16.30 4.05 4.09 0  1383.85 03:29:35 m

: NMEA Update: $GPGGA,180301.77,3649.0243,N,-12151.0640,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180301.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180302.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180302.58,3649.0250,N,-12151.0640,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,180303.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180303.58,3649.0254,N,-12151.0643,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180304.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180304.58,3649.0259,N,-12151.0646,W,1,03,00.5,100.0,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180305.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,180305.58,3649.0264,N,-12151.0647,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180306.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180306.58,3649.0268,N,-12151.0646,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180307.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180307.58,3649.0272,N,-12151.0643,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180308.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180308.58,3649.0276,N,-12151.0639,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180309.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  1.70 15.82 4.08 4.10 0 12789.85 03:29:43 m

: updating external sensors

: NMEA Update: $GPGGA,180309.58,3649.0280,N,-12151.0635,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180310.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180310.58,3649.0284,N,-12151.0632,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180311.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $c0q0 d- 32.91  2.69 16.40 4.07 4.10 0  1383.58 03:29:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180311.58,3649.0288,N,-12151.0629,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180312.00,,,,,0,00,,,M,,M,,*41

: 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,180312.58,3649.0292,N,-12151.0627,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180313.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180313.58,3649.0295,N,-12151.0625,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180314.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180314.58,3649.0298,N,-12151.0623,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180315.00,,,,,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,180315.58,3649.0300,N,-12151.0621,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180316.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180316.58,3649.0303,N,-12151.0618,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180317.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180317.58,3649.0305,N,-12151.0615,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180318.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180318.58,3649.0307,N,-12151.0611,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180319.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.22 15.82 4.08 4.10 0 12789.61 03:29:53 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180319.58,3649.0309,N,-12151.0606,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180320.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180320.58,3649.0310,N,-12151.0602,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180321.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 32.91  2.73 16.40 4.07 4.10 0  1383.38 03:29:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180321.58,3649.0312,N,-12151.0599,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180322.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,180322.58,3649.0315,N,-12151.0597,W,1,03,00.5,100.0,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180323.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,180323.58,3649.0317,N,-12151.0595,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180324.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.049928

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180325.00,3649.0318,N,-12151.0595,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180325.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180326.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180325.98,3649.0322,N,-12151.0590,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180327.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180326.98,3649.0324,N,-12151.0586,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180328.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180327.98,3649.0325,N,-12151.0580,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180329.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180328.98,3649.0325,N,-12151.0575,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.67  2.55 15.72 4.08 4.10 0 12789.45 03:30:03 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180330.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180329.98,3649.0326,N,-12151.0569,W,1,03,00.5,100.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180331.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180330.98,3649.0327,N,-12151.0565,W,1,03,00.5,100.0,M,-99.9,M,,*46

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.87  2.76 16.40 4.06 4.10 0  1383.07 03:30:05 m

: AshtechGps::processRecord() - $GPGGA,180332.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180331.98,3649.0328,N,-12151.0561,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,180333.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180332.98,3649.0329,N,-12151.0559,W,1,03,00.5,100.0,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180334.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180333.98,3649.0330,N,-12151.0556,W,1,03,00.5,100.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180335.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180334.98,3649.0331,N,-12151.0552,W,1,03,00.5,100.0,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180336.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180335.98,3649.0331,N,-12151.0549,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180337.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180336.98,3649.0331,N,-12151.0544,W,1,03,00.5,100.0,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180338.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180337.98,3649.0332,N,-12151.0539,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180339.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180338.98,3649.0332,N,-12151.0534,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.75  2.26 15.82 4.08 4.10 0 12789.20 03:30:13 m

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180340.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180339.98,3649.0332,N,-12151.0528,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: Kearfott::deltaTime is 1.029929

: BluefinBatt Reply: $c0q0 d- 32.79  3.70 16.50 4.06 4.10 0  1382.86 03:30:15 m

: NMEA Update: $GPGGA,180341.76,3649.0333,N,-12151.0524,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180341.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180342.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180342.58,3649.0334,N,-12151.0517,W,1,03,00.5,100.0,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,180343.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,180343.58,3649.0335,N,-12151.0514,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: Kearfott::deltaTime is 0.869941

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,180344.92,3649.0336,N,-12151.0513,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - GA,180344.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180345.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,180345.78,3649.0338,N,-12151.0509,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180346.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180346.78,3649.0340,N,-12151.0506,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180347.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180347.78,3649.0341,N,-12151.0502,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180348.00,,,,,0,00,,,M,,M,,*4E

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

: Kearfott::deltaTime is 0.869941

: BluefinBatt Reply: $aaq0 d- 32.78  1.81 15.82 4.08 4.10 0 12789.06 03:30:23 m

: NMEA Update: $GPGGA,180349.70,3649.0343,N,-12151.0498,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180349.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180350.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180350.58,3649.0346,N,-12151.0493,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180351.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180351.58,3649.0348,N,-12151.0491,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $c0q0 d- 32.94  1.72 16.60 4.06 4.10 0  1382.59 03:30:26 m

: AshtechGps::processRecord() - $GPGGA,180352.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180352.58,3649.0346,N,-12151.0489,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,180353.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,180353.58,3649.0348,N,-12151.0487,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180354.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180354.58,3649.0350,N,-12151.0485,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180355.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180355.58,3649.0352,N,-12151.0482,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180356.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180356.58,3649.0355,N,-12151.0480,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180357.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180357.58,3649.0357,N,-12151.0478,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180358.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180358.58,3649.0359,N,-12151.0476,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180359.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.48 15.91 4.08 4.10 0 12788.79 03:30:33 m

: updating external sensors

: NMEA Update: $GPGGA,180359.58,3649.0361,N,-12151.0474,W,1,03,00.5,100.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.959934

: NMEA Update: $GPGGA,180400.77,3649.0362,N,-12151.0474,W,1,03,00.5,100.0,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180400.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180401.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,180401.58,3649.0366,N,-12151.0470,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180402.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.91  2.48 16.60 4.06 4.10 0  1382.30 03:30:36 m

: NMEA Update: $GPGGA,180402.58,3649.0369,N,-12151.0468,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180403.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180403.58,3649.0371,N,-12151.0466,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180404.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180404.58,3649.0373,N,-12151.0463,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180405.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,180405.58,3649.0375,N,-12151.0461,W,1,03,00.5,100.0,M,-99.9,M,,*49

: Kearfott::deltaTime is 0.899938

: AshtechGps::processRecord() - $GPGGA,180406.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180406.78,3649.0377,N,-12151.0458,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180407.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180407.78,3649.0379,N,-12151.0455,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180408.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180408.78,3649.0381,N,-12151.0453,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180409.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.26 15.91 4.07 4.09 0 12788.64 03:30:43 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180409.78,3649.0383,N,-12151.0450,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180410.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180410.59,3649.0385,N,-12151.0448,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180411.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.91  2.76 16.60 4.06 4.10 0  1382.09 03:30:45 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180411.59,3649.0387,N,-12151.0446,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180412.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180412.59,3649.0389,N,-12151.0444,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180413.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,180413.59,3649.0391,N,-12151.0442,W,1,03,00.5,100.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180414.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180414.59,3649.0394,N,-12151.0439,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180415.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180415.59,3649.0396,N,-12151.0436,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180416.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180416.59,3649.0399,N,-12151.0433,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180417.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,180417.59,3649.0401,N,-12151.0429,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180418.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180418.59,3649.0404,N,-12151.0426,W,1,03,00.5,100.0,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180419.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.74 15.91 4.07 4.09 0 12788.36 03:30:53 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180419.59,3649.0406,N,-12151.0422,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180420.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180420.59,3649.0409,N,-12151.0420,W,1,03,00.5,100.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180421.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 32.87  3.01 16.50 4.06 4.10 0  1381.85 03:30:55 m

: NMEA Update: $GPGGA,180421.59,3649.0412,N,-12151.0418,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180422.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: NMEA Update: $GPGGA,180422.59,3649.0415,N,-12151.0416,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180423.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180423.59,3649.0418,N,-12151.0414,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180424.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180424.59,3649.0421,N,-12151.0411,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180425.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.019930

: NMEA Update: $GPGGA,180426.06,3649.0422,N,-12151.0410,W,1,03,00.5,100.0,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180426.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180427.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180426.99,3649.0428,N,-12151.0405,W,1,03,00.5,100.0,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180428.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180427.99,3649.0431,N,-12151.0402,W,1,03,00.5,100.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180429.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180428.99,3649.0434,N,-12151.0400,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.75  2.37 15.91 4.08 4.10 0 12788.19 03:31:03 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180430.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180429.99,3649.0437,N,-12151.0397,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180431.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180430.99,3649.0440,N,-12151.0395,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.87  3.12 16.60 4.06 4.10 0  1381.41 03:31:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180432.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180431.99,3649.0444,N,-12151.0393,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180433.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180432.99,3649.0447,N,-12151.0391,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180434.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180433.99,3649.0450,N,-12151.0389,W,1,03,00.5,100.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180435.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180434.99,3649.0453,N,-12151.0386,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180436.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180435.99,3649.0456,N,-12151.0384,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180437.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180436.99,3649.0459,N,-12151.0381,W,1,03,00.5,100.0,M,-99.9,M,,*44

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180438.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180437.99,3649.0462,N,-12151.0378,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180439.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180438.99,3649.0465,N,-12151.0375,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.71  2.33 15.91 4.08 4.10 0 12787.92 03:31:13 m

: updating external sensors

: Kearfott::deltaTime is 1.059927

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180440.60,3649.0467,N,-12151.0373,W,1,03,00.5,100.0,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
:  Navigation:: deltaT = 2.37 is impermissible.

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,180441.65,3649.0471,N,-12151.0370,W,1,03,00.5,100.0,M,-99.9,M,,*43

: updating external sensors

: Kearfott::deltaTime is 2.069858

: BluefinBatt Reply: $c0q0 d- 32.91  2.66 16.60 4.06 4.10 0  1381.06 03:31:16 m

: dropWeightDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,180442.69,3649.0471,N,-12151.0370,W,1,03,00.5,100.0,M,-99.9,M,,*4c

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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180441.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180442.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180443.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180443.59,3649.0478,N,-12151.0361,W,1,03,00.5,100.0,M,-99.9,M,,*47

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,180444.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,180444.59,3649.0481,N,-12151.0358,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180445.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180445.59,3649.0483,N,-12151.0356,W,1,03,00.5,100.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180446.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180446.59,3649.0486,N,-12151.0353,W,1,03,00.5,100.0,M,-99.9,M,,*42

: Kearfott::deltaTime is 0.969934

: NMEA Update: $GPGGA,180447.90,3649.0487,N,-12151.0352,W,1,03,00.5,100.0,M,-99.9,M,,*46

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - 47.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180448.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180448.79,3649.0492,N,-12151.0348,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180449.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  1.85 15.82 4.08 4.10 0 12787.77 03:31:23 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180449.79,3649.0494,N,-12151.0346,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180450.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180450.79,3649.0497,N,-12151.0343,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180451.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.91  2.44 16.69 4.06 4.10 0  1380.90 03:31:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180451.79,3649.0499,N,-12151.0341,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180452.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180452.79,3649.0502,N,-12151.0338,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180453.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180453.79,3649.0505,N,-12151.0336,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180454.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180454.79,3649.0507,N,-12151.0333,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180455.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180455.79,3649.0510,N,-12151.0331,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180456.00,,,,,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,180456.79,3649.0513,N,-12151.0329,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180457.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180457.79,3649.0516,N,-12151.0326,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180458.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180458.79,3649.0519,N,-12151.0324,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180459.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  3.30 15.91 4.08 4.10 0 12787.55 03:31:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180459.79,3649.0522,N,-12151.0322,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180500.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180500.79,3649.0525,N,-12151.0320,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180501.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.87  3.19 16.69 4.06 4.10 0  1380.68 03:31:35 m

: NMEA Update: $GPGGA,180501.79,3649.0528,N,-12151.0318,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180502.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180502.79,3649.0531,N,-12151.0316,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180503.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180503.79,3649.0534,N,-12151.0314,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180504.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180504.79,3649.0537,N,-12151.0312,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180505.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180505.79,3649.0540,N,-12151.0310,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180506.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180506.79,3649.0543,N,-12151.0308,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180507.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180507.79,3649.0546,N,-12151.0305,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180508.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180508.79,3649.0549,N,-12151.0302,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180509.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.26 16.01 4.07 4.10 0 12787.38 03:31:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180509.79,3649.0552,N,-12151.0299,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180510.00,,,,,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,180510.79,3649.0554,N,-12151.0296,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180511.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.87  2.91 16.69 4.06 4.10 0  1380.37 03:31:45 m

: NMEA Update: $GPGGA,180511.79,3649.0557,N,-12151.0293,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180512.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180512.79,3649.0560,N,-12151.0291,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180513.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180513.79,3649.0562,N,-12151.0289,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180514.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180514.79,3649.0565,N,-12151.0286,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180515.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180515.79,3649.0568,N,-12151.0283,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180516.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180516.79,3649.0570,N,-12151.0281,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180517.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180517.79,3649.0573,N,-12151.0278,W,1,03,00.5,100.0,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180518.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180518.79,3649.0575,N,-12151.0274,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180519.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.18 16.11 4.07 4.10 0 12787.12 03:31:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180519.79,3649.0578,N,-12151.0271,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180520.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180520.79,3649.0581,N,-12151.0267,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180521.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.80 16.69 4.06 4.10 0  1380.17 03:31:55 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180521.79,3649.0583,N,-12151.0264,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180522.00,,,,,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=0.67
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: NMEA Update: $GPGGA,180522.79,3649.0586,N,-12151.0261,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180523.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180523.79,3649.0589,N,-12151.0258,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180524.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180524.79,3649.0592,N,-12151.0256,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180525.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180525.79,3649.0595,N,-12151.0253,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180526.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180526.78,3649.0598,N,-12151.0251,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180527.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180527.78,3649.0601,N,-12151.0249,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180528.00,,,,,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,180528.78,3649.0604,N,-12151.0246,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180529.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.59 16.01 4.07 4.10 0 12786.96 03:32:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180529.78,3649.0607,N,-12151.0244,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180530.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180530.78,3649.0610,N,-12151.0241,W,1,03,00.5,078.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180531.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.87 16.69 4.05 4.09 0  1379.85 03:32:05 m

: NMEA Update: $GPGGA,180531.78,3649.0613,N,-12151.0229,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180532.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180532.78,3649.0617,N,-12151.0225,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180533.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180533.78,3649.0620,N,-12151.0222,W,1,03,00.5,076.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180534.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180534.78,3649.0623,N,-12151.0219,W,1,03,00.5,079.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180535.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180535.78,3649.0627,N,-12151.0216,W,1,03,00.5,077.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180536.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180536.78,3649.0630,N,-12151.0213,W,1,03,00.5,076.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180537.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180537.78,3649.0634,N,-12151.0211,W,1,03,00.5,076.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180538.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,180538.78,3649.0637,N,-12151.0208,W,1,03,00.5,076.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180539.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.71  2.18 16.01 4.07 4.10 0 12786.70 03:32:13 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180539.78,3649.0641,N,-12151.0205,W,1,03,00.5,076.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180540.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180540.78,3649.0644,N,-12151.0202,W,1,03,00.5,076.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180541.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.91 16.69 4.05 4.09 0  1379.60 03:32:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180541.78,3649.0648,N,-12151.0199,W,1,03,00.5,076.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180542.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180542.78,3649.0651,N,-12151.0195,W,1,03,00.5,075.7,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180543.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180543.78,3649.0655,N,-12151.0192,W,1,03,00.5,074.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180544.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180544.78,3649.0659,N,-12151.0189,W,1,03,00.5,073.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180545.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180545.78,3649.0662,N,-12151.0186,W,1,03,00.5,075.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180546.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180546.78,3649.0666,N,-12151.0183,W,1,03,00.5,072.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180547.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180547.78,3649.0670,N,-12151.0180,W,1,03,00.5,072.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180548.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180548.78,3649.0674,N,-12151.0177,W,1,03,00.5,073.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180549.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.33 16.01 4.07 4.10 0 12786.53 03:32:23 m

: NMEA Update: $GPGGA,180549.78,3649.0678,N,-12151.0174,W,1,03,00.5,073.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180550.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180550.78,3649.0681,N,-12151.0170,W,1,03,00.5,073.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180551.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.91  2.69 16.69 4.05 4.09 0  1379.25 03:32:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180551.78,3649.0685,N,-12151.0167,W,1,03,00.5,071.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180552.00,,,,,0,00,,,M,,M,,*43

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180552.78,3649.0689,N,-12151.0163,W,1,03,00.5,071.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180553.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180553.78,3649.0693,N,-12151.0160,W,1,03,00.5,071.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180554.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180554.78,3649.0697,N,-12151.0157,W,1,03,00.5,071.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180555.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180555.78,3649.0701,N,-12151.0153,W,1,03,00.5,071.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180556.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,180556.78,3649.0705,N,-12151.0150,W,1,03,00.5,069.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180557.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180557.78,3649.0709,N,-12151.0147,W,1,03,00.5,069.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180558.00,,,,,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=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180558.78,3649.0713,N,-12151.0143,W,1,03,00.5,069.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180559.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  3.37 16.01 4.07 4.10 0 12786.29 03:32:33 m

: NMEA Update: $GPGGA,180559.78,3649.0716,N,-12151.0139,W,1,03,00.5,069.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180600.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180600.78,3649.0720,N,-12151.0135,W,1,03,00.5,068.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180601.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  3.30 16.79 4.05 4.09 0  1379.04 03:32:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180602.50,3649.0723,N,-12151.0132,W,1,03,00.5,068.4,M,-99.9,M,,*4b

: Kearfott::deltaTime is 1.009931

: AshtechGps::processRecord() - $GPGGA,180602.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180603.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.799945

: updating external sensors

: NMEA Update: $GPGGA,180604.15,3649.0730,N,-12151.0125,W,1,03,00.5,068.3,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180604.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180605.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180604.98,3649.0736,N,-12151.0119,W,1,03,00.5,066.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180606.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180605.98,3649.0739,N,-12151.0116,W,1,03,00.5,066.7,M,-99.9,M,,*48

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180607.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180606.98,3649.0743,N,-12151.0112,W,1,03,00.5,067.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180608.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180607.98,3649.0746,N,-12151.0109,W,1,03,00.5,066.7,M,-99.9,M,,*4c

: updating external sensors

: Kearfott::deltaTime is 0.649955

: BluefinBatt Reply: $aaq0 d- 32.71  2.07 16.01 4.08 4.10 0 12786.15 03:32:43 m

: NMEA Update: $GPGGA,180609.16,3649.0747,N,-12151.0108,W,1,03,00.5,066.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180609.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180610.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180609.98,3649.0752,N,-12151.0102,W,1,03,00.5,066.6,M,-99.9,M,,*4d

: updating external sensors

: Kearfott::deltaTime is 1.009931

: BluefinBatt Reply: $c0q0 d- 32.91  2.04 16.69 4.07 4.10 0  1378.76 03:32:45 m

: NMEA Update: $GPGGA,180611.52,3649.0755,N,-12151.0100,W,1,03,00.5,065.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180611.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180612.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180612.38,3649.0760,N,-12151.0094,W,1,03,00.5,065.8,M,-99.9,M,,*4f

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: AshtechGps::processRecord() - $GPGGA,180613.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180613.38,3649.0763,N,-12151.0091,W,1,03,00.5,066.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180614.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180614.38,3649.0766,N,-12151.0088,W,1,03,00.5,066.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=0.67
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180615.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180615.38,3649.0769,N,-12151.0085,W,1,03,00.5,065.5,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180616.00,,,,,0,00,,,M,,M,,*40

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

:  Waypoint has set the state to finished.

: Waypoint (4075293.4, 602556.7), 
  reached at t = 263.79                                          (wplog)

: Vehicle Position is error is (-0.9, 1.1)

: LayeredControl::execute() -- (t = 263.791929) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 263.801928) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 263.80                            (wplog)
  The current location (N,E) = 4075294.3      , 602555.6         (wplog)
  The next waypoint          = 4075295.8      , 603058.2         (wplog)
  The bearing to the next w.p. is 89.8 Degrees.

: LayeredControl::execute() -- (t = 263.801928) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180616.38,3649.0772,N,-12151.0082,W,1,03,00.5,065.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180617.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180617.38,3649.0775,N,-12151.0079,W,1,03,00.5,064.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180618.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180618.38,3649.0778,N,-12151.0075,W,1,03,00.5,064.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180619.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.41 16.01 4.08 4.10 0 12785.94 03:32:53 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180619.38,3649.0782,N,-12151.0072,W,1,03,00.5,064.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180620.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180620.38,3649.0785,N,-12151.0069,W,1,03,00.5,064.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180621.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.91  2.55 16.60 4.07 4.10 0  1378.59 03:32:55 m

: NMEA Update: $GPGGA,180621.38,3649.0788,N,-12151.0065,W,1,03,00.5,064.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180622.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.070000, mean min cell voltage 4.075000

: NMEA Update: $GPGGA,180622.38,3649.0791,N,-12151.0062,W,1,03,00.5,063.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180623.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180623.38,3649.0794,N,-12151.0059,W,1,03,00.5,062.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180624.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,180624.38,3649.0797,N,-12151.0055,W,1,03,00.5,063.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180625.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180625.38,3649.0800,N,-12151.0052,W,1,03,00.5,062.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180626.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180626.38,3649.0803,N,-12151.0047,W,1,03,00.5,063.3,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180627.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180627.38,3649.0806,N,-12151.0043,W,1,03,00.5,061.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180628.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,180628.38,3649.0808,N,-12151.0038,W,1,03,00.5,061.9,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180629.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.82 16.01 4.07 4.09 0 12785.78 03:33:03 m

: NMEA Update: $GPGGA,180629.38,3649.0810,N,-12151.0033,W,1,03,00.5,061.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180630.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180630.38,3649.0811,N,-12151.0028,W,1,03,00.5,061.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180631.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.94 16.69 4.06 4.10 0  1378.27 03:33:05 m

: NMEA Update: $GPGGA,180631.38,3649.0813,N,-12151.0023,W,1,03,00.5,061.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180632.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: NMEA Update: $GPGGA,180632.38,3649.0813,N,-12151.0017,W,1,03,00.5,061.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180633.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180633.38,3649.0814,N,-12151.0012,W,1,03,00.5,060.7,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180634.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180634.38,3649.0814,N,-12151.0007,W,1,03,00.5,061.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180635.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180635.38,3649.0814,N,-12151.0002,W,1,03,00.5,061.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180636.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180636.39,3649.0814,N,-12150.9997,W,1,03,00.5,060.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180637.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180637.39,3649.0813,N,-12150.9993,W,1,03,00.5,061.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180638.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,180638.39,3649.0812,N,-12150.9988,W,1,03,00.5,062.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180639.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.82 16.01 4.07 4.09 0 12785.52 03:33:13 m

: NMEA Update: $GPGGA,180639.39,3649.0811,N,-12150.9983,W,1,03,00.5,062.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180640.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180640.39,3649.0810,N,-12150.9978,W,1,03,00.5,062.1,M,-99.9,M,,*4c

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

: BluefinBatt Reply: $c0q0 d- 32.83  4.02 16.60 4.06 4.10 0  1378.08 03:33:15 m

: NMEA Update: $GPGGA,180641.86,3649.0809,N,-12150.9975,W,1,03,00.5,062.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180641.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180642.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180642.79,3649.0807,N,-12150.9965,W,1,03,00.5,061.7,M,-99.9,M,,*45

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: AshtechGps::processRecord() - $GPGGA,180643.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180643.79,3649.0805,N,-12150.9960,W,1,03,00.5,061.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180644.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,180644.79,3649.0803,N,-12150.9955,W,1,03,00.5,061.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180645.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180645.79,3649.0801,N,-12150.9950,W,1,03,00.5,062.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180646.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180646.79,3649.0799,N,-12150.9945,W,1,03,00.5,062.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180647.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180647.79,3649.0797,N,-12150.9941,W,1,03,00.5,062.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180648.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,180648.79,3649.0796,N,-12150.9936,W,1,03,00.5,062.1,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180649.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.18 15.91 4.07 4.10 0 12785.34 03:33:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180649.79,3649.0794,N,-12150.9932,W,1,03,00.5,062.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180650.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180650.79,3649.0792,N,-12150.9927,W,1,03,00.5,062.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180651.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  3.05 16.60 4.05 4.09 0  1377.75 03:33:25 m

: NMEA Update: $GPGGA,180651.79,3649.0790,N,-12150.9922,W,1,03,00.5,061.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180652.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 0.849942

: NMEA Update: $GPGGA,180653.79,3649.0788,N,-12150.9916,W,1,03,00.5,061.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180653.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180654.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180654.79,3649.0785,N,-12150.9907,W,1,03,00.5,061.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180655.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180655.79,3649.0784,N,-12150.9902,W,1,03,00.5,060.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180656.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,180656.79,3649.0783,N,-12150.9897,W,1,03,00.5,060.5,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180657.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180657.79,3649.0782,N,-12150.9892,W,1,03,00.5,061.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180658.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180658.79,3649.0781,N,-12150.9887,W,1,03,00.5,060.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180659.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.979933

: BluefinBatt Reply: $aaq0 d- 32.59  3.04 15.91 4.07 4.10 0 12785.10 03:33:33 m

: NMEA Update: $GPGGA,180659.97,3649.0780,N,-12150.9885,W,1,03,00.5,061.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180700.00,,,,,0,00,,,M,,M,,*46

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180700.79,3649.0779,N,-12150.9876,W,1,03,00.5,060.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180701.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180701.79,3649.0778,N,-12150.9871,W,1,03,00.5,059.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180702.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.87  2.76 16.60 4.05 4.09 0  1377.46 03:33:36 m

: NMEA Update: $GPGGA,180702.79,3649.0778,N,-12150.9866,W,1,03,00.5,059.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180703.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180703.79,3649.0777,N,-12150.9860,W,1,03,00.5,060.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180704.00,,,,,0,00,,,M,,M,,*42

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180704.79,3649.0777,N,-12150.9855,W,1,03,00.5,059.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180705.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180705.79,3649.0776,N,-12150.9849,W,1,03,00.5,059.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180706.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180706.79,3649.0776,N,-12150.9844,W,1,03,00.5,060.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180707.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180707.79,3649.0776,N,-12150.9838,W,1,03,00.5,060.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180708.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180708.79,3649.0776,N,-12150.9832,W,1,03,00.5,060.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180709.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.44 16.01 4.07 4.09 0 12784.90 03:33:43 m

: NMEA Update: $GPGGA,180709.79,3649.0776,N,-12150.9827,W,1,03,00.5,060.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180710.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180710.79,3649.0776,N,-12150.9821,W,1,03,00.5,060.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180711.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.87  2.91 16.50 4.05 4.10 0  1377.20 03:33:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180711.79,3649.0776,N,-12150.9815,W,1,03,00.5,060.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180712.00,,,,,0,00,,,M,,M,,*45

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180712.79,3649.0776,N,-12150.9809,W,1,03,00.5,060.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180713.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180713.79,3649.0776,N,-12150.9803,W,1,03,00.5,060.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180714.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180714.79,3649.0777,N,-12150.9798,W,1,03,00.5,060.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180715.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180715.79,3649.0777,N,-12150.9792,W,1,03,00.5,060.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180716.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180716.79,3649.0777,N,-12150.9786,W,1,03,00.5,060.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180717.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180717.79,3649.0777,N,-12150.9780,W,1,03,00.5,059.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180718.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180718.79,3649.0777,N,-12150.9775,W,1,03,00.5,059.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180719.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.11 15.82 4.07 4.09 0 12784.65 03:33:53 m

: NMEA Update: $GPGGA,180719.79,3649.0777,N,-12150.9769,W,1,03,00.5,059.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180720.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180720.79,3649.0777,N,-12150.9763,W,1,03,00.5,059.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180721.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.76 16.60 4.05 4.10 0  1377.00 03:33:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180721.79,3649.0777,N,-12150.9757,W,1,03,00.5,059.3,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180722.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180722.79,3649.0777,N,-12150.9751,W,1,03,00.5,060.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180723.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180723.79,3649.0777,N,-12150.9745,W,1,03,00.5,059.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180724.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180724.79,3649.0777,N,-12150.9739,W,1,03,00.5,059.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180725.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180725.79,3649.0776,N,-12150.9732,W,1,03,00.5,059.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180726.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180726.79,3649.0776,N,-12150.9726,W,1,03,00.5,059.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180727.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180727.79,3649.0776,N,-12150.9720,W,1,03,00.5,058.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180728.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180728.79,3649.0776,N,-12150.9714,W,1,03,00.5,058.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180729.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.63  2.67 16.01 4.07 4.09 0 12784.49 03:34:03 m

: NMEA Update: $GPGGA,180729.79,3649.0775,N,-12150.9708,W,1,03,00.5,058.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180730.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180730.79,3649.0775,N,-12150.9702,W,1,03,00.5,058.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180731.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.69 16.50 4.05 4.09 0  1376.70 03:34:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180731.79,3649.0774,N,-12150.9696,W,1,03,00.5,058.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180732.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180732.79,3649.0774,N,-12150.9690,W,1,03,00.5,058.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180733.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180733.79,3649.0774,N,-12150.9684,W,1,03,00.5,058.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180734.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180734.79,3649.0773,N,-12150.9678,W,1,03,00.5,057.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180735.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180735.79,3649.0773,N,-12150.9672,W,1,03,00.5,057.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180736.00,,,,,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,180736.79,3649.0773,N,-12150.9666,W,1,03,00.5,058.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180737.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180737.79,3649.0773,N,-12150.9660,W,1,03,00.5,058.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180738.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180738.79,3649.0772,N,-12150.9653,W,1,03,00.5,058.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180739.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.41 15.91 4.07 4.09 0 12784.24 03:34:13 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180739.79,3649.0772,N,-12150.9647,W,1,03,00.5,058.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180740.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180740.79,3649.0772,N,-12150.9640,W,1,03,00.5,058.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180741.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.87  2.94 16.50 4.05 4.09 0  1376.46 03:34:15 m

: NMEA Update: $GPGGA,180741.79,3649.0772,N,-12150.9634,W,1,03,00.5,058.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180742.00,,,,,0,00,,,M,,M,,*40

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180742.79,3649.0772,N,-12150.9628,W,1,03,00.5,058.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180743.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180743.79,3649.0771,N,-12150.9622,W,1,03,00.5,058.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180744.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180744.79,3649.0771,N,-12150.9616,W,1,03,00.5,058.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180745.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180745.79,3649.0771,N,-12150.9610,W,1,03,00.5,058.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180746.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180746.79,3649.0771,N,-12150.9604,W,1,03,00.5,058.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180747.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180747.79,3649.0771,N,-12150.9598,W,1,03,00.5,057.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180748.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180748.79,3649.0771,N,-12150.9591,W,1,03,00.5,058.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180749.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.55 15.91 4.07 4.09 0 12784.07 03:34:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180749.79,3649.0771,N,-12150.9585,W,1,03,00.5,057.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180750.00,,,,,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,180750.79,3649.0771,N,-12150.9578,W,1,03,00.5,057.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180751.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.87  2.73 16.40 4.05 4.09 0  1376.17 03:34:25 m

: NMEA Update: $GPGGA,180751.79,3649.0771,N,-12150.9572,W,1,03,00.5,058.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180752.00,,,,,0,00,,,M,,M,,*41

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180752.78,3649.0771,N,-12150.9566,W,1,03,00.5,057.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180753.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180753.78,3649.0771,N,-12150.9559,W,1,03,00.5,058.7,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180754.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,180754.78,3649.0771,N,-12150.9553,W,1,03,00.5,057.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180755.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180755.78,3649.0772,N,-12150.9547,W,1,03,00.5,058.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180756.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180756.78,3649.0772,N,-12150.9540,W,1,03,00.5,058.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180757.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180757.78,3649.0772,N,-12150.9534,W,1,03,00.5,057.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180758.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180758.78,3649.0772,N,-12150.9528,W,1,03,00.5,057.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180759.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.18 15.91 4.07 4.09 0 12783.79 03:34:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180759.78,3649.0772,N,-12150.9522,W,1,03,00.5,058.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180800.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180800.78,3649.0772,N,-12150.9516,W,1,03,00.5,057.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180801.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.87  2.55 16.40 4.05 4.09 0  1375.96 03:34:35 m

: NMEA Update: $GPGGA,180801.78,3649.0772,N,-12150.9510,W,1,03,00.5,057.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180802.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180802.78,3649.0772,N,-12150.9503,W,1,03,00.5,058.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180803.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180803.78,3649.0772,N,-12150.9497,W,1,03,00.5,058.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180804.00,,,,,0,00,,,M,,M,,*4D

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

: Kearfott::deltaTime is 1.019930

: NMEA Update: $GPGGA,180805.50,3649.0772,N,-12150.9492,W,1,03,00.5,058.6,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180805.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.879940

: NMEA Update: $GPGGA,180806.77,3649.0772,N,-12150.9483,W,1,03,00.5,058.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180806.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180807.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180807.58,3649.0772,N,-12150.9473,W,1,03,00.5,057.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180808.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180808.58,3649.0772,N,-12150.9467,W,1,03,00.5,057.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180809.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.75  1.51 15.82 4.07 4.10 0 12783.63 03:34:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180809.58,3649.0772,N,-12150.9462,W,1,03,00.5,056.9,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180810.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,180810.58,3649.0772,N,-12150.9456,W,1,03,00.5,056.9,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180811.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.48 16.50 4.05 4.09 0  1375.67 03:34:45 m

: NMEA Update: $GPGGA,180811.58,3649.0771,N,-12150.9450,W,1,03,00.5,057.7,M,-99.9,M,,*4e

: updating external sensors

: Kearfott::deltaTime is 0.949935

: gpsDriver::readRecord() - serial device timed out
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180812.91,3649.0771,N,-12150.9447,W,1,03,00.5,057.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - 0812.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180813.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180813.78,3649.0771,N,-12150.9438,W,1,03,00.5,057.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180814.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180814.78,3649.0771,N,-12150.9433,W,1,03,00.5,057.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180815.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180815.78,3649.0771,N,-12150.9428,W,1,03,00.5,058.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180816.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180816.78,3649.0771,N,-12150.9422,W,1,03,00.5,057.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180817.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180817.78,3649.0771,N,-12150.9417,W,1,03,00.5,058.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180818.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180818.78,3649.0771,N,-12150.9412,W,1,03,00.5,058.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180819.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  1.92 15.82 4.07 4.10 0 12783.42 03:34:53 m

: NMEA Update: $GPGGA,180819.78,3649.0771,N,-12150.9406,W,1,03,00.5,057.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180820.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180820.78,3649.0771,N,-12150.9401,W,1,03,00.5,057.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180821.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.44 16.50 4.05 4.09 0  1375.50 03:34:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180821.78,3649.0771,N,-12150.9395,W,1,03,00.5,056.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180822.00,,,,,0,00,,,M,,M,,*49

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180822.78,3649.0771,N,-12150.9389,W,1,03,00.5,056.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180823.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180823.78,3649.0771,N,-12150.9384,W,1,03,00.5,057.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180824.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180824.78,3649.0771,N,-12150.9379,W,1,03,00.5,052.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180825.00,,,,,0,00,,,M,,M,,*4E

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

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,180826.39,3649.0771,N,-12150.9374,W,1,03,00.5,052.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180826.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180827.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180827.38,3649.0771,N,-12150.9364,W,1,03,00.5,051.7,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180828.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180828.38,3649.0771,N,-12150.9359,W,1,03,00.5,056.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180829.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.78 15.82 4.07 4.09 0 12783.24 03:35:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180829.38,3649.0771,N,-12150.9353,W,1,03,00.5,056.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,180830.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,180830.38,3649.0771,N,-12150.9346,W,1,03,00.5,056.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180831.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.83 16.40 4.05 4.09 0  1375.18 03:35:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180831.38,3649.0771,N,-12150.9340,W,1,03,00.5,056.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180832.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180832.38,3649.0771,N,-12150.9334,W,1,03,00.5,056.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180833.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180833.38,3649.0771,N,-12150.9328,W,1,03,00.5,056.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180834.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180834.38,3649.0771,N,-12150.9322,W,1,03,00.5,056.1,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180835.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180835.38,3649.0771,N,-12150.9316,W,1,03,00.5,055.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180836.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180836.38,3649.0771,N,-12150.9310,W,1,03,00.5,055.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180837.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180837.38,3649.0771,N,-12150.9304,W,1,03,00.5,055.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180838.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180838.38,3649.0772,N,-12150.9298,W,1,03,00.5,055.4,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180839.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.22 15.82 4.07 4.09 0 12783.00 03:35:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180839.38,3649.0772,N,-12150.9292,W,1,03,00.5,055.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180840.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,180840.38,3649.0772,N,-12150.9286,W,1,03,00.5,055.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180841.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.80 16.40 4.05 4.09 0  1374.97 03:35:15 m

: NMEA Update: $GPGGA,180841.38,3649.0772,N,-12150.9280,W,1,03,00.5,055.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180842.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180842.38,3649.0772,N,-12150.9273,W,1,03,00.5,055.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180843.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180843.38,3649.0772,N,-12150.9267,W,1,03,00.5,055.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180844.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,180844.38,3649.0772,N,-12150.9261,W,1,03,00.5,056.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180845.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180845.38,3649.0772,N,-12150.9254,W,1,03,00.5,055.9,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180846.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180846.38,3649.0772,N,-12150.9248,W,1,03,00.5,056.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180847.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180847.38,3649.0772,N,-12150.9242,W,1,03,00.5,056.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180848.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,180848.38,3649.0772,N,-12150.9235,W,1,03,00.5,054.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,180849.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  3.37 15.82 4.07 4.09 0 12782.82 03:35:23 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180849.38,3649.0772,N,-12150.9228,W,1,03,00.5,055.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180850.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180850.38,3649.0772,N,-12150.9223,W,1,03,00.5,056.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180851.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.73 16.40 4.05 4.09 0  1374.65 03:35:25 m

: NMEA Update: $GPGGA,180851.38,3649.0771,N,-12150.9216,W,1,03,00.5,056.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180852.00,,,,,0,00,,,M,,M,,*4E

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180852.38,3649.0771,N,-12150.9210,W,1,03,00.5,055.8,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180853.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180853.38,3649.0771,N,-12150.9203,W,1,03,00.5,056.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180854.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,180854.38,3649.0771,N,-12150.9197,W,1,03,00.5,055.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180855.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180855.38,3649.0771,N,-12150.9191,W,1,03,00.5,056.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180856.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180856.38,3649.0770,N,-12150.9185,W,1,03,00.5,056.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180857.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180857.38,3649.0770,N,-12150.9178,W,1,03,00.5,055.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180858.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,180858.38,3649.0770,N,-12150.9172,W,1,03,00.5,055.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180859.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.15 15.82 4.07 4.09 0 12782.59 03:35:33 m

: NMEA Update: $GPGGA,180859.38,3649.0770,N,-12150.9166,W,1,03,00.5,056.1,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180900.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180900.38,3649.0770,N,-12150.9160,W,1,03,00.5,054.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180901.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.94 16.40 4.05 4.09 0  1374.45 03:35:35 m

: NMEA Update: $GPGGA,180901.38,3649.0770,N,-12150.9154,W,1,03,00.5,055.7,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180902.00,,,,,0,00,,,M,,M,,*4A

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180902.39,3649.0770,N,-12150.9148,W,1,03,00.5,055.6,M,-99.9,M,,*44

: Kearfott::deltaTime is 1.019930

: NMEA Update: $GPGGA,180903.48,3649.0770,N,-12150.9146,W,1,03,00.5,056.0,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180903.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180904.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,180904.39,3649.0770,N,-12150.9135,W,1,03,00.5,055.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,180905.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180905.39,3649.0770,N,-12150.9128,W,1,03,00.5,055.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,180906.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180906.39,3649.0770,N,-12150.9122,W,1,03,00.5,055.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180907.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180907.39,3649.0770,N,-12150.9116,W,1,03,00.5,055.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180908.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180908.39,3649.0770,N,-12150.9110,W,1,03,00.5,055.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180909.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.78 15.82 4.08 4.10 0 12782.45 03:35:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180909.39,3649.0770,N,-12150.9104,W,1,03,00.5,056.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180910.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,180910.39,3649.0770,N,-12150.9099,W,1,03,00.5,055.4,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180911.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  3.01 16.30 4.06 4.10 0  1374.13 03:35:45 m

: NMEA Update: $GPGGA,180911.39,3649.0770,N,-12150.9093,W,1,03,00.5,055.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,180912.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: NMEA Update: $GPGGA,180912.39,3649.0770,N,-12150.9087,W,1,03,00.5,054.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180913.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180913.39,3649.0770,N,-12150.9081,W,1,03,00.5,055.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180914.00,,,,,0,00,,,M,,M,,*4D

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180914.39,3649.0770,N,-12150.9075,W,1,03,00.5,055.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180915.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180915.39,3649.0770,N,-12150.9069,W,1,03,00.5,054.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,180916.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180916.39,3649.0770,N,-12150.9063,W,1,03,00.5,055.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,180917.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180917.39,3649.0770,N,-12150.9057,W,1,03,00.5,054.8,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180918.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,180918.39,3649.0770,N,-12150.9050,W,1,03,00.5,055.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,180919.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.15 15.82 4.08 4.10 0 12782.20 03:35:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180919.39,3649.0770,N,-12150.9044,W,1,03,00.5,055.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,180920.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,180920.39,3649.0770,N,-12150.9038,W,1,03,00.5,054.4,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180921.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.80 16.30 4.06 4.10 0  1373.94 03:35:55 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,180921.39,3649.0770,N,-12150.9032,W,1,03,00.5,055.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180922.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.070000

: NMEA Update: $GPGGA,180922.39,3649.0770,N,-12150.9026,W,1,03,00.5,054.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180923.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180923.39,3649.0770,N,-12150.9020,W,1,03,00.5,055.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180924.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,180924.39,3649.0770,N,-12150.9014,W,1,03,00.5,055.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180925.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180925.39,3649.0770,N,-12150.9008,W,1,03,00.5,054.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180926.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180926.39,3649.0770,N,-12150.9001,W,1,03,00.5,054.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,180927.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180927.39,3649.0770,N,-12150.8995,W,1,03,00.5,054.7,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180928.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,180928.39,3649.0770,N,-12150.8989,W,1,03,00.5,054.4,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180929.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.22 15.82 4.07 4.09 0 12782.03 03:36:03 m

: NMEA Update: $GPGGA,180929.39,3649.0770,N,-12150.8982,W,1,03,00.5,054.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180930.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180930.39,3649.0770,N,-12150.8976,W,1,03,00.5,054.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180931.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  3.01 16.30 4.05 4.09 0  1373.63 03:36:05 m

: NMEA Update: $GPGGA,180931.39,3649.0770,N,-12150.8970,W,1,03,00.5,054.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180932.00,,,,,0,00,,,M,,M,,*49

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,180932.39,3649.0770,N,-12150.8963,W,1,03,00.5,054.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,180933.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180933.39,3649.0770,N,-12150.8957,W,1,03,00.5,055.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,180934.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,180934.39,3649.0770,N,-12150.8951,W,1,03,00.5,054.9,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180935.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180935.39,3649.0769,N,-12150.8944,W,1,03,00.5,054.2,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180936.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,180936.39,3649.0769,N,-12150.8938,W,1,03,00.5,054.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,180937.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180937.39,3649.0769,N,-12150.8932,W,1,03,00.5,054.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,180938.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,180938.39,3649.0769,N,-12150.8925,W,1,03,00.5,055.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180939.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.48 15.82 4.07 4.09 0 12781.79 03:36:13 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 0.859941

: updating external sensors

: NMEA Update: $GPGGA,180940.16,3649.0769,N,-12150.8920,W,1,03,00.5,054.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,180940.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,180941.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180940.99,3649.0768,N,-12150.8909,W,1,03,00.5,055.0,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 32.87  2.19 16.30 4.05 4.09 0  1373.43 03:36:15 m

: AshtechGps::processRecord() - $GPGGA,180942.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180941.99,3649.0768,N,-12150.8903,W,1,03,00.5,055.0,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,180943.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180942.99,3649.0768,N,-12150.8897,W,1,03,00.5,054.3,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180944.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180943.99,3649.0768,N,-12150.8892,W,1,03,00.5,054.4,M,-99.9,M,,*4e

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180945.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180944.99,3649.0768,N,-12150.8886,W,1,03,00.5,054.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180946.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180945.99,3649.0768,N,-12150.8880,W,1,03,00.5,054.6,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180947.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180946.99,3649.0767,N,-12150.8874,W,1,03,00.5,054.6,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180948.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180947.99,3649.0767,N,-12150.8867,W,1,03,00.5,054.6,M,-99.9,M,,*4d

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,180949.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180948.99,3649.0767,N,-12150.8861,W,1,03,00.5,054.5,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.71  2.00 15.82 4.07 4.09 0 12781.65 03:36:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180950.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180949.99,3649.0767,N,-12150.8855,W,1,03,00.5,054.1,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180951.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180950.99,3649.0766,N,-12150.8849,W,1,03,00.5,054.3,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 32.83  3.91 16.30 4.06 4.10 0  1373.17 03:36:25 m

: AshtechGps::processRecord() - $GPGGA,180952.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180951.99,3649.0766,N,-12150.8844,W,1,03,00.5,053.7,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: AshtechGps::processRecord() - $GPGGA,180953.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180952.99,3649.0766,N,-12150.8838,W,1,03,00.5,053.7,M,-99.9,M,,*44

: updating external sensors

: Kearfott::deltaTime is 0.979933

: AshtechGps::processRecord() - $GPGGA,180954.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180954.19,3649.0766,N,-12150.8831,W,1,03,00.5,053.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180955.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,180955.19,3649.0766,N,-12150.8826,W,1,03,00.5,053.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180956.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,180956.19,3649.0765,N,-12150.8820,W,1,03,00.5,053.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,180957.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,180957.19,3649.0765,N,-12150.8814,W,1,03,00.5,054.1,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,180958.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,180958.19,3649.0765,N,-12150.8808,W,1,03,00.5,053.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,180959.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.26 15.82 4.07 4.09 0 12781.39 03:36:33 m

: NMEA Update: $GPGGA,180959.19,3649.0765,N,-12150.8801,W,1,03,00.5,053.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181000.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181000.19,3649.0765,N,-12150.8794,W,1,03,00.5,054.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181001.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.98 16.30 4.06 4.10 0  1372.96 03:36:35 m

: NMEA Update: $GPGGA,181001.19,3649.0766,N,-12150.8788,W,1,03,00.5,053.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181002.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.060000, mean min cell voltage 4.065000

: NMEA Update: $GPGGA,181002.19,3649.0766,N,-12150.8781,W,1,03,00.5,053.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181003.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181003.19,3649.0766,N,-12150.8775,W,1,03,00.5,053.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181004.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181004.19,3649.0766,N,-12150.8769,W,1,03,00.5,053.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181005.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181005.19,3649.0766,N,-12150.8763,W,1,03,00.5,053.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181006.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181006.19,3649.0766,N,-12150.8758,W,1,03,00.5,053.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181007.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181007.19,3649.0767,N,-12150.8752,W,1,03,00.5,053.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181008.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,181008.19,3649.0767,N,-12150.8746,W,1,03,00.5,053.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181009.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.59 15.72 4.07 4.09 0 12781.24 03:36:43 m

: NMEA Update: $GPGGA,181009.19,3649.0767,N,-12150.8740,W,1,03,00.5,053.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181010.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,181010.19,3649.0767,N,-12150.8733,W,1,03,00.5,053.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181011.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.87  2.73 16.21 4.05 4.09 0  1372.62 03:36:45 m

: NMEA Update: $GPGGA,181011.19,3649.0767,N,-12150.8727,W,1,03,00.5,053.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181012.00,,,,,0,00,,,M,,M,,*43

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181012.19,3649.0767,N,-12150.8720,W,1,03,00.5,053.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181013.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181013.19,3649.0767,N,-12150.8714,W,1,03,00.5,053.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181014.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181014.19,3649.0767,N,-12150.8708,W,1,03,00.5,053.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181015.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181015.19,3649.0768,N,-12150.8701,W,1,03,00.5,053.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181016.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181016.19,3649.0768,N,-12150.8695,W,1,03,00.5,053.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181017.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181017.19,3649.0768,N,-12150.8689,W,1,03,00.5,052.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181018.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181018.18,3649.0768,N,-12150.8683,W,1,03,00.5,053.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181019.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.03 15.72 4.07 4.09 0 12780.99 03:36:53 m

: NMEA Update: $GPGGA,181019.18,3649.0768,N,-12150.8677,W,1,03,00.5,052.7,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181020.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181020.18,3649.0768,N,-12150.8671,W,1,03,00.5,052.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181021.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.55 16.21 4.05 4.09 0  1372.41 03:36:55 m

: NMEA Update: $GPGGA,181021.18,3649.0768,N,-12150.8664,W,1,03,00.5,052.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181022.00,,,,,0,00,,,M,,M,,*40

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181022.18,3649.0768,N,-12150.8658,W,1,03,00.5,053.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181023.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181023.18,3649.0768,N,-12150.8652,W,1,03,00.5,053.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181024.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181024.18,3649.0768,N,-12150.8645,W,1,03,00.5,052.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181025.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181025.18,3649.0767,N,-12150.8639,W,1,03,00.5,052.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181026.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,181026.18,3649.0767,N,-12150.8633,W,1,03,00.5,052.5,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181027.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181027.18,3649.0767,N,-12150.8627,W,1,03,00.5,052.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181028.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181028.18,3649.0767,N,-12150.8621,W,1,03,00.5,052.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181029.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.18 15.82 4.07 4.09 0 12780.81 03:37:03 m

: NMEA Update: $GPGGA,181029.18,3649.0767,N,-12150.8615,W,1,03,00.5,052.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181030.00,,,,,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,181030.18,3649.0766,N,-12150.8609,W,1,03,00.5,052.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181031.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181031.18,3649.0766,N,-12150.8602,W,1,03,00.5,052.2,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 32.87  2.62 16.30 4.05 4.09 0  1372.08 03:37:05 m

: AshtechGps::processRecord() - $GPGGA,181032.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181032.18,3649.0766,N,-12150.8596,W,1,03,00.5,052.4,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181033.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181033.18,3649.0766,N,-12150.8590,W,1,03,00.5,052.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181034.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181034.18,3649.0766,N,-12150.8584,W,1,03,00.5,052.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181035.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181035.18,3649.0765,N,-12150.8577,W,1,03,00.5,052.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181036.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181036.18,3649.0765,N,-12150.8571,W,1,03,00.5,052.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181037.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181037.18,3649.0765,N,-12150.8565,W,1,03,00.5,051.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181038.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,181038.18,3649.0765,N,-12150.8558,W,1,03,00.5,052.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181039.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.82 15.72 4.07 4.09 0 12780.55 03:37:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181039.18,3649.0765,N,-12150.8552,W,1,03,00.5,052.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181040.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,181040.18,3649.0765,N,-12150.8546,W,1,03,00.5,051.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181041.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181041.18,3649.0764,N,-12150.8540,W,1,03,00.5,052.1,M,-99.9,M,,*40

: BluefinBatt Reply: $c0q0 d- 32.87  2.66 16.21 4.05 4.09 0  1371.84 03:37:15 m

: AshtechGps::processRecord() - $GPGGA,181042.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181042.18,3649.0764,N,-12150.8534,W,1,03,00.5,051.2,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181043.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181043.18,3649.0764,N,-12150.8528,W,1,03,00.5,051.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181044.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181044.18,3649.0764,N,-12150.8522,W,1,03,00.5,051.2,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181045.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181045.18,3649.0764,N,-12150.8516,W,1,03,00.5,051.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181046.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181046.18,3649.0764,N,-12150.8510,W,1,03,00.5,052.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181047.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181047.18,3649.0764,N,-12150.8503,W,1,03,00.5,051.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181048.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,181048.18,3649.0764,N,-12150.8497,W,1,03,00.5,051.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181049.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.26 15.72 4.07 4.09 0 12780.38 03:37:23 m

: NMEA Update: $GPGGA,181049.18,3649.0764,N,-12150.8490,W,1,03,00.5,051.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181050.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181050.18,3649.0764,N,-12150.8484,W,1,03,00.5,051.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181051.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.73 16.11 4.05 4.09 0  1371.53 03:37:25 m

: NMEA Update: $GPGGA,181051.18,3649.0764,N,-12150.8477,W,1,03,00.5,051.1,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181052.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181052.18,3649.0764,N,-12150.8471,W,1,03,00.5,051.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181053.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181053.18,3649.0764,N,-12150.8464,W,1,03,00.5,051.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181054.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,181054.18,3649.0764,N,-12150.8458,W,1,03,00.5,051.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181055.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181055.18,3649.0764,N,-12150.8452,W,1,03,00.5,051.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181056.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181056.18,3649.0764,N,-12150.8446,W,1,03,00.5,051.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181057.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181057.18,3649.0764,N,-12150.8440,W,1,03,00.5,051.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181058.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181058.18,3649.0764,N,-12150.8434,W,1,03,00.5,051.4,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181059.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  2.15 15.72 4.07 4.09 0 12780.11 03:37:33 m

: NMEA Update: $GPGGA,181059.18,3649.0764,N,-12150.8428,W,1,03,00.5,051.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181100.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181100.18,3649.0764,N,-12150.8422,W,1,03,00.5,051.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181101.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.73 16.11 4.05 4.09 0  1371.32 03:37:35 m

: NMEA Update: $GPGGA,181101.18,3649.0764,N,-12150.8415,W,1,03,00.5,051.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181102.00,,,,,0,00,,,M,,M,,*43

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181102.18,3649.0764,N,-12150.8409,W,1,03,00.5,051.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181103.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181103.18,3649.0764,N,-12150.8402,W,1,03,00.5,051.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181104.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181104.18,3649.0764,N,-12150.8396,W,1,03,00.5,051.2,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181105.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181105.18,3649.0764,N,-12150.8390,W,1,03,00.5,050.8,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 0.889939

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,181106.91,3649.0764,N,-12150.8385,W,1,03,00.5,051.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - GPGGA,181106.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181107.00,,,,,0,00,,,M,,M,,*46

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

: Kearfott::deltaTime is 0.799945

: NMEA Update: $GPGGA,181108.16,3649.0764,N,-12150.8376,W,1,03,00.5,050.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181108.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181109.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181108.98,3649.0764,N,-12150.8367,W,1,03,00.5,050.6,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 32.67  1.48 15.72 4.07 4.09 0 12779.96 03:37:43 m

: AshtechGps::processRecord() - $GPGGA,181110.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181109.98,3649.0764,N,-12150.8361,W,1,03,00.5,050.0,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181111.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181110.98,3649.0764,N,-12150.8356,W,1,03,00.5,050.4,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 32.83  2.91 16.21 4.05 4.09 0  1371.02 03:37:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181112.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181111.98,3649.0764,N,-12150.8350,W,1,03,00.5,050.6,M,-99.9,M,,*4e

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181113.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181112.98,3649.0764,N,-12150.8345,W,1,03,00.5,050.7,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181114.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181113.98,3649.0763,N,-12150.8339,W,1,03,00.5,050.2,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 0.869940

: NMEA Update: $GPGGA,181115.91,3649.0763,N,-12150.8332,W,1,03,00.5,050.6,M,-99.9,M,,*40

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - 115.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181116.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181116.78,3649.0763,N,-12150.8323,W,1,03,00.5,050.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181117.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181117.78,3649.0762,N,-12150.8318,W,1,03,00.5,050.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181118.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181118.78,3649.0762,N,-12150.8312,W,1,03,00.5,050.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181119.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.11 15.72 4.07 4.09 0 12779.75 03:37:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181119.78,3649.0762,N,-12150.8307,W,1,03,00.5,050.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181120.00,,,,,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,181120.78,3649.0762,N,-12150.8302,W,1,03,00.5,050.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181121.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.94 16.21 4.05 4.09 0  1370.86 03:37:55 m

: NMEA Update: $GPGGA,181121.78,3649.0762,N,-12150.8297,W,1,03,00.5,049.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181122.00,,,,,0,00,,,M,,M,,*41

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181122.78,3649.0761,N,-12150.8292,W,1,03,00.5,049.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181123.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181123.78,3649.0761,N,-12150.8286,W,1,03,00.5,049.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181124.00,,,,,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,181124.78,3649.0761,N,-12150.8281,W,1,03,00.5,049.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181125.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181125.78,3649.0761,N,-12150.8276,W,1,03,00.5,049.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181126.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181126.78,3649.0761,N,-12150.8270,W,1,03,00.5,049.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181127.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181127.78,3649.0761,N,-12150.8264,W,1,03,00.5,049.0,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181128.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181128.59,3649.0761,N,-12150.8260,W,1,03,00.5,048.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181129.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.62 4.07 4.09 0 12779.60 03:38:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181129.59,3649.0761,N,-12150.8254,W,1,03,00.5,048.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181130.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181130.59,3649.0761,N,-12150.8247,W,1,03,00.5,048.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181131.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.76 16.21 4.05 4.09 0  1370.57 03:38:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181131.59,3649.0761,N,-12150.8241,W,1,03,00.5,048.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181132.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181132.59,3649.0761,N,-12150.8235,W,1,03,00.5,048.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181133.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181133.59,3649.0761,N,-12150.8229,W,1,03,00.5,048.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181134.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181134.59,3649.0761,N,-12150.8224,W,1,03,00.5,047.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181135.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181135.59,3649.0761,N,-12150.8218,W,1,03,00.5,047.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181136.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181136.59,3649.0761,N,-12150.8212,W,1,03,00.5,048.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181137.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.069927

: updating external sensors

: NMEA Update: $GPGGA,181138.39,3649.0761,N,-12150.8207,W,1,03,00.5,047.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181138.00,,,,,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=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181139.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181139.39,3649.0761,N,-12150.8196,W,1,03,00.5,047.9,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 32.67  1.85 15.62 4.07 4.09 0 12779.36 03:38:13 m

: AshtechGps::processRecord() - $GPGGA,181140.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181140.39,3649.0761,N,-12150.8190,W,1,03,00.5,047.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181141.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181141.39,3649.0762,N,-12150.8185,W,1,03,00.5,047.9,M,-99.9,M,,*45

: BluefinBatt Reply: $c0q0 d- 32.79  3.52 16.11 4.05 4.09 0  1370.28 03:38:16 m

: AshtechGps::processRecord() - $GPGGA,181142.00,,,,,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,181142.39,3649.0762,N,-12150.8179,W,1,03,00.5,047.9,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181143.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181143.39,3649.0762,N,-12150.8173,W,1,03,00.5,048.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181144.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181144.39,3649.0762,N,-12150.8167,W,1,03,00.5,047.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181145.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181145.39,3649.0762,N,-12150.8161,W,1,03,00.5,047.9,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181146.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,181146.39,3649.0762,N,-12150.8155,W,1,03,00.5,048.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181147.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181147.39,3649.0762,N,-12150.8149,W,1,03,00.5,048.1,M,-99.9,M,,*44

: updating external sensors

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,181148.65,3649.0762,N,-12150.8146,W,1,03,00.5,047.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181148.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181149.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181149.59,3649.0762,N,-12150.8136,W,1,03,00.5,047.9,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.63  3.15 15.62 4.07 4.09 0 12779.20 03:38:23 m

: AshtechGps::processRecord() - $GPGGA,181150.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181150.59,3649.0762,N,-12150.8130,W,1,03,00.5,047.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181151.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181151.59,3649.0762,N,-12150.8125,W,1,03,00.5,047.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.87  2.73 16.01 4.05 4.09 0  1370.07 03:38:26 m

: Kearfott::deltaTime is 0.769947

: NMEA Update: $GPGGA,181152.78,3649.0762,N,-12150.8122,W,1,03,00.5,047.4,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181152.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181153.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181153.59,3649.0762,N,-12150.8114,W,1,03,00.5,046.9,M,-99.9,M,,*49

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181154.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181154.59,3649.0762,N,-12150.8109,W,1,03,00.5,047.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181155.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181155.59,3649.0762,N,-12150.8103,W,1,03,00.5,046.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181156.00,,,,,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,181156.59,3649.0761,N,-12150.8097,W,1,03,00.5,046.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181157.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181157.59,3649.0761,N,-12150.8090,W,1,03,00.5,047.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181158.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181158.59,3649.0761,N,-12150.8084,W,1,03,00.5,046.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181159.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.18 15.62 4.07 4.09 0 12778.96 03:38:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181159.59,3649.0761,N,-12150.8077,W,1,03,00.5,046.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181200.00,,,,,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,181200.59,3649.0761,N,-12150.8071,W,1,03,00.5,046.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181201.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.58 16.11 4.05 4.09 0  1369.89 03:38:35 m

: NMEA Update: $GPGGA,181201.59,3649.0761,N,-12150.8065,W,1,03,00.5,046.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181202.00,,,,,0,00,,,M,,M,,*40

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181202.59,3649.0761,N,-12150.8059,W,1,03,00.5,045.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181203.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181203.59,3649.0761,N,-12150.8053,W,1,03,00.5,045.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181204.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181204.59,3649.0761,N,-12150.8048,W,1,03,00.5,046.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181205.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181205.59,3649.0760,N,-12150.8042,W,1,03,00.5,046.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181206.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181206.59,3649.0760,N,-12150.8036,W,1,03,00.5,045.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181207.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181207.59,3649.0760,N,-12150.8030,W,1,03,00.5,045.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181208.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181208.59,3649.0760,N,-12150.8024,W,1,03,00.5,046.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181209.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.41 15.62 4.07 4.09 0 12778.79 03:38:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181209.59,3649.0760,N,-12150.8017,W,1,03,00.5,046.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181210.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,181210.59,3649.0759,N,-12150.8010,W,1,03,00.5,045.6,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181211.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.80 16.21 4.05 4.09 0  1369.57 03:38:45 m

: NMEA Update: $GPGGA,181211.59,3649.0759,N,-12150.8004,W,1,03,00.5,045.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181212.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181212.59,3649.0759,N,-12150.7997,W,1,03,00.5,045.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181213.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181213.59,3649.0759,N,-12150.7991,W,1,03,00.5,045.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181214.00,,,,,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,181214.59,3649.0759,N,-12150.7985,W,1,03,00.5,045.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181215.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181215.59,3649.0759,N,-12150.7979,W,1,03,00.5,045.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181216.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181216.59,3649.0759,N,-12150.7973,W,1,03,00.5,045.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181217.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181217.59,3649.0758,N,-12150.7967,W,1,03,00.5,045.3,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,181218.75,3649.0758,N,-12150.7965,W,1,03,00.5,045.0,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181218.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181219.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181219.59,3649.0758,N,-12150.7956,W,1,03,00.5,045.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181220.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.71  1.78 15.62 4.07 4.09 0 12778.51 03:38:54 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181220.59,3649.0758,N,-12150.7950,W,1,03,00.5,045.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181221.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181221.59,3649.0758,N,-12150.7944,W,1,03,00.5,045.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181222.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $c0q0 d- 32.87  2.19 16.11 4.05 4.09 0  1369.30 03:38:56 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181222.59,3649.0758,N,-12150.7938,W,1,03,00.5,045.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181223.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181223.59,3649.0758,N,-12150.7932,W,1,03,00.5,045.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181224.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181224.59,3649.0758,N,-12150.7925,W,1,03,00.5,045.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181225.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181225.59,3649.0758,N,-12150.7919,W,1,03,00.5,045.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181226.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181226.59,3649.0758,N,-12150.7913,W,1,03,00.5,044.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181227.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181227.59,3649.0758,N,-12150.7906,W,1,03,00.5,044.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181228.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181228.59,3649.0757,N,-12150.7901,W,1,03,00.5,045.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181229.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.30 15.62 4.07 4.09 0 12778.37 03:39:03 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181229.59,3649.0757,N,-12150.7895,W,1,03,00.5,045.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181230.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181230.59,3649.0757,N,-12150.7890,W,1,03,00.5,044.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181231.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.80 16.11 4.05 4.09 0  1369.10 03:39:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181231.59,3649.0757,N,-12150.7884,W,1,03,00.5,044.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181232.00,,,,,0,00,,,M,,M,,*43

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181232.59,3649.0757,N,-12150.7879,W,1,03,00.5,045.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181233.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181233.59,3649.0757,N,-12150.7873,W,1,03,00.5,045.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181234.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181234.59,3649.0757,N,-12150.7867,W,1,03,00.5,044.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181235.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181235.59,3649.0757,N,-12150.7861,W,1,03,00.5,044.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181236.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181236.59,3649.0757,N,-12150.7855,W,1,03,00.5,044.2,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181237.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181237.59,3649.0757,N,-12150.7848,W,1,03,00.5,044.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181238.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181238.59,3649.0757,N,-12150.7842,W,1,03,00.5,044.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181239.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.11 15.62 4.07 4.09 0 12778.09 03:39:13 m

: NMEA Update: $GPGGA,181239.59,3649.0757,N,-12150.7836,W,1,03,00.5,044.3,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181240.00,,,,,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,181240.59,3649.0757,N,-12150.7829,W,1,03,00.5,044.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181241.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.58 16.11 4.05 4.09 0  1368.90 03:39:15 m

: NMEA Update: $GPGGA,181241.59,3649.0757,N,-12150.7823,W,1,03,00.5,044.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181242.00,,,,,0,00,,,M,,M,,*44

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181242.59,3649.0757,N,-12150.7817,W,1,03,00.5,044.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181243.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181243.59,3649.0757,N,-12150.7811,W,1,03,00.5,044.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181244.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181244.58,3649.0757,N,-12150.7805,W,1,03,00.5,044.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181245.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181245.58,3649.0757,N,-12150.7799,W,1,03,00.5,044.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181246.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181246.58,3649.0757,N,-12150.7793,W,1,03,00.5,043.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181247.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181247.58,3649.0757,N,-12150.7787,W,1,03,00.5,044.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181248.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181248.58,3649.0757,N,-12150.7781,W,1,03,00.5,044.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181249.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.33 15.62 4.07 4.09 0 12777.92 03:39:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181249.58,3649.0757,N,-12150.7775,W,1,03,00.5,044.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181250.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181250.58,3649.0757,N,-12150.7768,W,1,03,00.5,043.9,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181251.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.87 16.01 4.05 4.09 0  1368.60 03:39:25 m

: NMEA Update: $GPGGA,181251.58,3649.0757,N,-12150.7762,W,1,03,00.5,044.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181252.00,,,,,0,00,,,M,,M,,*45

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181252.58,3649.0757,N,-12150.7756,W,1,03,00.5,044.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181253.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181253.58,3649.0757,N,-12150.7750,W,1,03,00.5,043.9,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181254.00,,,,,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,181254.58,3649.0757,N,-12150.7743,W,1,03,00.5,044.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181255.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181255.58,3649.0757,N,-12150.7737,W,1,03,00.5,044.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181256.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181256.58,3649.0757,N,-12150.7731,W,1,03,00.5,044.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181257.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181257.58,3649.0757,N,-12150.7725,W,1,03,00.5,043.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181258.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: NMEA Update: $GPGGA,181258.58,3649.0757,N,-12150.7719,W,1,03,00.5,043.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181259.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.11 15.62 4.07 4.09 0 12777.65 03:39:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181259.58,3649.0756,N,-12150.7713,W,1,03,00.5,042.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181300.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,181300.58,3649.0756,N,-12150.7707,W,1,03,00.5,043.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181301.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.76 16.11 4.05 4.09 0  1368.39 03:39:35 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181301.58,3649.0756,N,-12150.7700,W,1,03,00.5,043.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181302.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181302.58,3649.0756,N,-12150.7694,W,1,03,00.5,042.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181303.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181303.58,3649.0756,N,-12150.7688,W,1,03,00.5,042.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181304.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181304.58,3649.0756,N,-12150.7682,W,1,03,00.5,042.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181305.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181305.58,3649.0756,N,-12150.7675,W,1,03,00.5,041.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181306.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181306.58,3649.0756,N,-12150.7669,W,1,03,00.5,041.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181307.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181307.58,3649.0756,N,-12150.7663,W,1,03,00.5,041.6,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181308.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,181308.58,3649.0756,N,-12150.7656,W,1,03,00.5,041.5,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181309.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.44 15.62 4.07 4.09 0 12777.47 03:39:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181309.58,3649.0756,N,-12150.7650,W,1,03,00.5,041.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181310.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181310.58,3649.0756,N,-12150.7644,W,1,03,00.5,039.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181311.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.62 16.11 4.05 4.09 0  1368.03 03:39:45 m

: NMEA Update: $GPGGA,181311.58,3649.0755,N,-12150.7637,W,1,03,00.5,039.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181312.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181312.58,3649.0755,N,-12150.7631,W,1,03,00.5,039.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181313.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181313.58,3649.0755,N,-12150.7626,W,1,03,00.5,039.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181314.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181314.58,3649.0755,N,-12150.7620,W,1,03,00.5,039.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181315.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181315.58,3649.0755,N,-12150.7614,W,1,03,00.5,037.7,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181316.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181316.58,3649.0755,N,-12150.7608,W,1,03,00.5,037.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181317.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181317.58,3649.0755,N,-12150.7602,W,1,03,00.5,037.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181318.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,181318.58,3649.0755,N,-12150.7596,W,1,03,00.5,035.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181319.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.18 15.52 4.07 4.09 0 12777.21 03:39:53 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181319.58,3649.0755,N,-12150.7589,W,1,03,00.5,035.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181320.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181320.58,3649.0755,N,-12150.7583,W,1,03,00.5,036.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181321.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.69 16.01 4.05 4.09 0  1367.84 03:39:55 m

: NMEA Update: $GPGGA,181321.58,3649.0755,N,-12150.7576,W,1,03,00.5,036.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181322.00,,,,,0,00,,,M,,M,,*43

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181322.58,3649.0755,N,-12150.7569,W,1,03,00.5,037.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181323.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181323.58,3649.0755,N,-12150.7562,W,1,03,00.5,037.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181324.00,,,,,0,00,,,M,,M,,*45

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

: Kearfott::deltaTime is 1.059927

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181325.47,3649.0755,N,-12150.7556,W,1,03,00.5,037.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181325.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181326.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181326.38,3649.0755,N,-12150.7544,W,1,03,00.5,036.5,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181327.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181327.38,3649.0755,N,-12150.7539,W,1,03,00.5,035.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181328.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181328.38,3649.0755,N,-12150.7534,W,1,03,00.5,035.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181329.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.59 15.52 4.07 4.09 0 12777.06 03:40:03 m

: NMEA Update: $GPGGA,181329.38,3649.0755,N,-12150.7528,W,1,03,00.5,035.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181330.00,,,,,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,181330.38,3649.0755,N,-12150.7523,W,1,03,00.5,036.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181331.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.91 16.01 4.05 4.09 0  1367.52 03:40:05 m

: NMEA Update: $GPGGA,181331.38,3649.0755,N,-12150.7517,W,1,03,00.5,033.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181332.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181332.38,3649.0755,N,-12150.7511,W,1,03,00.5,033.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181333.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181333.38,3649.0755,N,-12150.7505,W,1,03,00.5,033.5,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181334.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,181334.38,3649.0755,N,-12150.7499,W,1,03,00.5,033.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181335.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181335.38,3649.0755,N,-12150.7493,W,1,03,00.5,030.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181336.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181336.38,3649.0755,N,-12150.7487,W,1,03,00.5,030.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181337.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181337.38,3649.0755,N,-12150.7481,W,1,03,00.5,030.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181338.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181338.38,3649.0755,N,-12150.7475,W,1,03,00.5,033.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181339.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.33 15.52 4.07 4.09 0 12776.83 03:40:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181339.38,3649.0755,N,-12150.7469,W,1,03,00.5,032.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181340.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181340.38,3649.0755,N,-12150.7462,W,1,03,00.5,032.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181341.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.98 16.01 4.05 4.09 0  1367.32 03:40:15 m

: NMEA Update: $GPGGA,181341.38,3649.0755,N,-12150.7456,W,1,03,00.5,032.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181342.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181342.38,3649.0755,N,-12150.7450,W,1,03,00.5,032.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181343.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181343.38,3649.0755,N,-12150.7444,W,1,03,00.5,032.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181344.00,,,,,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,181344.38,3649.0754,N,-12150.7438,W,1,03,00.5,032.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181345.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181345.38,3649.0754,N,-12150.7432,W,1,03,00.5,032.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181346.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181346.38,3649.0754,N,-12150.7426,W,1,03,00.5,030.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181347.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181347.38,3649.0754,N,-12150.7420,W,1,03,00.5,030.7,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181348.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,181348.38,3649.0753,N,-12150.7414,W,1,03,00.5,030.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181349.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.18 15.62 4.07 4.09 0 12776.63 03:40:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181349.38,3649.0753,N,-12150.7408,W,1,03,00.5,030.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181350.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181350.38,3649.0753,N,-12150.7402,W,1,03,00.5,030.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181351.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.62 16.01 4.05 4.09 0  1367.00 03:40:25 m

: NMEA Update: $GPGGA,181351.38,3649.0753,N,-12150.7396,W,1,03,00.5,030.4,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181352.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181352.38,3649.0753,N,-12150.7390,W,1,03,00.5,030.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181353.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181353.38,3649.0753,N,-12150.7384,W,1,03,00.5,030.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181354.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181354.39,3649.0753,N,-12150.7377,W,1,03,00.5,027.7,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181355.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181355.39,3649.0753,N,-12150.7371,W,1,03,00.5,027.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181356.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181356.39,3649.0753,N,-12150.7365,W,1,03,00.5,027.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181357.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181357.39,3649.0753,N,-12150.7358,W,1,03,00.5,026.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181358.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,181358.39,3649.0753,N,-12150.7352,W,1,03,00.5,027.0,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181359.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.92 15.52 4.07 4.09 0 12776.38 03:40:33 m

: NMEA Update: $GPGGA,181359.39,3649.0753,N,-12150.7346,W,1,03,00.5,027.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181400.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181400.39,3649.0753,N,-12150.7340,W,1,03,00.5,027.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181401.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.87  2.55 16.01 4.05 4.09 0  1366.78 03:40:35 m

: NMEA Update: $GPGGA,181401.39,3649.0753,N,-12150.7334,W,1,03,00.5,025.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181402.00,,,,,0,00,,,M,,M,,*46

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181402.39,3649.0753,N,-12150.7327,W,1,03,00.5,025.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181403.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181403.39,3649.0753,N,-12150.7321,W,1,03,00.5,025.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181404.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181404.39,3649.0753,N,-12150.7314,W,1,03,00.5,025.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181405.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181405.39,3649.0753,N,-12150.7308,W,1,03,00.5,027.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181406.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181406.39,3649.0753,N,-12150.7301,W,1,03,00.5,027.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181407.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181407.39,3649.0753,N,-12150.7295,W,1,03,00.5,027.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181408.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,181408.39,3649.0753,N,-12150.7289,W,1,03,00.5,027.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181409.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.33 15.52 4.07 4.09 0 12776.21 03:40:43 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181409.39,3649.0753,N,-12150.7283,W,1,03,00.5,025.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181410.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181410.39,3649.0752,N,-12150.7278,W,1,03,00.5,025.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181411.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  3.34 16.01 4.05 4.09 0  1366.46 03:40:45 m

: NMEA Update: $GPGGA,181411.39,3649.0752,N,-12150.7272,W,1,03,00.5,025.5,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181412.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181412.39,3649.0752,N,-12150.7266,W,1,03,00.5,023.8,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181413.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181413.39,3649.0752,N,-12150.7260,W,1,03,00.5,023.3,M,-99.9,M,,*4b

: updating external sensors

: Kearfott::deltaTime is 0.969934

: AshtechGps::processRecord() - $GPGGA,181414.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181414.59,3649.0752,N,-12150.7252,W,1,03,00.5,023.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181415.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181415.59,3649.0752,N,-12150.7246,W,1,03,00.5,023.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181416.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181416.59,3649.0753,N,-12150.7239,W,1,03,00.5,023.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181417.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181417.59,3649.0753,N,-12150.7232,W,1,03,00.5,022.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181418.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181418.59,3649.0753,N,-12150.7226,W,1,03,00.5,022.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181419.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.52 4.07 4.09 0 12775.97 03:40:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181419.59,3649.0753,N,-12150.7219,W,1,03,00.5,022.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181420.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181420.59,3649.0753,N,-12150.7213,W,1,03,00.5,022.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181421.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  3.16 16.01 4.05 4.09 0  1366.23 03:40:55 m

: NMEA Update: $GPGGA,181421.59,3649.0753,N,-12150.7207,W,1,03,00.5,021.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181422.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181422.59,3649.0752,N,-12150.7200,W,1,03,00.5,021.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181423.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181423.59,3649.0752,N,-12150.7194,W,1,03,00.5,021.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181424.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181424.59,3649.0752,N,-12150.7188,W,1,03,00.5,021.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181425.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181425.59,3649.0752,N,-12150.7182,W,1,03,00.5,020.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181426.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181426.59,3649.0752,N,-12150.7176,W,1,03,00.5,020.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181427.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181427.59,3649.0752,N,-12150.7170,W,1,03,00.5,020.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181428.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,181428.59,3649.0751,N,-12150.7164,W,1,03,00.5,020.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181429.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.67  2.22 15.52 4.07 4.09 0 12775.80 03:41:03 m

: NMEA Update: $GPGGA,181429.59,3649.0751,N,-12150.7158,W,1,03,00.5,020.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181430.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181430.59,3649.0751,N,-12150.7152,W,1,03,00.5,020.5,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181431.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.76 16.01 4.05 4.09 0  1365.90 03:41:05 m

: NMEA Update: $GPGGA,181431.59,3649.0751,N,-12150.7146,W,1,03,00.5,020.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181432.00,,,,,0,00,,,M,,M,,*45

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181432.59,3649.0751,N,-12150.7139,W,1,03,00.5,019.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181433.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.83
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181433.59,3649.0751,N,-12150.7133,W,1,03,00.5,019.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181434.00,,,,,0,00,,,M,,M,,*43

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=49.98
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181434.59,3649.0751,N,-12150.7127,W,1,03,00.5,020.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181435.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181435.59,3649.0751,N,-12150.7120,W,1,03,00.5,020.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181436.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181436.59,3649.0751,N,-12150.7114,W,1,03,00.5,019.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181437.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.18
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181437.59,3649.0751,N,-12150.7107,W,1,03,00.5,019.4,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181438.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,181438.59,3649.0751,N,-12150.7101,W,1,03,00.5,019.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=49.83
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181439.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.67  2.41 15.52 4.07 4.09 0 12775.56 03:41:13 m

: NMEA Update: $GPGGA,181439.59,3649.0751,N,-12150.7094,W,1,03,00.5,019.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181440.00,,,,,0,00,,,M,,M,,*40

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

: LayeredControl _resolvedCommand - vertMode=2 vert=48.91
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181440.59,3649.0751,N,-12150.7088,W,1,03,00.5,019.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181441.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.66 16.01 4.05 4.09 0  1365.69 03:41:15 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=49.07
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181441.59,3649.0751,N,-12150.7082,W,1,03,00.5,019.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181442.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181442.59,3649.0751,N,-12150.7075,W,1,03,00.5,019.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181443.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=49.15
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181443.59,3649.0751,N,-12150.7069,W,1,03,00.5,019.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181444.00,,,,,0,00,,,M,,M,,*44

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

: LayeredControl _resolvedCommand - vertMode=2 vert=47.92
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181444.59,3649.0751,N,-12150.7063,W,1,03,00.5,018.0,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181445.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181445.59,3649.0751,N,-12150.7057,W,1,03,00.5,018.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=48.19
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181446.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181446.59,3649.0751,N,-12150.7051,W,1,03,00.5,017.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181447.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.98
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181447.59,3649.0751,N,-12150.7045,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181448.00,,,,,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=48.74
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181448.59,3649.0750,N,-12150.7039,W,1,03,00.5,018.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181449.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.59 15.52 4.07 4.09 0 12775.40 03:41:23 m

: NMEA Update: $GPGGA,181449.59,3649.0750,N,-12150.7033,W,1,03,00.5,018.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181450.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=48.25
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181450.59,3649.0750,N,-12150.7026,W,1,03,00.5,017.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181451.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.55 15.91 4.05 4.09 0  1365.39 03:41:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=47.87
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181451.59,3649.0750,N,-12150.7020,W,1,03,00.5,017.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181452.00,,,,,0,00,,,M,,M,,*43

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181452.59,3649.0750,N,-12150.7014,W,1,03,00.5,017.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=47.45
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181453.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181453.59,3649.0750,N,-12150.7008,W,1,03,00.5,016.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181454.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=47.34
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181454.59,3649.0750,N,-12150.7001,W,1,03,00.5,016.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181455.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.55
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181455.59,3649.0750,N,-12150.6995,W,1,03,00.5,017.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181456.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,181456.59,3649.0750,N,-12150.6989,W,1,03,00.5,017.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181457.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.56
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181457.59,3649.0750,N,-12150.6982,W,1,03,00.5,016.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181458.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=47.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181458.59,3649.0750,N,-12150.6975,W,1,03,00.5,016.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181459.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.92 15.52 4.07 4.09 0 12775.15 03:41:33 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181459.59,3649.0751,N,-12150.6969,W,1,03,00.5,016.6,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=46.99
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181500.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181500.59,3649.0751,N,-12150.6962,W,1,03,00.5,016.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181501.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.63
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.62 15.91 4.05 4.09 0  1365.18 03:41:35 m

: NMEA Update: $GPGGA,181501.59,3649.0751,N,-12150.6955,W,1,03,00.5,016.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181502.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=46.42
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181502.59,3649.0751,N,-12150.6949,W,1,03,00.5,016.3,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181503.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181503.59,3649.0751,N,-12150.6942,W,1,03,00.5,017.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181504.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.98
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181504.59,3649.0751,N,-12150.6935,W,1,03,00.5,016.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181505.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.80
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181505.59,3649.0751,N,-12150.6929,W,1,03,00.5,016.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181506.00,,,,,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,181506.59,3649.0751,N,-12150.6923,W,1,03,00.5,017.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=46.93
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181507.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181507.59,3649.0751,N,-12150.6916,W,1,03,00.5,017.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181508.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=47.04
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181508.59,3649.0751,N,-12150.6910,W,1,03,00.5,017.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181509.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.52 4.07 4.09 0 12774.99 03:41:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=46.99
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181509.59,3649.0751,N,-12150.6903,W,1,03,00.5,017.4,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181510.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,181510.58,3649.0751,N,-12150.6897,W,1,03,00.5,017.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181511.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.62 16.01 4.05 4.09 0  1364.84 03:41:45 m

: NMEA Update: $GPGGA,181511.58,3649.0751,N,-12150.6890,W,1,03,00.5,017.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181512.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=47.22
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181512.58,3649.0751,N,-12150.6884,W,1,03,00.5,017.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181513.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181513.58,3649.0751,N,-12150.6878,W,1,03,00.5,017.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=46.67
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181514.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181514.58,3649.0751,N,-12150.6871,W,1,03,00.5,017.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181515.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.79
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181515.58,3649.0751,N,-12150.6864,W,1,03,00.5,017.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181516.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=46.53
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181516.58,3649.0751,N,-12150.6857,W,1,03,00.5,017.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181517.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181517.58,3649.0751,N,-12150.6850,W,1,03,00.5,017.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181518.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.40
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181518.58,3649.0751,N,-12150.6843,W,1,03,00.5,017.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181519.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.52 4.07 4.09 0 12774.75 03:41:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=46.51
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181519.58,3649.0752,N,-12150.6837,W,1,03,00.5,017.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181520.00,,,,,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,181520.58,3649.0752,N,-12150.6830,W,1,03,00.5,017.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=46.41
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181521.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.73 15.91 4.05 4.09 0  1364.65 03:41:55 m

: NMEA Update: $GPGGA,181521.58,3649.0752,N,-12150.6824,W,1,03,00.5,017.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181522.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=45.75
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181522.58,3649.0752,N,-12150.6817,W,1,03,00.5,016.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181523.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.69
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181523.58,3649.0752,N,-12150.6811,W,1,03,00.5,016.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181524.00,,,,,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,181524.58,3649.0752,N,-12150.6804,W,1,03,00.5,016.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181525.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.14
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181525.58,3649.0752,N,-12150.6798,W,1,03,00.5,016.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181526.00,,,,,0,00,,,M,,M,,*41

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

: LayeredControl _resolvedCommand - vertMode=2 vert=45.54
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181526.58,3649.0752,N,-12150.6792,W,1,03,00.5,016.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181527.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181527.58,3649.0752,N,-12150.6785,W,1,03,00.5,016.8,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=45.24
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181528.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,181528.58,3649.0751,N,-12150.6779,W,1,03,00.5,016.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181529.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.42 4.07 4.09 0 12774.59 03:42:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=45.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181529.58,3649.0751,N,-12150.6772,W,1,03,00.5,016.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181530.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.97
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181530.58,3649.0751,N,-12150.6766,W,1,03,00.5,016.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181531.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.62 15.91 4.05 4.09 0  1364.35 03:42:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181531.58,3649.0751,N,-12150.6760,W,1,03,00.5,016.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181532.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.38
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181532.58,3649.0751,N,-12150.6753,W,1,03,00.5,016.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181533.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181533.58,3649.0751,N,-12150.6746,W,1,03,00.5,016.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181534.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181534.58,3649.0751,N,-12150.6739,W,1,03,00.5,016.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=45.47
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181535.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181535.58,3649.0751,N,-12150.6732,W,1,03,00.5,016.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181536.00,,,,,0,00,,,M,,M,,*40

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

: LayeredControl _resolvedCommand - vertMode=2 vert=45.03
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.029930

: NMEA Update: $GPGGA,181537.49,3649.0751,N,-12150.6725,W,1,03,00.5,016.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181537.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.099925

:  Navigation:: deltaT = 2.13 is impermissible.

: updating external sensors

: NMEA Update: $GPGGA,181538.60,3649.0751,N,-12150.6725,W,1,03,00.5,016.7,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181538.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181539.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.76
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181539.58,3649.0750,N,-12150.6704,W,1,03,00.5,016.8,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.67  1.85 15.42 4.07 4.09 0 12774.35 03:42:13 m

: AshtechGps::processRecord() - $GPGGA,181540.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075295.8, 603058.2), 
  reached at t = 827.59                                          (wplog)

: Vehicle Position is error is (-0.7, -0.1)

: LayeredControl::execute() -- (t = 827.593306) Behavior waypoint:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 827.59                            (wplog)
  The current location (N,E) = 4075296.5      , 603058.3         (wplog)
  The next waypoint          = 4075300.0      , 603931.2         (wplog)
  The bearing to the next w.p. is 89.8 Degrees.

: LayeredControl::execute() -- (t = 827.603305) Behavior waypoint:-1 has changed to state Active

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=44.65
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181540.58,3649.0750,N,-12150.6697,W,1,03,00.5,016.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181541.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181541.58,3649.0750,N,-12150.6691,W,1,03,00.5,016.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181542.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.81
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.48 15.91 4.05 4.09 0  1364.07 03:42:16 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181542.58,3649.0750,N,-12150.6685,W,1,03,00.5,016.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181543.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=44.58
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181543.58,3649.0750,N,-12150.6679,W,1,03,00.5,016.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181544.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181544.58,3649.0750,N,-12150.6673,W,1,03,00.5,016.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=44.34
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181545.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181545.58,3649.0750,N,-12150.6667,W,1,03,00.5,016.9,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181546.00,,,,,0,00,,,M,,M,,*47

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.26
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181546.58,3649.0750,N,-12150.6661,W,1,03,00.5,016.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181547.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,181548.50,3649.0750,N,-12150.6655,W,1,03,00.5,016.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181548.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181549.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181549.38,3649.0750,N,-12150.6644,W,1,03,00.5,017.0,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.63  2.00 15.42 4.07 4.09 0 12774.20 03:42:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=44.33
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.049928

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,181550.90,3649.0750,N,-12150.6640,W,1,03,00.5,016.8,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,181551.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181551.78,3649.0750,N,-12150.6629,W,1,03,00.5,017.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181552.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.36
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.87  2.15 15.82 4.05 4.09 0  1363.88 03:42:26 m

: NMEA Update: $GPGGA,181552.78,3649.0751,N,-12150.6623,W,1,03,00.5,016.8,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181553.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=44.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181553.78,3649.0751,N,-12150.6617,W,1,03,00.5,016.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181554.00,,,,,0,00,,,M,,M,,*44

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.27
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181554.78,3649.0751,N,-12150.6611,W,1,03,00.5,016.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181555.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181555.78,3649.0751,N,-12150.6605,W,1,03,00.5,016.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181556.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.03
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181556.78,3649.0751,N,-12150.6599,W,1,03,00.5,016.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181557.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.88
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181557.78,3649.0751,N,-12150.6592,W,1,03,00.5,016.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181558.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,181558.78,3649.0751,N,-12150.6586,W,1,03,00.5,016.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181559.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.73
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.33 15.42 4.07 4.09 0 12774.00 03:42:33 m

: NMEA Update: $GPGGA,181559.78,3649.0752,N,-12150.6580,W,1,03,00.5,016.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181600.00,,,,,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=44.05
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181600.78,3649.0752,N,-12150.6574,W,1,03,00.5,016.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181601.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.73 15.82 4.05 4.09 0  1363.69 03:42:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=44.26
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181601.78,3649.0752,N,-12150.6569,W,1,03,00.5,016.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181602.00,,,,,0,00,,,M,,M,,*44

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181602.78,3649.0752,N,-12150.6563,W,1,03,00.5,016.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181603.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.78
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181603.78,3649.0752,N,-12150.6558,W,1,03,00.5,016.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181604.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.75
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181604.78,3649.0752,N,-12150.6552,W,1,03,00.5,016.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181605.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181605.78,3649.0752,N,-12150.6546,W,1,03,00.5,016.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181606.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.83
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181606.78,3649.0752,N,-12150.6539,W,1,03,00.5,016.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181607.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=44.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181607.78,3649.0752,N,-12150.6533,W,1,03,00.5,016.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181608.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.98
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181608.78,3649.0752,N,-12150.6526,W,1,03,00.5,016.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,181609.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.42 4.07 4.09 0 12773.83 03:42:43 m

: NMEA Update: $GPGGA,181609.78,3649.0753,N,-12150.6520,W,1,03,00.5,016.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181610.00,,,,,0,00,,,M,,M,,*47

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.95
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181610.78,3649.0753,N,-12150.6513,W,1,03,00.5,016.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181611.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.69 15.82 4.05 4.09 0  1363.38 03:42:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.59
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181611.78,3649.0753,N,-12150.6507,W,1,03,00.5,016.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181612.00,,,,,0,00,,,M,,M,,*45

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181612.78,3649.0753,N,-12150.6500,W,1,03,00.5,016.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181613.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.47
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181613.78,3649.0753,N,-12150.6494,W,1,03,00.5,017.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181614.00,,,,,0,00,,,M,,M,,*43

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.60
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181614.78,3649.0753,N,-12150.6487,W,1,03,00.5,016.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181615.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.59
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181615.78,3649.0753,N,-12150.6480,W,1,03,00.5,017.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181616.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,181616.78,3649.0754,N,-12150.6473,W,1,03,00.5,017.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181617.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.61
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181617.78,3649.0754,N,-12150.6467,W,1,03,00.5,017.1,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181618.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.63
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181618.78,3649.0754,N,-12150.6460,W,1,03,00.5,017.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181619.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.42 4.07 4.09 0 12773.57 03:42:53 m

: NMEA Update: $GPGGA,181619.78,3649.0754,N,-12150.6453,W,1,03,00.5,017.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181620.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.43
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,181621.19,3649.0754,N,-12150.6450,W,1,03,00.5,017.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181621.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.66 15.91 4.05 4.09 0  1363.16 03:42:55 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181622.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.65
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181622.19,3649.0754,N,-12150.6438,W,1,03,00.5,017.5,M,-99.9,M,,*44

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181623.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181623.19,3649.0753,N,-12150.6432,W,1,03,00.5,017.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=43.17
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181624.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181624.19,3649.0753,N,-12150.6425,W,1,03,00.5,017.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181625.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.37
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181625.19,3649.0753,N,-12150.6419,W,1,03,00.5,017.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181626.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181626.19,3649.0753,N,-12150.6413,W,1,03,00.5,017.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.46
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181627.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181627.19,3649.0753,N,-12150.6407,W,1,03,00.5,017.5,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=43.23
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181628.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,181628.19,3649.0753,N,-12150.6401,W,1,03,00.5,017.6,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181629.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.42 4.07 4.09 0 12773.43 03:43:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181629.19,3649.0753,N,-12150.6395,W,1,03,00.5,017.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181630.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181630.19,3649.0753,N,-12150.6389,W,1,03,00.5,017.6,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.41
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181631.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181631.19,3649.0753,N,-12150.6383,W,1,03,00.5,017.8,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 32.83  2.62 15.91 4.05 4.09 0  1362.89 03:43:05 m

: AshtechGps::processRecord() - $GPGGA,181632.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.26
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181632.19,3649.0753,N,-12150.6376,W,1,03,00.5,017.8,M,-99.9,M,,*42

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181633.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181633.19,3649.0752,N,-12150.6370,W,1,03,00.5,017.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=43.37
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181634.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,181634.19,3649.0752,N,-12150.6363,W,1,03,00.5,017.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=43.54
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181635.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181635.19,3649.0752,N,-12150.6356,W,1,03,00.5,017.7,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181636.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.34
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181636.19,3649.0752,N,-12150.6349,W,1,03,00.5,017.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181637.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181637.19,3649.0752,N,-12150.6342,W,1,03,00.5,017.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=43.40
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181638.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181638.19,3649.0752,N,-12150.6336,W,1,03,00.5,017.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181639.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.39
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.59 15.03 4.07 4.09 0 12773.19 03:43:13 m

: NMEA Update: $GPGGA,181639.19,3649.0752,N,-12150.6330,W,1,03,00.5,017.7,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181640.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,181640.19,3649.0752,N,-12150.6324,W,1,03,00.5,017.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181641.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181641.19,3649.0752,N,-12150.6318,W,1,03,00.5,017.5,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 32.83  2.83 15.82 4.05 4.09 0  1362.67 03:43:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=42.91
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181642.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181642.19,3649.0752,N,-12150.6312,W,1,03,00.5,017.6,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181643.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.38
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181643.19,3649.0752,N,-12150.6306,W,1,03,00.5,017.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181644.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,181644.19,3649.0752,N,-12150.6300,W,1,03,00.5,017.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.33
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181645.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181645.19,3649.0752,N,-12150.6293,W,1,03,00.5,017.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181646.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.35
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181646.19,3649.0752,N,-12150.6287,W,1,03,00.5,017.8,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181647.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181647.19,3649.0752,N,-12150.6280,W,1,03,00.5,017.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.30
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181648.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,181648.19,3649.0752,N,-12150.6273,W,1,03,00.5,018.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181649.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.44 15.33 4.07 4.09 0 12773.03 03:43:23 m

: NMEA Update: $GPGGA,181649.19,3649.0752,N,-12150.6266,W,1,03,00.5,018.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181650.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.27
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181650.19,3649.0752,N,-12150.6259,W,1,03,00.5,017.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181651.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.62 15.82 4.05 4.09 0  1362.36 03:43:25 m

: NMEA Update: $GPGGA,181652.06,3649.0752,N,-12150.6252,W,1,03,00.5,018.1,M,-99.9,M,,*4a

: updating external sensors

: Kearfott::deltaTime is 1.039929

: AshtechGps::processRecord() - $GPGGA,181652.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181653.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181652.99,3649.0752,N,-12150.6240,W,1,03,00.5,018.1,M,-99.9,M,,*4f

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.27
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181654.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181653.99,3649.0752,N,-12150.6233,W,1,03,00.5,018.0,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181655.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181654.99,3649.0752,N,-12150.6226,W,1,03,00.5,018.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=43.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181656.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181655.99,3649.0751,N,-12150.6220,W,1,03,00.5,018.2,M,-99.9,M,,*4e

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.14
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181657.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181656.99,3649.0751,N,-12150.6213,W,1,03,00.5,018.2,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181658.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181657.99,3649.0751,N,-12150.6206,W,1,03,00.5,018.3,M,-99.9,M,,*49

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181659.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181658.99,3649.0751,N,-12150.6200,W,1,03,00.5,018.3,M,-99.9,M,,*40

: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.42 4.07 4.09 0 12772.77 03:43:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181700.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181659.99,3649.0751,N,-12150.6193,W,1,03,00.5,018.3,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181701.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181700.99,3649.0751,N,-12150.6187,W,1,03,00.5,018.3,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.83  2.80 15.82 4.05 4.09 0  1362.16 03:43:35 m

: AshtechGps::processRecord() - $GPGGA,181702.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181701.99,3649.0751,N,-12150.6180,W,1,03,00.5,018.3,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.16
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181703.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181702.99,3649.0751,N,-12150.6174,W,1,03,00.5,018.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181704.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181703.99,3649.0751,N,-12150.6167,W,1,03,00.5,018.5,M,-99.9,M,,*4b

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181705.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.20
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181704.99,3649.0751,N,-12150.6161,W,1,03,00.5,018.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181706.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181705.99,3649.0751,N,-12150.6154,W,1,03,00.5,018.5,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.17
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181707.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181706.99,3649.0751,N,-12150.6147,W,1,03,00.5,018.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=43.17
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181708.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181707.99,3649.0751,N,-12150.6140,W,1,03,00.5,018.5,M,-99.9,M,,*4a

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181709.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181708.99,3649.0751,N,-12150.6133,W,1,03,00.5,018.5,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.67  2.11 15.33 4.07 4.09 0 12772.61 03:43:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181710.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181709.99,3649.0751,N,-12150.6127,W,1,03,00.5,018.6,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181711.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181710.99,3649.0751,N,-12150.6120,W,1,03,00.5,018.4,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 32.83  2.58 15.82 4.05 4.09 0  1361.85 03:43:45 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181712.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.23
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181711.99,3649.0751,N,-12150.6113,W,1,03,00.5,018.4,M,-99.9,M,,*4a

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181713.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181712.99,3649.0751,N,-12150.6107,W,1,03,00.5,018.4,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.23
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181714.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181713.99,3649.0752,N,-12150.6101,W,1,03,00.5,018.4,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.14
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181715.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181714.99,3649.0752,N,-12150.6094,W,1,03,00.5,018.4,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181716.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181715.99,3649.0752,N,-12150.6087,W,1,03,00.5,018.3,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.21
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181717.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181716.99,3649.0752,N,-12150.6081,W,1,03,00.5,018.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=42.86
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181718.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181717.99,3649.0752,N,-12150.6074,W,1,03,00.5,018.8,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181719.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.15
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181718.99,3649.0751,N,-12150.6067,W,1,03,00.5,018.4,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.63  2.26 15.33 4.07 4.09 0 12772.38 03:43:53 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181720.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181719.99,3649.0751,N,-12150.6060,W,1,03,00.5,018.5,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.03
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181721.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181720.99,3649.0751,N,-12150.6053,W,1,03,00.5,018.5,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 32.83  2.69 15.72 4.05 4.09 0  1361.65 03:43:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.10
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181722.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181721.99,3649.0751,N,-12150.6047,W,1,03,00.5,018.4,M,-99.9,M,,*49

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181723.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181722.99,3649.0750,N,-12150.6041,W,1,03,00.5,018.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181724.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181723.99,3649.0750,N,-12150.6035,W,1,03,00.5,018.5,M,-99.9,M,,*4e

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.22
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181725.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181724.99,3649.0750,N,-12150.6029,W,1,03,00.5,018.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181726.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181725.99,3649.0750,N,-12150.6022,W,1,03,00.5,018.6,M,-99.9,M,,*4d

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181727.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181726.99,3649.0751,N,-12150.6016,W,1,03,00.5,018.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181728.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181727.99,3649.0750,N,-12150.6009,W,1,03,00.5,018.7,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.21
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181729.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181728.99,3649.0750,N,-12150.6002,W,1,03,00.5,018.9,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.67  2.63 15.33 4.07 4.09 0 12772.22 03:44:03 m

: AshtechGps::processRecord() - $GPGGA,181730.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181729.99,3649.0750,N,-12150.5994,W,1,03,00.5,018.9,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.22
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181731.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181730.99,3649.0750,N,-12150.5987,W,1,03,00.5,018.9,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 32.83  2.69 15.82 4.05 4.09 0  1361.34 03:44:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.14
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181732.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181731.99,3649.0750,N,-12150.5980,W,1,03,00.5,018.6,M,-99.9,M,,*4a

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181733.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.29
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181732.99,3649.0750,N,-12150.5973,W,1,03,00.5,018.9,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181734.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181733.99,3649.0750,N,-12150.5967,W,1,03,00.5,018.5,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.81
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181735.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181734.99,3649.0750,N,-12150.5961,W,1,03,00.5,018.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.01
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181736.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181735.98,3649.0750,N,-12150.5955,W,1,03,00.5,018.5,M,-99.9,M,,*44

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181737.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181736.98,3649.0750,N,-12150.5948,W,1,03,00.5,018.7,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=42.84
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181738.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181737.98,3649.0750,N,-12150.5942,W,1,03,00.5,018.6,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.99
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181739.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181738.98,3649.0750,N,-12150.5936,W,1,03,00.5,018.8,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.63  2.18 15.33 4.07 4.09 0 12771.98 03:44:13 m

: AshtechGps::processRecord() - $GPGGA,181740.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181739.98,3649.0750,N,-12150.5929,W,1,03,00.5,018.7,M,-99.9,M,,*41

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181741.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181740.98,3649.0750,N,-12150.5922,W,1,03,00.5,018.7,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 32.79  2.66 15.82 4.05 4.09 0  1361.14 03:44:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.01
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181742.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181741.98,3649.0750,N,-12150.5916,W,1,03,00.5,018.7,M,-99.9,M,,*42

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.25
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181743.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181742.98,3649.0750,N,-12150.5909,W,1,03,00.5,018.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181744.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181743.98,3649.0750,N,-12150.5902,W,1,03,00.5,018.8,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.16
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181745.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181744.98,3649.0750,N,-12150.5895,W,1,03,00.5,018.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=42.83
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181746.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181745.98,3649.0750,N,-12150.5889,W,1,03,00.5,018.7,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181747.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.41
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181746.98,3649.0750,N,-12150.5882,W,1,03,00.5,018.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181748.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181747.98,3649.0750,N,-12150.5875,W,1,03,00.5,018.9,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181749.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181748.98,3649.0750,N,-12150.5869,W,1,03,00.5,018.9,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 32.67  2.48 15.33 4.07 4.09 0 12771.82 03:44:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.39
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181750.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181749.98,3649.0750,N,-12150.5862,W,1,03,00.5,018.9,M,-99.9,M,,*46

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181751.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181750.98,3649.0750,N,-12150.5855,W,1,03,00.5,018.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=43.49
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.79  2.55 15.72 4.05 4.09 0  1360.84 03:44:25 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181752.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181751.98,3649.0750,N,-12150.5848,W,1,03,00.5,019.0,M,-99.9,M,,*4f

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.08
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181753.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181752.98,3649.0750,N,-12150.5841,W,1,03,00.5,018.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181754.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.04
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181753.98,3649.0750,N,-12150.5835,W,1,03,00.5,018.7,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181755.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181754.98,3649.0749,N,-12150.5828,W,1,03,00.5,018.8,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.06
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181756.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181755.98,3649.0749,N,-12150.5822,W,1,03,00.5,018.5,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.16
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181757.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181756.98,3649.0749,N,-12150.5816,W,1,03,00.5,018.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181758.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181757.98,3649.0749,N,-12150.5809,W,1,03,00.5,018.9,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.05
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181759.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181758.98,3649.0749,N,-12150.5803,W,1,03,00.5,018.7,M,-99.9,M,,*47

: BluefinBatt Reply: $aaq0 d- 32.67  2.07 15.23 4.07 4.09 0 12771.56 03:44:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181800.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181759.98,3649.0749,N,-12150.5796,W,1,03,00.5,018.5,M,-99.9,M,,*47

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181801.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.48
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181800.98,3649.0749,N,-12150.5789,W,1,03,00.5,019.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $c0q0 d- 32.83  2.66 15.82 4.05 4.09 0  1360.64 03:44:35 m

: AshtechGps::processRecord() - $GPGGA,181802.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181801.98,3649.0749,N,-12150.5782,W,1,03,00.5,018.9,M,-99.9,M,,*4c

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.38
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181803.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181802.98,3649.0749,N,-12150.5775,W,1,03,00.5,018.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.13
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181804.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181803.98,3649.0749,N,-12150.5768,W,1,03,00.5,018.8,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181805.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181804.98,3649.0749,N,-12150.5761,W,1,03,00.5,018.8,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181806.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181805.98,3649.0749,N,-12150.5754,W,1,03,00.5,018.6,M,-99.9,M,,*4c

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.37
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181807.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181806.98,3649.0749,N,-12150.5748,W,1,03,00.5,018.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181808.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.19
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181807.98,3649.0749,N,-12150.5742,W,1,03,00.5,019.0,M,-99.9,M,,*4e

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181809.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181808.98,3649.0749,N,-12150.5735,W,1,03,00.5,018.6,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 32.63  2.18 15.33 4.07 4.09 0 12771.40 03:44:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.07
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181810.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181809.98,3649.0749,N,-12150.5728,W,1,03,00.5,018.9,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.27
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181811.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181810.98,3649.0749,N,-12150.5722,W,1,03,00.5,018.7,M,-99.9,M,,*48

: BluefinBatt Reply: $c0q0 d- 32.83  2.55 15.72 4.05 4.09 0  1360.30 03:44:45 m

: AshtechGps::processRecord() - $GPGGA,181812.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181811.98,3649.0748,N,-12150.5715,W,1,03,00.5,019.0,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=42.94
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181813.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181812.98,3649.0748,N,-12150.5708,W,1,03,00.5,018.6,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.29
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181814.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181813.98,3649.0748,N,-12150.5701,W,1,03,00.5,018.7,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181815.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.30
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181814.98,3649.0748,N,-12150.5694,W,1,03,00.5,018.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181816.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181815.98,3649.0748,N,-12150.5688,W,1,03,00.5,018.9,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181817.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181816.98,3649.0748,N,-12150.5681,W,1,03,00.5,018.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.23
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181818.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181817.98,3649.0748,N,-12150.5675,W,1,03,00.5,019.0,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181819.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181818.98,3649.0748,N,-12150.5668,W,1,03,00.5,018.7,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.59  2.37 15.33 4.07 4.09 0 12771.15 03:44:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.30
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181820.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181819.98,3649.0748,N,-12150.5662,W,1,03,00.5,019.0,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.10
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181821.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181820.98,3649.0748,N,-12150.5656,W,1,03,00.5,018.9,M,-99.9,M,,*46

: BluefinBatt Reply: $c0q0 d- 32.83  2.55 15.72 4.05 4.09 0  1360.10 03:44:55 m

: AshtechGps::processRecord() - $GPGGA,181822.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.27
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181821.98,3649.0748,N,-12150.5650,W,1,03,00.5,018.7,M,-99.9,M,,*4f

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181823.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181822.98,3649.0748,N,-12150.5643,W,1,03,00.5,019.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.66
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181824.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181823.98,3649.0748,N,-12150.5636,W,1,03,00.5,018.8,M,-99.9,M,,*42

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.34
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181825.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181824.98,3649.0749,N,-12150.5629,W,1,03,00.5,019.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181826.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181825.98,3649.0749,N,-12150.5621,W,1,03,00.5,018.8,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.43
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181827.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181826.98,3649.0749,N,-12150.5614,W,1,03,00.5,019.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.47
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181828.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181827.98,3649.0749,N,-12150.5606,W,1,03,00.5,018.8,M,-99.9,M,,*44

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181829.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.44
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181828.98,3649.0749,N,-12150.5599,W,1,03,00.5,019.1,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 32.63  2.44 15.23 4.07 4.09 0 12770.99 03:45:03 m

: AshtechGps::processRecord() - $GPGGA,181830.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181829.98,3649.0749,N,-12150.5593,W,1,03,00.5,018.6,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181831.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181830.98,3649.0749,N,-12150.5587,W,1,03,00.5,018.9,M,-99.9,M,,*49

: BluefinBatt Reply: $c0q0 d- 32.83  2.62 15.82 4.05 4.09 0  1359.83 03:45:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.16
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181832.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181831.98,3649.0749,N,-12150.5581,W,1,03,00.5,018.7,M,-99.9,M,,*40

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,181833.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181832.98,3649.0749,N,-12150.5575,W,1,03,00.5,019.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=43.11
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181834.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181833.98,3649.0749,N,-12150.5569,W,1,03,00.5,018.6,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.25
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181835.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181834.98,3649.0749,N,-12150.5563,W,1,03,00.5,018.8,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181836.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.43
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181835.98,3649.0749,N,-12150.5556,W,1,03,00.5,019.0,M,-99.9,M,,*48

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,181837.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181836.98,3649.0749,N,-12150.5549,W,1,03,00.5,018.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=43.44
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181838.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181837.98,3649.0749,N,-12150.5541,W,1,03,00.5,018.9,M,-99.9,M,,*44

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=43.44
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181839.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181838.98,3649.0749,N,-12150.5534,W,1,03,00.5,019.0,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 32.63  2.33 15.23 4.07 4.09 0 12770.75 03:45:13 m

: AshtechGps::processRecord() - $GPGGA,181840.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181839.98,3649.0749,N,-12150.5527,W,1,03,00.5,019.0,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.49
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181841.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181840.98,3649.0749,N,-12150.5520,W,1,03,00.5,019.0,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 32.79  2.73 15.72 4.05 4.09 0  1359.62 03:45:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.49
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181842.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181841.98,3649.0749,N,-12150.5514,W,1,03,00.5,018.8,M,-99.9,M,,*44

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181843.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181842.98,3649.0749,N,-12150.5507,W,1,03,00.5,018.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181844.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181843.98,3649.0749,N,-12150.5501,W,1,03,00.5,018.9,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181845.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181844.98,3649.0749,N,-12150.5495,W,1,03,00.5,018.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=43.25
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181846.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181845.98,3649.0749,N,-12150.5488,W,1,03,00.5,018.8,M,-99.9,M,,*44

: updating external sensors

: NMEA Update: $GPGGA,181846.79,3649.0749,N,-12150.5483,W,1,03,00.5,018.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181847.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181847.79,3649.0749,N,-12150.5476,W,1,03,00.5,018.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181848.00,,,,,0,00,,,M,,M,,*44

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.56
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181848.79,3649.0749,N,-12150.5469,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181849.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.26 15.23 4.07 4.09 0 12770.60 03:45:23 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181849.79,3649.0749,N,-12150.5462,W,1,03,00.5,018.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181850.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.58
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181850.79,3649.0749,N,-12150.5456,W,1,03,00.5,018.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,181851.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.51 15.72 4.05 4.09 0  1359.31 03:45:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.44
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181851.79,3649.0748,N,-12150.5449,W,1,03,00.5,018.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181852.00,,,,,0,00,,,M,,M,,*4F

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=43.59
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181852.79,3649.0748,N,-12150.5442,W,1,03,00.5,018.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181853.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181853.79,3649.0748,N,-12150.5436,W,1,03,00.5,018.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181854.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.28
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181854.79,3649.0748,N,-12150.5430,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181855.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.26
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181855.79,3649.0748,N,-12150.5423,W,1,03,00.5,018.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181856.00,,,,,0,00,,,M,,M,,*4B

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

: Kearfott::deltaTime is 1.059927

: NMEA Update: $GPGGA,181857.68,3649.0748,N,-12150.5417,W,1,03,00.5,018.7,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181857.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.38
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181858.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,181858.59,3649.0748,N,-12150.5405,W,1,03,00.5,018.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181859.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.33 15.23 4.07 4.09 0 12770.35 03:45:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.53
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181859.59,3649.0748,N,-12150.5399,W,1,03,00.5,019.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181900.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.51
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181900.59,3649.0748,N,-12150.5392,W,1,03,00.5,018.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181901.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.19 15.72 4.05 4.09 0  1359.12 03:45:35 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181901.59,3649.0748,N,-12150.5386,W,1,03,00.5,018.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181902.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.45
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181902.59,3649.0748,N,-12150.5379,W,1,03,00.5,018.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181903.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.55
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181903.59,3649.0748,N,-12150.5373,W,1,03,00.5,018.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181904.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181904.59,3649.0748,N,-12150.5366,W,1,03,00.5,018.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=43.24
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181905.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181905.59,3649.0748,N,-12150.5360,W,1,03,00.5,019.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181906.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.40
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181906.59,3649.0748,N,-12150.5353,W,1,03,00.5,019.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181907.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.51
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181907.59,3649.0748,N,-12150.5347,W,1,03,00.5,018.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181908.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181908.59,3649.0748,N,-12150.5340,W,1,03,00.5,018.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181909.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.36
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.78 15.33 4.07 4.09 0 12770.20 03:45:43 m

: NMEA Update: $GPGGA,181909.59,3649.0749,N,-12150.5333,W,1,03,00.5,018.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181910.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.65
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181910.59,3649.0749,N,-12150.5327,W,1,03,00.5,018.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,181911.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.66 15.72 4.05 4.09 0  1358.82 03:45:45 m

: NMEA Update: $GPGGA,181911.59,3649.0748,N,-12150.5320,W,1,03,00.5,018.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=43.54
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181912.00,,,,,0,00,,,M,,M,,*4A

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181912.59,3649.0748,N,-12150.5314,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181913.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.51
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181913.59,3649.0748,N,-12150.5308,W,1,03,00.5,018.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181914.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.33
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181914.59,3649.0748,N,-12150.5301,W,1,03,00.5,018.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181915.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181915.59,3649.0748,N,-12150.5295,W,1,03,00.5,018.8,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181916.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.53
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181916.59,3649.0748,N,-12150.5289,W,1,03,00.5,018.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,181917.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=43.40
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181917.59,3649.0748,N,-12150.5283,W,1,03,00.5,019.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181918.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,181918.59,3649.0748,N,-12150.5276,W,1,03,00.5,018.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=43.72
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181919.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.11 15.23 4.07 4.09 0 12769.95 03:45:53 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181919.59,3649.0748,N,-12150.5269,W,1,03,00.5,018.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181920.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=43.86
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181920.59,3649.0748,N,-12150.5262,W,1,03,00.5,019.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181921.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  2.83 15.72 4.05 4.09 0  1358.63 03:45:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=43.93
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181921.59,3649.0748,N,-12150.5256,W,1,03,00.5,019.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181922.00,,,,,0,00,,,M,,M,,*49

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,181922.59,3649.0748,N,-12150.5249,W,1,03,00.5,019.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181923.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.07
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181923.59,3649.0748,N,-12150.5242,W,1,03,00.5,019.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181924.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.31
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181924.59,3649.0748,N,-12150.5235,W,1,03,00.5,019.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181925.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181925.59,3649.0748,N,-12150.5229,W,1,03,00.5,019.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=44.17
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181926.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181926.59,3649.0748,N,-12150.5222,W,1,03,00.5,019.4,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181927.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.29
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181927.59,3649.0748,N,-12150.5216,W,1,03,00.5,019.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181928.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.32
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181928.59,3649.0748,N,-12150.5209,W,1,03,00.5,019.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181929.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.92 15.23 4.06 4.08 0 12769.78 03:46:03 m

: NMEA Update: $GPGGA,181929.59,3649.0748,N,-12150.5203,W,1,03,00.5,019.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181930.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.39
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181930.59,3649.0748,N,-12150.5196,W,1,03,00.5,019.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181931.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  2.58 15.72 4.05 4.08 0  1358.32 03:46:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=44.35
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181931.59,3649.0748,N,-12150.5190,W,1,03,00.5,019.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181932.00,,,,,0,00,,,M,,M,,*48

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: NMEA Update: $GPGGA,181932.59,3649.0748,N,-12150.5183,W,1,03,00.5,019.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=44.68
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181933.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181933.59,3649.0748,N,-12150.5176,W,1,03,00.5,020.1,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181934.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=44.91
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181934.59,3649.0748,N,-12150.5170,W,1,03,00.5,020.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181935.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=44.93
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181935.59,3649.0747,N,-12150.5163,W,1,03,00.5,020.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181936.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,181936.59,3649.0747,N,-12150.5157,W,1,03,00.5,020.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181937.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=45.11
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181937.59,3649.0747,N,-12150.5150,W,1,03,00.5,020.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181938.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=45.10
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181938.59,3649.0747,N,-12150.5144,W,1,03,00.5,020.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181939.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.67 15.33 4.06 4.08 0 12769.53 03:46:13 m

: NMEA Update: $GPGGA,181939.59,3649.0747,N,-12150.5137,W,1,03,00.5,020.6,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=45.75
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181940.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,181940.59,3649.0747,N,-12150.5131,W,1,03,00.5,020.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,181941.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=45.81
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.79  2.69 15.62 4.05 4.08 0  1358.13 03:46:15 m

: NMEA Update: $GPGGA,181941.59,3649.0747,N,-12150.5124,W,1,03,00.5,020.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,181942.00,,,,,0,00,,,M,,M,,*4F

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: LayeredControl _resolvedCommand - vertMode=2 vert=45.99
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181942.59,3649.0747,N,-12150.5118,W,1,03,00.5,020.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181943.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181943.59,3649.0747,N,-12150.5111,W,1,03,00.5,021.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181944.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.01
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181944.59,3649.0747,N,-12150.5104,W,1,03,00.5,021.1,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,181945.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=46.92
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181945.59,3649.0747,N,-12150.5097,W,1,03,00.5,021.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181946.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,181946.59,3649.0746,N,-12150.5091,W,1,03,00.5,021.5,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=47.12
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181947.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181947.59,3649.0746,N,-12150.5084,W,1,03,00.5,021.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,181948.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=47.30
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181948.59,3649.0746,N,-12150.5078,W,1,03,00.5,021.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,181949.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.18 15.23 4.06 4.08 0 12769.37 03:46:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=47.46
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181949.59,3649.0746,N,-12150.5071,W,1,03,00.5,021.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181950.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,181950.59,3649.0745,N,-12150.5065,W,1,03,00.5,021.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,181951.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=47.62
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.83  2.69 15.62 4.05 4.08 0  1357.82 03:46:25 m

: NMEA Update: $GPGGA,181951.59,3649.0745,N,-12150.5059,W,1,03,00.5,021.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,181952.00,,,,,0,00,,,M,,M,,*4E

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: LayeredControl _resolvedCommand - vertMode=2 vert=48.22
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181952.59,3649.0745,N,-12150.5052,W,1,03,00.5,022.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,181953.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181953.59,3649.0744,N,-12150.5046,W,1,03,00.5,022.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=48.37
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,181954.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,181954.59,3649.0744,N,-12150.5039,W,1,03,00.5,022.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,181955.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=48.54
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,181955.59,3649.0744,N,-12150.5033,W,1,03,00.5,022.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,181956.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=48.75
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181956.59,3649.0743,N,-12150.5027,W,1,03,00.5,022.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,181957.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,181957.59,3649.0743,N,-12150.5021,W,1,03,00.5,022.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,181958.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=48.94
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,181958.59,3649.0743,N,-12150.5014,W,1,03,00.5,022.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,181959.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  3.00 15.23 4.06 4.08 0 12769.12 03:46:33 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=49.36
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,181959.59,3649.0743,N,-12150.5008,W,1,03,00.5,022.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182000.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,182000.59,3649.0742,N,-12150.5002,W,1,03,00.5,023.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=49.45
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182001.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  2.87 15.62 4.05 4.08 0  1357.62 03:46:35 m

: NMEA Update: $GPGGA,182001.59,3649.0742,N,-12150.4995,W,1,03,00.5,023.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182002.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: NMEA Update: $GPGGA,182002.58,3649.0742,N,-12150.4989,W,1,03,00.5,022.9,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182003.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182003.58,3649.0742,N,-12150.4983,W,1,03,00.5,023.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182004.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,182004.58,3649.0741,N,-12150.4977,W,1,03,00.5,023.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182005.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182005.58,3649.0741,N,-12150.4970,W,1,03,00.5,023.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182006.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182006.58,3649.0741,N,-12150.4964,W,1,03,00.5,023.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182007.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182007.58,3649.0740,N,-12150.4958,W,1,03,00.5,023.9,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182008.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,182008.58,3649.0740,N,-12150.4952,W,1,03,00.5,023.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182009.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.33 15.13 4.07 4.08 0 12768.95 03:46:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182009.58,3649.0740,N,-12150.4946,W,1,03,00.5,024.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182010.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182010.58,3649.0740,N,-12150.4940,W,1,03,00.5,024.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182011.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.73 15.62 4.05 4.09 0  1357.32 03:46:45 m

: NMEA Update: $GPGGA,182011.58,3649.0739,N,-12150.4934,W,1,03,00.5,024.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182012.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,182012.58,3649.0739,N,-12150.4929,W,1,03,00.5,024.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182013.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182013.58,3649.0739,N,-12150.4923,W,1,03,00.5,024.6,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182014.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,182014.58,3649.0739,N,-12150.4917,W,1,03,00.5,025.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182015.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182015.58,3649.0739,N,-12150.4910,W,1,03,00.5,025.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182016.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182016.58,3649.0739,N,-12150.4904,W,1,03,00.5,025.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182017.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182017.58,3649.0738,N,-12150.4898,W,1,03,00.5,025.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182018.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,182018.58,3649.0738,N,-12150.4891,W,1,03,00.5,025.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182019.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.13 4.07 4.08 0 12768.71 03:46:53 m

: NMEA Update: $GPGGA,182019.58,3649.0738,N,-12150.4885,W,1,03,00.5,026.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182020.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182020.58,3649.0738,N,-12150.4879,W,1,03,00.5,026.4,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182021.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.62 4.05 4.09 0  1357.12 03:46:55 m

: NMEA Update: $GPGGA,182021.58,3649.0738,N,-12150.4873,W,1,03,00.5,026.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182022.00,,,,,0,00,,,M,,M,,*43

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

: Kearfott::deltaTime is 1.049928

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,182023.14,3649.0739,N,-12150.4868,W,1,03,00.5,026.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182023.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182024.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182023.98,3649.0739,N,-12150.4858,W,1,03,00.5,027.0,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182025.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182024.98,3649.0739,N,-12150.4853,W,1,03,00.5,027.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182026.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182025.98,3649.0739,N,-12150.4847,W,1,03,00.5,027.3,M,-99.9,M,,*47

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182027.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182026.98,3649.0739,N,-12150.4842,W,1,03,00.5,027.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182028.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182027.98,3649.0739,N,-12150.4836,W,1,03,00.5,027.4,M,-99.9,M,,*44

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182029.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182028.98,3649.0739,N,-12150.4830,W,1,03,00.5,027.4,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 32.63  2.55 15.13 4.07 4.09 0 12768.56 03:47:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182030.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182029.98,3649.0739,N,-12150.4824,W,1,03,00.5,027.6,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182031.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182030.98,3649.0739,N,-12150.4818,W,1,03,00.5,027.8,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.79  2.73 15.62 4.05 4.09 0  1356.86 03:47:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182032.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182031.98,3649.0739,N,-12150.4812,W,1,03,00.5,028.3,M,-99.9,M,,*4d

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182033.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182032.98,3649.0739,N,-12150.4806,W,1,03,00.5,028.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182034.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182033.98,3649.0739,N,-12150.4800,W,1,03,00.5,028.3,M,-99.9,M,,*4c

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182035.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182034.98,3649.0739,N,-12150.4794,W,1,03,00.5,028.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182036.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182035.98,3649.0739,N,-12150.4788,W,1,03,00.5,029.0,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182037.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182036.98,3649.0739,N,-12150.4782,W,1,03,00.5,029.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182038.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182037.98,3649.0739,N,-12150.4776,W,1,03,00.5,029.1,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182039.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182038.98,3649.0739,N,-12150.4771,W,1,03,00.5,029.5,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 32.63  2.26 15.23 4.07 4.09 0 12768.31 03:47:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182040.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182039.98,3649.0739,N,-12150.4765,W,1,03,00.5,029.7,M,-99.9,M,,*4f

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182041.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182040.98,3649.0739,N,-12150.4759,W,1,03,00.5,029.7,M,-99.9,M,,*4e

: BluefinBatt Reply: $c0q0 d- 32.79  2.80 15.62 4.05 4.09 0  1356.65 03:47:15 m

: AshtechGps::processRecord() - $GPGGA,182042.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182041.98,3649.0739,N,-12150.4752,W,1,03,00.5,030.0,M,-99.9,M,,*4b

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182043.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182042.98,3649.0739,N,-12150.4746,W,1,03,00.5,030.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182044.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182043.98,3649.0739,N,-12150.4740,W,1,03,00.5,030.3,M,-99.9,M,,*49

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182045.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182044.98,3649.0739,N,-12150.4733,W,1,03,00.5,030.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182046.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182045.98,3649.0739,N,-12150.4727,W,1,03,00.5,031.0,M,-99.9,M,,*4c

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182047.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182046.98,3649.0739,N,-12150.4721,W,1,03,00.5,030.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182048.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182047.98,3649.0739,N,-12150.4715,W,1,03,00.5,031.1,M,-99.9,M,,*4e

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182049.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182048.98,3649.0739,N,-12150.4709,W,1,03,00.5,031.3,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.13 4.06 4.08 0 12768.15 03:47:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182050.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182049.98,3649.0738,N,-12150.4703,W,1,03,00.5,031.6,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182051.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182050.98,3649.0738,N,-12150.4697,W,1,03,00.5,031.6,M,-99.9,M,,*45

: BluefinBatt Reply: $c0q0 d- 32.79  2.80 15.62 4.05 4.08 0  1356.35 03:47:25 m

: AshtechGps::processRecord() - $GPGGA,182052.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182051.98,3649.0738,N,-12150.4691,W,1,03,00.5,031.6,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: AshtechGps::processRecord() - $GPGGA,182053.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182052.98,3649.0738,N,-12150.4684,W,1,03,00.5,031.8,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182054.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182053.98,3649.0738,N,-12150.4678,W,1,03,00.5,031.8,M,-99.9,M,,*49

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182055.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182054.98,3649.0738,N,-12150.4671,W,1,03,00.5,032.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182056.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182055.98,3649.0738,N,-12150.4665,W,1,03,00.5,032.5,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182057.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182056.98,3649.0737,N,-12150.4658,W,1,03,00.5,032.8,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182058.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182057.98,3649.0737,N,-12150.4652,W,1,03,00.5,033.2,M,-99.9,M,,*42

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182059.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182058.98,3649.0737,N,-12150.4646,W,1,03,00.5,032.8,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.23 4.06 4.08 0 12767.90 03:47:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182100.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182059.98,3649.0737,N,-12150.4639,W,1,03,00.5,032.7,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182101.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182100.98,3649.0736,N,-12150.4633,W,1,03,00.5,032.8,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 32.83  2.69 15.62 4.05 4.08 0  1356.15 03:47:35 m

: AshtechGps::processRecord() - $GPGGA,182102.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182101.98,3649.0736,N,-12150.4627,W,1,03,00.5,033.6,M,-99.9,M,,*47

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: AshtechGps::processRecord() - $GPGGA,182103.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182102.98,3649.0736,N,-12150.4621,W,1,03,00.5,033.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182104.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182103.98,3649.0735,N,-12150.4615,W,1,03,00.5,033.5,M,-99.9,M,,*44

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182105.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182104.98,3649.0735,N,-12150.4609,W,1,03,00.5,033.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182106.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182105.98,3649.0735,N,-12150.4602,W,1,03,00.5,033.9,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182107.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182106.98,3649.0735,N,-12150.4596,W,1,03,00.5,034.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182108.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182107.98,3649.0735,N,-12150.4589,W,1,03,00.5,034.5,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182109.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182108.98,3649.0735,N,-12150.4582,W,1,03,00.5,034.6,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 32.59  2.48 15.23 4.06 4.08 0 12767.72 03:47:43 m

: AshtechGps::processRecord() - $GPGGA,182110.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182109.98,3649.0735,N,-12150.4576,W,1,03,00.5,034.7,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182111.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182110.98,3649.0735,N,-12150.4569,W,1,03,00.5,034.8,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 32.79  2.69 15.62 4.05 4.08 0  1355.82 03:47:45 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182112.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182111.98,3649.0735,N,-12150.4562,W,1,03,00.5,034.8,M,-99.9,M,,*4e

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: NMEA Update: $GPGGA,182112.79,3649.0734,N,-12150.4557,W,1,03,00.5,035.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182113.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182113.79,3649.0734,N,-12150.4551,W,1,03,00.5,035.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182114.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182114.79,3649.0734,N,-12150.4544,W,1,03,00.5,035.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182115.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182115.79,3649.0734,N,-12150.4538,W,1,03,00.5,035.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182116.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182116.79,3649.0734,N,-12150.4532,W,1,03,00.5,035.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182117.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182117.79,3649.0734,N,-12150.4525,W,1,03,00.5,036.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182118.00,,,,,0,00,,,M,,M,,*4B

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

: Kearfott::deltaTime is 0.999932

: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.13 4.06 4.08 0 12767.48 03:47:53 m

: NMEA Update: $GPGGA,182119.19,3649.0734,N,-12150.4522,W,1,03,00.5,035.7,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182119.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182120.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,182120.19,3649.0734,N,-12150.4509,W,1,03,00.5,036.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182121.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182121.19,3649.0734,N,-12150.4503,W,1,03,00.5,036.2,M,-99.9,M,,*4a

: BluefinBatt Reply: $c0q0 d- 32.79  2.94 15.62 4.05 4.08 0  1355.59 03:47:55 m

: AshtechGps::processRecord() - $GPGGA,182122.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,182122.19,3649.0734,N,-12150.4496,W,1,03,00.5,036.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182123.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182123.19,3649.0734,N,-12150.4490,W,1,03,00.5,036.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182124.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182124.19,3649.0734,N,-12150.4483,W,1,03,00.5,036.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182125.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182125.19,3649.0734,N,-12150.4477,W,1,03,00.5,036.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182126.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,182126.19,3649.0734,N,-12150.4470,W,1,03,00.5,036.2,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182127.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182127.19,3649.0734,N,-12150.4464,W,1,03,00.5,036.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182128.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182128.19,3649.0734,N,-12150.4457,W,1,03,00.5,036.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182129.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.15 15.13 4.07 4.08 0 12767.31 03:48:03 m

: NMEA Update: $GPGGA,182129.19,3649.0734,N,-12150.4451,W,1,03,00.5,036.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182130.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182130.19,3649.0734,N,-12150.4444,W,1,03,00.5,036.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182131.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182131.19,3649.0734,N,-12150.4437,W,1,03,00.5,037.1,M,-99.9,M,,*4f

: BluefinBatt Reply: $c0q0 d- 32.79  2.76 15.62 4.05 4.08 0  1355.29 03:48:05 m

: AshtechGps::processRecord() - $GPGGA,182132.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182132.19,3649.0734,N,-12150.4431,W,1,03,00.5,037.3,M,-99.9,M,,*48

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,182133.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182133.19,3649.0734,N,-12150.4424,W,1,03,00.5,037.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182134.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182134.19,3649.0734,N,-12150.4417,W,1,03,00.5,037.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182135.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182135.19,3649.0734,N,-12150.4411,W,1,03,00.5,037.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182136.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,182136.19,3649.0734,N,-12150.4404,W,1,03,00.5,037.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182137.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182137.19,3649.0734,N,-12150.4398,W,1,03,00.5,037.8,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182138.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,182138.19,3649.0733,N,-12150.4392,W,1,03,00.5,037.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182139.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.44 15.13 4.07 4.08 0 12767.04 03:48:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182139.19,3649.0733,N,-12150.4386,W,1,03,00.5,037.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182140.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,182140.19,3649.0733,N,-12150.4380,W,1,03,00.5,037.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182141.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  2.94 15.62 4.05 4.08 0  1355.08 03:48:15 m

: NMEA Update: $GPGGA,182141.19,3649.0733,N,-12150.4373,W,1,03,00.5,037.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182142.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.060000

: NMEA Update: $GPGGA,182142.19,3649.0733,N,-12150.4367,W,1,03,00.5,037.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182143.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182143.19,3649.0733,N,-12150.4360,W,1,03,00.5,038.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182144.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,182144.19,3649.0733,N,-12150.4353,W,1,03,00.5,038.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182145.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182145.19,3649.0733,N,-12150.4346,W,1,03,00.5,038.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182146.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182146.19,3649.0733,N,-12150.4340,W,1,03,00.5,038.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182147.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182147.19,3649.0734,N,-12150.4333,W,1,03,00.5,039.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182148.00,,,,,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,182148.19,3649.0734,N,-12150.4326,W,1,03,00.5,039.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182149.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.63  2.78 15.13 4.06 4.08 0 12766.85 03:48:23 m

: NMEA Update: $GPGGA,182149.19,3649.0734,N,-12150.4320,W,1,03,00.5,038.5,M,-99.9,M,,*4a

: updating external sensors

: Kearfott::deltaTime is 0.889939

: AshtechGps::processRecord() - $GPGGA,182150.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182150.39,3649.0734,N,-12150.4312,W,1,03,00.5,038.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182151.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182151.39,3649.0733,N,-12150.4306,W,1,03,00.5,038.5,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 32.83  2.26 15.62 4.04 4.08 0  1354.78 03:48:25 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182152.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182152.39,3649.0733,N,-12150.4299,W,1,03,00.5,038.6,M,-99.9,M,,*45

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182153.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182153.39,3649.0733,N,-12150.4293,W,1,03,00.5,038.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182154.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,182154.39,3649.0733,N,-12150.4286,W,1,03,00.5,039.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182155.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182155.39,3649.0733,N,-12150.4280,W,1,03,00.5,039.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182156.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182156.39,3649.0733,N,-12150.4273,W,1,03,00.5,039.6,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182157.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182157.39,3649.0733,N,-12150.4267,W,1,03,00.5,039.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182158.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182158.39,3649.0733,N,-12150.4260,W,1,03,00.5,039.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182159.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.55  3.04 15.23 4.06 4.08 0 12766.60 03:48:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182159.39,3649.0733,N,-12150.4254,W,1,03,00.5,039.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182200.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182200.39,3649.0733,N,-12150.4248,W,1,03,00.5,039.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182201.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  2.66 15.62 4.04 4.08 0  1354.56 03:48:35 m

: NMEA Update: $GPGGA,182201.39,3649.0733,N,-12150.4242,W,1,03,00.5,039.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182202.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182202.39,3649.0733,N,-12150.4235,W,1,03,00.5,039.5,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182203.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182203.39,3649.0733,N,-12150.4229,W,1,03,00.5,039.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182204.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182204.39,3649.0733,N,-12150.4222,W,1,03,00.5,039.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182205.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182205.39,3649.0733,N,-12150.4215,W,1,03,00.5,040.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182206.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182206.39,3649.0733,N,-12150.4208,W,1,03,00.5,040.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182207.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182207.39,3649.0733,N,-12150.4201,W,1,03,00.5,040.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182208.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,182208.39,3649.0733,N,-12150.4195,W,1,03,00.5,040.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182209.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.13 4.06 4.08 0 12766.44 03:48:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182209.39,3649.0733,N,-12150.4188,W,1,03,00.5,040.1,M,-99.9,M,,*43

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182210.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,182210.39,3649.0733,N,-12150.4182,W,1,03,00.5,040.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182211.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  3.08 15.62 4.04 4.08 0  1354.25 03:48:45 m

: NMEA Update: $GPGGA,182211.39,3649.0733,N,-12150.4176,W,1,03,00.5,039.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182212.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182212.39,3649.0734,N,-12150.4169,W,1,03,00.5,040.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182213.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182213.39,3649.0734,N,-12150.4163,W,1,03,00.5,040.1,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182214.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182214.39,3649.0733,N,-12150.4157,W,1,03,00.5,040.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182215.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182215.39,3649.0733,N,-12150.4151,W,1,03,00.5,040.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182216.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182216.39,3649.0733,N,-12150.4144,W,1,03,00.5,040.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182217.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182217.39,3649.0733,N,-12150.4138,W,1,03,00.5,040.7,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182218.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,182218.39,3649.0733,N,-12150.4131,W,1,03,00.5,041.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182219.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.59  2.26 15.13 4.06 4.08 0 12766.19 03:48:53 m

: NMEA Update: $GPGGA,182219.39,3649.0733,N,-12150.4124,W,1,03,00.5,040.4,M,-99.9,M,,*41

: updating external sensors

: Kearfott::deltaTime is 0.969934

: NMEA Update: $GPGGA,182220.72,3649.0733,N,-12150.4122,W,1,03,00.5,040.4,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182220.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182221.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.099925

: BluefinBatt Reply: $c0q0 d- 32.79  2.30 15.52 4.04 4.08 0  1353.98 03:48:56 m

: NMEA Update: $GPGGA,182221.97,3649.0733,N,-12150.4114,W,1,03,00.5,040.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182222.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182222.79,3649.0733,N,-12150.4102,W,1,03,00.5,041.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182223.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182223.79,3649.0733,N,-12150.4096,W,1,03,00.5,041.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182224.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,182224.79,3649.0733,N,-12150.4089,W,1,03,00.5,041.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182225.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182225.79,3649.0733,N,-12150.4083,W,1,03,00.5,041.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182226.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182226.79,3649.0733,N,-12150.4077,W,1,03,00.5,040.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182227.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182227.79,3649.0732,N,-12150.4070,W,1,03,00.5,040.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182228.00,,,,,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,182228.78,3649.0732,N,-12150.4064,W,1,03,00.5,040.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182229.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.63  2.22 15.13 4.06 4.08 0 12766.06 03:49:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182229.78,3649.0732,N,-12150.4058,W,1,03,00.5,040.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182230.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182230.78,3649.0732,N,-12150.4051,W,1,03,00.5,041.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182231.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.79  2.58 15.62 4.04 4.08 0  1353.78 03:49:05 m

: NMEA Update: $GPGGA,182231.78,3649.0732,N,-12150.4045,W,1,03,00.5,041.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182232.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182232.78,3649.0732,N,-12150.4038,W,1,03,00.5,041.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182233.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182233.78,3649.0732,N,-12150.4032,W,1,03,00.5,041.5,M,-99.9,M,,*4b

: updating external sensors

: Kearfott::deltaTime is 0.969934

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,182234.92,3649.0732,N,-12150.4030,W,1,03,00.5,041.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - 2234.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182235.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182235.78,3649.0732,N,-12150.4019,W,1,03,00.5,040.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182236.00,,,,,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,182236.78,3649.0732,N,-12150.4013,W,1,03,00.5,041.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182237.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182237.78,3649.0732,N,-12150.4007,W,1,03,00.5,041.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182238.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182238.78,3649.0732,N,-12150.4000,W,1,03,00.5,042.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182239.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.30 15.13 4.06 4.08 0 12765.77 03:49:13 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182239.78,3649.0732,N,-12150.3994,W,1,03,00.5,041.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182240.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182240.78,3649.0732,N,-12150.3987,W,1,03,00.5,041.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182241.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.71  3.26 15.62 4.04 4.08 0  1353.57 03:49:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182241.78,3649.0732,N,-12150.3981,W,1,03,00.5,041.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182242.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182242.78,3649.0732,N,-12150.3974,W,1,03,00.5,041.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182243.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182243.78,3649.0731,N,-12150.3967,W,1,03,00.5,042.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182244.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182244.78,3649.0731,N,-12150.3960,W,1,03,00.5,041.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182245.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182245.78,3649.0731,N,-12150.3954,W,1,03,00.5,041.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182246.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,182246.78,3649.0731,N,-12150.3947,W,1,03,00.5,041.6,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182247.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182247.78,3649.0731,N,-12150.3941,W,1,03,00.5,042.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182248.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182248.78,3649.0731,N,-12150.3935,W,1,03,00.5,041.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182249.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.96 15.13 4.06 4.08 0 12765.60 03:49:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182249.78,3649.0731,N,-12150.3929,W,1,03,00.5,041.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182250.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182250.78,3649.0731,N,-12150.3922,W,1,03,00.5,041.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182251.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.71  3.98 15.62 4.04 4.08 0  1353.28 03:49:25 m

: NMEA Update: $GPGGA,182251.78,3649.0731,N,-12150.3916,W,1,03,00.5,042.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182252.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182252.78,3649.0731,N,-12150.3909,W,1,03,00.5,042.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182253.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182253.78,3649.0731,N,-12150.3903,W,1,03,00.5,042.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182254.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182254.78,3649.0731,N,-12150.3896,W,1,03,00.5,041.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182255.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182255.78,3649.0731,N,-12150.3889,W,1,03,00.5,041.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182256.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182256.78,3649.0731,N,-12150.3883,W,1,03,00.5,041.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182257.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182257.78,3649.0731,N,-12150.3876,W,1,03,00.5,042.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182258.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182258.78,3649.0731,N,-12150.3870,W,1,03,00.5,042.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182259.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.48 15.13 4.06 4.08 0 12765.35 03:49:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182259.78,3649.0731,N,-12150.3863,W,1,03,00.5,042.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182300.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,182300.78,3649.0731,N,-12150.3857,W,1,03,00.5,042.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182301.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  3.84 15.62 4.04 4.08 0  1353.04 03:49:35 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182301.78,3649.0730,N,-12150.3851,W,1,03,00.5,042.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182302.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182302.78,3649.0730,N,-12150.3844,W,1,03,00.5,041.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182303.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182303.78,3649.0730,N,-12150.3837,W,1,03,00.5,042.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182304.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182304.78,3649.0730,N,-12150.3831,W,1,03,00.5,043.0,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182305.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182305.78,3649.0730,N,-12150.3824,W,1,03,00.5,043.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182306.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182306.78,3649.0730,N,-12150.3818,W,1,03,00.5,043.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182307.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182307.78,3649.0730,N,-12150.3811,W,1,03,00.5,042.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182308.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182308.78,3649.0730,N,-12150.3804,W,1,03,00.5,042.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182309.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.33 15.13 4.06 4.08 0 12765.18 03:49:43 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182309.78,3649.0730,N,-12150.3798,W,1,03,00.5,042.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182310.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182310.78,3649.0730,N,-12150.3792,W,1,03,00.5,043.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182311.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  3.01 15.52 4.05 4.08 0  1352.74 03:49:45 m

: NMEA Update: $GPGGA,182311.78,3649.0730,N,-12150.3785,W,1,03,00.5,043.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182312.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: NMEA Update: $GPGGA,182312.78,3649.0730,N,-12150.3779,W,1,03,00.5,043.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182313.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182313.78,3649.0730,N,-12150.3772,W,1,03,00.5,042.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182314.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182314.78,3649.0730,N,-12150.3766,W,1,03,00.5,042.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182315.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182315.78,3649.0730,N,-12150.3759,W,1,03,00.5,042.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182316.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182316.78,3649.0730,N,-12150.3752,W,1,03,00.5,042.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182317.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182317.78,3649.0730,N,-12150.3746,W,1,03,00.5,042.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182318.00,,,,,0,00,,,M,,M,,*49

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

: Kearfott::deltaTime is 0.819944

: BluefinBatt Reply: $aaq0 d- 32.55  2.48 15.13 4.06 4.08 0 12764.90 03:49:53 m

: NMEA Update: $GPGGA,182319.78,3649.0730,N,-12150.3738,W,1,03,00.5,042.9,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182319.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182320.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182320.78,3649.0730,N,-12150.3726,W,1,03,00.5,042.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182321.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182321.78,3649.0730,N,-12150.3719,W,1,03,00.5,043.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182322.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.83  1.90 15.52 4.05 4.08 0  1352.48 03:49:56 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182322.78,3649.0729,N,-12150.3713,W,1,03,00.5,043.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182323.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182323.78,3649.0729,N,-12150.3707,W,1,03,00.5,043.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182324.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182324.78,3649.0729,N,-12150.3701,W,1,03,00.5,042.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182325.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182325.78,3649.0729,N,-12150.3695,W,1,03,00.5,042.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182326.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182326.78,3649.0729,N,-12150.3689,W,1,03,00.5,042.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182327.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182327.78,3649.0729,N,-12150.3683,W,1,03,00.5,042.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182328.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182328.78,3649.0729,N,-12150.3677,W,1,03,00.5,042.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182329.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.33 15.13 4.06 4.08 0 12764.77 03:50:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182329.78,3649.0729,N,-12150.3671,W,1,03,00.5,042.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182330.00,,,,,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,182330.78,3649.0729,N,-12150.3665,W,1,03,00.5,042.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182331.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.48 15.62 4.05 4.08 0  1352.27 03:50:05 m

: NMEA Update: $GPGGA,182331.78,3649.0729,N,-12150.3658,W,1,03,00.5,042.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182332.00,,,,,0,00,,,M,,M,,*41

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182332.78,3649.0729,N,-12150.3652,W,1,03,00.5,042.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182333.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182333.78,3649.0729,N,-12150.3646,W,1,03,00.5,043.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182334.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182334.78,3649.0729,N,-12150.3640,W,1,03,00.5,043.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182335.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182335.78,3649.0729,N,-12150.3634,W,1,03,00.5,042.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182336.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182336.78,3649.0729,N,-12150.3627,W,1,03,00.5,043.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182337.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182337.78,3649.0729,N,-12150.3621,W,1,03,00.5,042.8,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182338.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182338.59,3649.0729,N,-12150.3616,W,1,03,00.5,043.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182339.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.18 15.13 4.06 4.08 0 12764.50 03:50:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182339.59,3649.0729,N,-12150.3610,W,1,03,00.5,042.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182340.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182340.59,3649.0729,N,-12150.3603,W,1,03,00.5,042.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182341.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.79  2.76 15.62 4.05 4.08 0  1352.08 03:50:15 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182341.59,3649.0729,N,-12150.3597,W,1,03,00.5,043.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182342.00,,,,,0,00,,,M,,M,,*46

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

: batts online 2, min cell voltage 4.050000, mean min cell voltage 4.055000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182342.59,3649.0729,N,-12150.3590,W,1,03,00.5,043.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182343.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182343.59,3649.0729,N,-12150.3584,W,1,03,00.5,043.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182344.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,182344.59,3649.0729,N,-12150.3578,W,1,03,00.5,042.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182345.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182345.59,3649.0729,N,-12150.3571,W,1,03,00.5,042.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182346.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182346.59,3649.0729,N,-12150.3565,W,1,03,00.5,043.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182347.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182347.59,3649.0729,N,-12150.3559,W,1,03,00.5,043.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182348.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182348.59,3649.0729,N,-12150.3553,W,1,03,00.5,043.4,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182349.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.18 15.13 4.06 4.08 0 12764.34 03:50:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182349.59,3649.0729,N,-12150.3546,W,1,03,00.5,043.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182350.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182350.59,3649.0729,N,-12150.3540,W,1,03,00.5,043.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182351.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  3.01 15.52 4.04 4.08 0  1351.77 03:50:25 m

: NMEA Update: $GPGGA,182351.59,3649.0729,N,-12150.3533,W,1,03,00.5,043.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182352.00,,,,,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=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182352.59,3649.0729,N,-12150.3527,W,1,03,00.5,043.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182353.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182353.59,3649.0729,N,-12150.3520,W,1,03,00.5,043.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182354.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182354.59,3649.0729,N,-12150.3513,W,1,03,00.5,043.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182355.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182355.59,3649.0729,N,-12150.3507,W,1,03,00.5,043.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182356.00,,,,,0,00,,,M,,M,,*43

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182356.59,3649.0728,N,-12150.3500,W,1,03,00.5,043.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182357.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182357.59,3649.0728,N,-12150.3494,W,1,03,00.5,043.9,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182358.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,182358.59,3649.0728,N,-12150.3488,W,1,03,00.5,043.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182359.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.22 15.03 4.06 4.08 0 12764.06 03:50:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182359.59,3649.0728,N,-12150.3482,W,1,03,00.5,043.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182400.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182400.59,3649.0728,N,-12150.3476,W,1,03,00.5,043.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182401.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  2.87 15.52 4.04 4.08 0  1351.57 03:50:35 m

: NMEA Update: $GPGGA,182401.59,3649.0728,N,-12150.3469,W,1,03,00.5,043.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182402.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182402.59,3649.0728,N,-12150.3463,W,1,03,00.5,043.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182403.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182403.59,3649.0727,N,-12150.3456,W,1,03,00.5,043.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182404.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,182404.59,3649.0727,N,-12150.3449,W,1,03,00.5,043.9,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182405.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182405.59,3649.0727,N,-12150.3442,W,1,03,00.5,043.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182406.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182406.59,3649.0727,N,-12150.3436,W,1,03,00.5,043.1,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182407.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182407.59,3649.0727,N,-12150.3430,W,1,03,00.5,043.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182408.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,182408.59,3649.0727,N,-12150.3424,W,1,03,00.5,043.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182409.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.59  2.18 15.03 4.06 4.08 0 12763.90 03:50:43 m

: NMEA Update: $GPGGA,182409.59,3649.0727,N,-12150.3418,W,1,03,00.5,043.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182410.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182410.59,3649.0727,N,-12150.3412,W,1,03,00.5,043.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182411.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  2.51 15.42 4.04 4.08 0  1351.27 03:50:45 m

: NMEA Update: $GPGGA,182411.59,3649.0727,N,-12150.3405,W,1,03,00.5,043.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182412.00,,,,,0,00,,,M,,M,,*44

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182412.59,3649.0727,N,-12150.3399,W,1,03,00.5,043.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182413.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182413.59,3649.0727,N,-12150.3392,W,1,03,00.5,044.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182414.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182414.59,3649.0726,N,-12150.3385,W,1,03,00.5,043.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182415.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182415.59,3649.0726,N,-12150.3378,W,1,03,00.5,043.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182416.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182416.59,3649.0726,N,-12150.3372,W,1,03,00.5,043.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182417.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182417.59,3649.0726,N,-12150.3365,W,1,03,00.5,044.3,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182418.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,182418.59,3649.0726,N,-12150.3359,W,1,03,00.5,043.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182419.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.11 15.13 4.06 4.08 0 12763.65 03:50:53 m

: NMEA Update: $GPGGA,182419.59,3649.0726,N,-12150.3353,W,1,03,00.5,043.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182420.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182420.59,3649.0726,N,-12150.3347,W,1,03,00.5,044.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182421.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 32.75  2.80 15.52 4.04 4.08 0  1351.04 03:50:55 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182421.59,3649.0726,N,-12150.3341,W,1,03,00.5,044.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182422.00,,,,,0,00,,,M,,M,,*47

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182422.59,3649.0726,N,-12150.3334,W,1,03,00.5,043.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182423.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182423.59,3649.0726,N,-12150.3328,W,1,03,00.5,044.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182424.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182424.59,3649.0726,N,-12150.3321,W,1,03,00.5,043.6,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182425.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182425.59,3649.0726,N,-12150.3314,W,1,03,00.5,044.5,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182426.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182427.05,3649.0726,N,-12150.3310,W,1,03,00.5,044.1,M,-99.9,M,,*42

: updating external sensors

: Kearfott::deltaTime is 1.049928

: AshtechGps::processRecord() - $GPGGA,182427.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182428.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182427.99,3649.0726,N,-12150.3298,W,1,03,00.5,043.7,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182429.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182428.99,3649.0726,N,-12150.3292,W,1,03,00.5,044.6,M,-99.9,M,,*44

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  2.33 15.03 4.06 4.08 0 12763.47 03:51:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182430.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182429.99,3649.0726,N,-12150.3285,W,1,03,00.5,044.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182431.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182430.99,3649.0726,N,-12150.3279,W,1,03,00.5,044.1,M,-99.9,M,,*4f

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  3.08 15.42 4.04 4.08 0  1350.74 03:51:05 m

: AshtechGps::processRecord() - $GPGGA,182432.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182431.99,3649.0726,N,-12150.3273,W,1,03,00.5,043.9,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182433.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182432.99,3649.0726,N,-12150.3266,W,1,03,00.5,043.7,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182434.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182433.99,3649.0726,N,-12150.3260,W,1,03,00.5,044.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182435.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182434.99,3649.0726,N,-12150.3253,W,1,03,00.5,044.1,M,-99.9,M,,*43

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182436.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182435.99,3649.0726,N,-12150.3246,W,1,03,00.5,043.9,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182437.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182436.99,3649.0726,N,-12150.3239,W,1,03,00.5,044.0,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182438.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182437.99,3649.0726,N,-12150.3233,W,1,03,00.5,044.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182439.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182438.99,3649.0726,N,-12150.3226,W,1,03,00.5,044.4,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.37 15.03 4.06 4.08 0 12763.19 03:51:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182440.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182439.99,3649.0726,N,-12150.3220,W,1,03,00.5,044.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182441.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182440.99,3649.0726,N,-12150.3214,W,1,03,00.5,044.2,M,-99.9,M,,*40

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.52 4.04 4.08 0  1350.53 03:51:15 m

: AshtechGps::processRecord() - $GPGGA,182442.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182441.99,3649.0726,N,-12150.3207,W,1,03,00.5,044.1,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182443.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182442.99,3649.0726,N,-12150.3201,W,1,03,00.5,044.8,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182444.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182443.99,3649.0726,N,-12150.3195,W,1,03,00.5,044.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182445.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182444.99,3649.0726,N,-12150.3188,W,1,03,00.5,044.5,M,-99.9,M,,*45

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182446.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182445.99,3649.0725,N,-12150.3182,W,1,03,00.5,044.1,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182447.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182446.99,3649.0725,N,-12150.3175,W,1,03,00.5,044.1,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182448.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182447.99,3649.0725,N,-12150.3169,W,1,03,00.5,044.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182449.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182448.99,3649.0725,N,-12150.3162,W,1,03,00.5,044.9,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  2.15 15.03 4.06 4.08 0 12763.04 03:51:23 m

: AshtechGps::processRecord() - $GPGGA,182450.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182449.99,3649.0726,N,-12150.3155,W,1,03,00.5,044.3,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182451.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182450.99,3649.0726,N,-12150.3149,W,1,03,00.5,044.4,M,-99.9,M,,*4c

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.79  2.48 15.52 4.04 4.08 0  1350.22 03:51:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182452.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182451.99,3649.0725,N,-12150.3142,W,1,03,00.5,044.3,M,-99.9,M,,*42

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182453.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182452.99,3649.0725,N,-12150.3136,W,1,03,00.5,044.3,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182454.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182453.98,3649.0725,N,-12150.3129,W,1,03,00.5,045.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182455.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182454.98,3649.0725,N,-12150.3123,W,1,03,00.5,044.3,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182456.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182455.98,3649.0725,N,-12150.3116,W,1,03,00.5,044.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182457.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182456.98,3649.0725,N,-12150.3110,W,1,03,00.5,044.3,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182458.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182457.98,3649.0725,N,-12150.3104,W,1,03,00.5,044.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182459.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182458.98,3649.0725,N,-12150.3098,W,1,03,00.5,044.3,M,-99.9,M,,*4c

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.22 15.03 4.06 4.08 0 12762.77 03:51:33 m

: AshtechGps::processRecord() - $GPGGA,182500.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182459.98,3649.0725,N,-12150.3091,W,1,03,00.5,045.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182501.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182500.98,3649.0725,N,-12150.3085,W,1,03,00.5,044.6,M,-99.9,M,,*49

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.71  3.62 15.52 4.04 4.08 0  1350.01 03:51:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182502.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182501.98,3649.0725,N,-12150.3078,W,1,03,00.5,044.6,M,-99.9,M,,*4a

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182503.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182502.98,3649.0725,N,-12150.3072,W,1,03,00.5,045.0,M,-99.9,M,,*44

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182504.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182503.98,3649.0725,N,-12150.3065,W,1,03,00.5,045.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182505.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182504.98,3649.0725,N,-12150.3058,W,1,03,00.5,044.6,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182506.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182505.98,3649.0725,N,-12150.3052,W,1,03,00.5,044.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182507.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182506.98,3649.0725,N,-12150.3045,W,1,03,00.5,045.3,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182508.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182507.98,3649.0725,N,-12150.3038,W,1,03,00.5,045.4,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182509.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182508.98,3649.0725,N,-12150.3032,W,1,03,00.5,045.2,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.07 14.94 4.06 4.08 0 12762.61 03:51:43 m

: AshtechGps::processRecord() - $GPGGA,182510.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182509.98,3649.0725,N,-12150.3026,W,1,03,00.5,045.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182511.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182510.98,3649.0725,N,-12150.3019,W,1,03,00.5,045.4,M,-99.9,M,,*4e

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.94 15.52 4.04 4.08 0  1349.72 03:51:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182512.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182511.98,3649.0725,N,-12150.3013,W,1,03,00.5,045.1,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182513.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182512.98,3649.0725,N,-12150.3007,W,1,03,00.5,044.9,M,-99.9,M,,*4f

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182514.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182513.98,3649.0725,N,-12150.3001,W,1,03,00.5,044.9,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182515.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182514.98,3649.0725,N,-12150.2994,W,1,03,00.5,045.2,M,-99.9,M,,*41

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182516.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182515.98,3649.0725,N,-12150.2987,W,1,03,00.5,045.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182517.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182516.98,3649.0725,N,-12150.2981,W,1,03,00.5,045.0,M,-99.9,M,,*45

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182518.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182517.98,3649.0725,N,-12150.2974,W,1,03,00.5,044.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182519.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182518.98,3649.0725,N,-12150.2967,W,1,03,00.5,045.4,M,-99.9,M,,*47

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.37 15.03 4.06 4.08 0 12762.37 03:51:53 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182520.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182519.98,3649.0725,N,-12150.2960,W,1,03,00.5,045.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182521.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182520.98,3649.0724,N,-12150.2954,W,1,03,00.5,045.2,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.83 15.42 4.04 4.08 0  1349.52 03:51:55 m

: AshtechGps::processRecord() - $GPGGA,182522.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182521.98,3649.0724,N,-12150.2948,W,1,03,00.5,045.2,M,-99.9,M,,*47

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182523.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182522.98,3649.0724,N,-12150.2942,W,1,03,00.5,045.4,M,-99.9,M,,*48

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182524.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182523.98,3649.0724,N,-12150.2935,W,1,03,00.5,044.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182525.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182524.98,3649.0724,N,-12150.2929,W,1,03,00.5,045.5,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182526.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182525.98,3649.0724,N,-12150.2923,W,1,03,00.5,045.4,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182527.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182526.98,3649.0724,N,-12150.2916,W,1,03,00.5,045.0,M,-99.9,M,,*49

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182528.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182527.98,3649.0724,N,-12150.2910,W,1,03,00.5,045.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182529.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182528.98,3649.0724,N,-12150.2903,W,1,03,00.5,045.7,M,-99.9,M,,*44

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.22 15.03 4.06 4.08 0 12762.21 03:52:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182530.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182529.98,3649.0724,N,-12150.2896,W,1,03,00.5,044.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182531.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182530.98,3649.0724,N,-12150.2889,W,1,03,00.5,045.0,M,-99.9,M,,*49

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  3.19 15.42 4.04 4.08 0  1349.23 03:52:05 m

: AshtechGps::processRecord() - $GPGGA,182532.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182531.98,3649.0724,N,-12150.2883,W,1,03,00.5,045.7,M,-99.9,M,,*45

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182533.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182532.98,3649.0724,N,-12150.2876,W,1,03,00.5,045.7,M,-99.9,M,,*4c

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182534.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182533.98,3649.0724,N,-12150.2870,W,1,03,00.5,045.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182535.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182534.98,3649.0724,N,-12150.2863,W,1,03,00.5,045.6,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182536.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182535.98,3649.0724,N,-12150.2857,W,1,03,00.5,045.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182537.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182536.98,3649.0724,N,-12150.2851,W,1,03,00.5,045.2,M,-99.9,M,,*48

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182538.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182537.98,3649.0723,N,-12150.2845,W,1,03,00.5,044.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182539.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182538.98,3649.0723,N,-12150.2839,W,1,03,00.5,045.7,M,-99.9,M,,*4a

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.11 14.94 4.06 4.08 0 12761.97 03:52:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182540.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182539.98,3649.0723,N,-12150.2832,W,1,03,00.5,046.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182541.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182540.98,3649.0723,N,-12150.2826,W,1,03,00.5,045.7,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.87 15.42 4.04 4.08 0  1349.04 03:52:15 m

: AshtechGps::processRecord() - $GPGGA,182542.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182541.98,3649.0723,N,-12150.2819,W,1,03,00.5,045.8,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182543.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182542.98,3649.0723,N,-12150.2812,W,1,03,00.5,046.1,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182544.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182543.98,3649.0723,N,-12150.2806,W,1,03,00.5,045.8,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182545.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182544.98,3649.0723,N,-12150.2799,W,1,03,00.5,046.0,M,-99.9,M,,*40

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,182546.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182545.98,3649.0723,N,-12150.2792,W,1,03,00.5,045.9,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182547.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182546.98,3649.0723,N,-12150.2786,W,1,03,00.5,046.1,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182548.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182547.98,3649.0723,N,-12150.2779,W,1,03,00.5,045.6,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182549.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182548.98,3649.0723,N,-12150.2773,W,1,03,00.5,045.8,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  2.44 15.03 4.06 4.08 0 12761.80 03:52:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182550.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182549.98,3649.0723,N,-12150.2767,W,1,03,00.5,046.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182551.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182550.98,3649.0723,N,-12150.2760,W,1,03,00.5,045.8,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.66 15.42 4.04 4.08 0  1348.73 03:52:25 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182552.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182551.98,3649.0723,N,-12150.2754,W,1,03,00.5,045.4,M,-99.9,M,,*42

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,182553.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182552.98,3649.0723,N,-12150.2747,W,1,03,00.5,045.9,M,-99.9,M,,*4e

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182554.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182553.98,3649.0722,N,-12150.2741,W,1,03,00.5,046.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182555.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182554.98,3649.0722,N,-12150.2734,W,1,03,00.5,046.0,M,-99.9,M,,*47

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182556.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182555.98,3649.0722,N,-12150.2728,W,1,03,00.5,046.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182557.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182556.98,3649.0722,N,-12150.2721,W,1,03,00.5,046.4,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182558.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182557.98,3649.0722,N,-12150.2715,W,1,03,00.5,046.1,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182559.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182558.98,3649.0722,N,-12150.2708,W,1,03,00.5,045.7,M,-99.9,M,,*40

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.18 15.03 4.06 4.08 0 12761.55 03:52:33 m

: AshtechGps::processRecord() - $GPGGA,182600.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182559.98,3649.0722,N,-12150.2701,W,1,03,00.5,046.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182601.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182600.98,3649.0722,N,-12150.2695,W,1,03,00.5,045.7,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.52 4.04 4.08 0  1348.49 03:52:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182602.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182601.98,3649.0722,N,-12150.2688,W,1,03,00.5,046.2,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182603.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182602.98,3649.0722,N,-12150.2681,W,1,03,00.5,046.4,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182604.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182603.98,3649.0722,N,-12150.2675,W,1,03,00.5,046.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182604.79,3649.0722,N,-12150.2670,W,1,03,00.5,046.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182605.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,182605.79,3649.0722,N,-12150.2663,W,1,03,00.5,046.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182606.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182606.79,3649.0722,N,-12150.2657,W,1,03,00.5,046.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182607.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182607.79,3649.0722,N,-12150.2651,W,1,03,00.5,046.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182608.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182608.79,3649.0722,N,-12150.2644,W,1,03,00.5,045.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182609.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.18 14.94 4.06 4.08 0 12761.34 03:52:43 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182609.79,3649.0722,N,-12150.2638,W,1,03,00.5,046.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182610.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182610.79,3649.0722,N,-12150.2631,W,1,03,00.5,046.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182611.00,,,,,0,00,,,M,,M,,*45

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.55 15.42 4.04 4.08 0  1348.20 03:52:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182611.79,3649.0722,N,-12150.2624,W,1,03,00.5,046.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182612.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182612.79,3649.0722,N,-12150.2617,W,1,03,00.5,046.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182613.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182613.79,3649.0722,N,-12150.2611,W,1,03,00.5,046.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182614.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182614.79,3649.0722,N,-12150.2604,W,1,03,00.5,047.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182615.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182615.79,3649.0722,N,-12150.2598,W,1,03,00.5,047.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182616.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182616.79,3649.0722,N,-12150.2591,W,1,03,00.5,046.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182617.00,,,,,0,00,,,M,,M,,*43

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182617.79,3649.0722,N,-12150.2585,W,1,03,00.5,046.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182618.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182618.79,3649.0722,N,-12150.2579,W,1,03,00.5,046.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182619.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.18 14.94 4.06 4.08 0 12761.08 03:52:53 m

: NMEA Update: $GPGGA,182619.79,3649.0722,N,-12150.2572,W,1,03,00.5,047.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182620.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182620.79,3649.0722,N,-12150.2566,W,1,03,00.5,046.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182621.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 32.75  3.52 15.42 4.04 4.08 0  1347.97 03:52:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182621.79,3649.0722,N,-12150.2560,W,1,03,00.5,046.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182622.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182622.79,3649.0722,N,-12150.2553,W,1,03,00.5,047.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182623.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182623.79,3649.0721,N,-12150.2546,W,1,03,00.5,047.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182624.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182624.79,3649.0721,N,-12150.2539,W,1,03,00.5,047.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182625.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182625.79,3649.0721,N,-12150.2532,W,1,03,00.5,047.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182626.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182626.79,3649.0721,N,-12150.2526,W,1,03,00.5,046.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182627.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182627.79,3649.0721,N,-12150.2519,W,1,03,00.5,047.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182628.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182628.79,3649.0721,N,-12150.2513,W,1,03,00.5,047.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182629.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.30 15.03 4.06 4.08 0 12760.90 03:53:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182629.79,3649.0721,N,-12150.2506,W,1,03,00.5,047.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182630.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182630.79,3649.0721,N,-12150.2500,W,1,03,00.5,047.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182631.00,,,,,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=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.80 15.42 4.04 4.08 0  1347.66 03:53:05 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182631.79,3649.0721,N,-12150.2494,W,1,03,00.5,047.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182632.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182632.79,3649.0721,N,-12150.2487,W,1,03,00.5,047.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182633.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182633.79,3649.0721,N,-12150.2481,W,1,03,00.5,047.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182634.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182634.79,3649.0721,N,-12150.2474,W,1,03,00.5,047.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182635.00,,,,,0,00,,,M,,M,,*43

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182635.79,3649.0721,N,-12150.2468,W,1,03,00.5,047.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182636.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182636.79,3649.0721,N,-12150.2461,W,1,03,00.5,047.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182637.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182637.79,3649.0721,N,-12150.2455,W,1,03,00.5,047.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182638.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182638.79,3649.0721,N,-12150.2448,W,1,03,00.5,047.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182639.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.07 14.94 4.06 4.08 0 12760.66 03:53:13 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182639.79,3649.0721,N,-12150.2441,W,1,03,00.5,047.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182640.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182640.79,3649.0721,N,-12150.2435,W,1,03,00.5,047.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182641.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.58 15.42 4.04 4.08 0  1347.46 03:53:15 m

: NMEA Update: $GPGGA,182641.79,3649.0721,N,-12150.2428,W,1,03,00.5,047.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182642.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182642.79,3649.0721,N,-12150.2421,W,1,03,00.5,047.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182643.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182643.79,3649.0721,N,-12150.2415,W,1,03,00.5,047.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182644.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182644.79,3649.0720,N,-12150.2409,W,1,03,00.5,047.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182645.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182645.79,3649.0720,N,-12150.2402,W,1,03,00.5,047.4,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182646.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182646.79,3649.0720,N,-12150.2396,W,1,03,00.5,047.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182647.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,182647.79,3649.0720,N,-12150.2390,W,1,03,00.5,047.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182648.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182648.79,3649.0720,N,-12150.2384,W,1,03,00.5,047.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182649.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 32.59  2.07 14.94 4.06 4.08 0 12760.49 03:53:23 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182649.79,3649.0720,N,-12150.2378,W,1,03,00.5,047.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182650.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182650.79,3649.0720,N,-12150.2371,W,1,03,00.5,047.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182651.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 32.79  2.37 15.42 4.04 4.08 0  1347.15 03:53:25 m

: NMEA Update: $GPGGA,182651.79,3649.0720,N,-12150.2364,W,1,03,00.5,047.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182652.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182652.79,3649.0720,N,-12150.2357,W,1,03,00.5,048.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182653.00,,,,,0,00,,,M,,M,,*43

: 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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182653.79,3649.0720,N,-12150.2350,W,1,03,00.5,048.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182654.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182654.79,3649.0720,N,-12150.2343,W,1,03,00.5,048.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182655.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182655.79,3649.0720,N,-12150.2337,W,1,03,00.5,048.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182656.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182656.79,3649.0720,N,-12150.2330,W,1,03,00.5,048.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182657.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182657.79,3649.0720,N,-12150.2324,W,1,03,00.5,048.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182658.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182658.79,3649.0720,N,-12150.2318,W,1,03,00.5,048.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182659.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.30 14.94 4.06 4.08 0 12760.22 03:53:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182659.79,3649.0720,N,-12150.2312,W,1,03,00.5,048.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182700.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182700.79,3649.0720,N,-12150.2305,W,1,03,00.5,048.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182701.00,,,,,0,00,,,M,,M,,*45

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

: BluefinBatt Reply: $c0q0 d- 32.75  3.52 15.42 4.04 4.08 0  1346.95 03:53:35 m

: NMEA Update: $GPGGA,182701.79,3649.0719,N,-12150.2299,W,1,03,00.5,048.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182702.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182702.79,3649.0719,N,-12150.2293,W,1,03,00.5,048.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182703.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182703.79,3649.0719,N,-12150.2286,W,1,03,00.5,048.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182704.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182704.79,3649.0719,N,-12150.2279,W,1,03,00.5,048.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182705.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182705.79,3649.0719,N,-12150.2272,W,1,03,00.5,048.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182706.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182706.79,3649.0719,N,-12150.2265,W,1,03,00.5,048.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182707.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182707.79,3649.0719,N,-12150.2258,W,1,03,00.5,049.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182708.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182708.79,3649.0719,N,-12150.2252,W,1,03,00.5,048.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182709.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  2.11 14.94 4.06 4.08 0 12760.05 03:53:43 m

: NMEA Update: $GPGGA,182709.79,3649.0719,N,-12150.2245,W,1,03,00.5,048.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182710.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182710.79,3649.0719,N,-12150.2239,W,1,03,00.5,048.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182711.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.75  2.80 15.42 4.04 4.08 0  1346.65 03:53:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182711.79,3649.0719,N,-12150.2233,W,1,03,00.5,048.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182712.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182712.79,3649.0719,N,-12150.2226,W,1,03,00.5,049.0,M,-99.9,M,,*49

: Kearfott::deltaTime is 1.019930

: updating external sensors

: NMEA Update: $GPGGA,182713.91,3649.0719,N,-12150.2225,W,1,03,00.5,049.0,M,-99.9,M,,*4d

: gpsDriver::readRecord() - serial device timed out
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - ,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,182714.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182714.79,3649.0719,N,-12150.2214,W,1,03,00.5,049.0,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182715.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182715.79,3649.0719,N,-12150.2208,W,1,03,00.5,048.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182716.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182716.79,3649.0719,N,-12150.2201,W,1,03,00.5,048.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182717.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,182717.79,3649.0718,N,-12150.2195,W,1,03,00.5,048.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182718.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182718.79,3649.0718,N,-12150.2188,W,1,03,00.5,048.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182719.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.03 14.84 4.06 4.08 0 12759.81 03:53:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182719.79,3649.0718,N,-12150.2181,W,1,03,00.5,049.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182720.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182720.78,3649.0718,N,-12150.2175,W,1,03,00.5,048.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182721.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  3.05 15.33 4.04 4.08 0  1346.46 03:53:55 m

: NMEA Update: $GPGGA,182721.78,3649.0718,N,-12150.2169,W,1,03,00.5,049.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182722.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182722.78,3649.0718,N,-12150.2163,W,1,03,00.5,048.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182723.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182723.78,3649.0718,N,-12150.2157,W,1,03,00.5,048.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182724.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182724.78,3649.0718,N,-12150.2151,W,1,03,00.5,048.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182725.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182725.78,3649.0718,N,-12150.2146,W,1,03,00.5,048.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182726.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182726.78,3649.0718,N,-12150.2140,W,1,03,00.5,048.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182727.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,182727.78,3649.0718,N,-12150.2134,W,1,03,00.5,048.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182728.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182728.78,3649.0718,N,-12150.2127,W,1,03,00.5,048.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182729.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.15 14.84 4.06 4.08 0 12759.65 03:54:03 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182729.78,3649.0718,N,-12150.2121,W,1,03,00.5,048.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182730.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182730.78,3649.0718,N,-12150.2114,W,1,03,00.5,049.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182731.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 32.71  3.52 15.42 4.04 4.08 0  1346.16 03:54:05 m

: NMEA Update: $GPGGA,182731.78,3649.0718,N,-12150.2107,W,1,03,00.5,049.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182732.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182732.78,3649.0718,N,-12150.2100,W,1,03,00.5,049.6,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182733.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182733.78,3649.0718,N,-12150.2094,W,1,03,00.5,049.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182734.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182734.78,3649.0718,N,-12150.2087,W,1,03,00.5,049.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182735.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182735.78,3649.0718,N,-12150.2081,W,1,03,00.5,050.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182736.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182736.78,3649.0718,N,-12150.2075,W,1,03,00.5,049.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182737.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182737.78,3649.0718,N,-12150.2069,W,1,03,00.5,049.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182738.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182738.78,3649.0717,N,-12150.2063,W,1,03,00.5,050.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182739.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.33 14.94 4.06 4.08 0 12759.39 03:54:13 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182739.78,3649.0717,N,-12150.2057,W,1,03,00.5,049.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182740.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182740.78,3649.0717,N,-12150.2051,W,1,03,00.5,050.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182741.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.83 15.33 4.04 4.08 0  1345.92 03:54:15 m

: NMEA Update: $GPGGA,182741.78,3649.0717,N,-12150.2044,W,1,03,00.5,049.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182742.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182742.78,3649.0717,N,-12150.2038,W,1,03,00.5,050.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182743.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182743.78,3649.0717,N,-12150.2030,W,1,03,00.5,050.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182744.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182744.78,3649.0717,N,-12150.2023,W,1,03,00.5,049.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182745.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,182745.78,3649.0717,N,-12150.2017,W,1,03,00.5,050.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182746.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182746.78,3649.0717,N,-12150.2010,W,1,03,00.5,050.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182747.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182747.78,3649.0717,N,-12150.2004,W,1,03,00.5,049.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182748.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182748.78,3649.0717,N,-12150.1998,W,1,03,00.5,050.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182749.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.55  2.44 14.94 4.06 4.08 0 12759.23 03:54:23 m

: NMEA Update: $GPGGA,182749.78,3649.0717,N,-12150.1992,W,1,03,00.5,050.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182750.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182750.78,3649.0717,N,-12150.1985,W,1,03,00.5,050.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182751.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1345.58 03:54:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182751.78,3649.0717,N,-12150.1979,W,1,03,00.5,049.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182752.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182752.78,3649.0717,N,-12150.1972,W,1,03,00.5,050.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182753.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182753.78,3649.0717,N,-12150.1966,W,1,03,00.5,050.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182754.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182754.78,3649.0717,N,-12150.1959,W,1,03,00.5,050.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182755.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,182755.78,3649.0717,N,-12150.1952,W,1,03,00.5,050.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182756.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182756.78,3649.0717,N,-12150.1945,W,1,03,00.5,050.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182757.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182757.78,3649.0717,N,-12150.1939,W,1,03,00.5,050.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182758.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182758.78,3649.0717,N,-12150.1932,W,1,03,00.5,050.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182759.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.30 14.94 4.06 4.08 0 12758.96 03:54:33 m

: NMEA Update: $GPGGA,182759.78,3649.0717,N,-12150.1926,W,1,03,00.5,050.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182800.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182800.78,3649.0717,N,-12150.1920,W,1,03,00.5,050.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182801.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1345.38 03:54:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182801.78,3649.0717,N,-12150.1913,W,1,03,00.5,051.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182802.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182802.78,3649.0717,N,-12150.1907,W,1,03,00.5,050.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182803.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182803.78,3649.0716,N,-12150.1901,W,1,03,00.5,050.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182804.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182804.78,3649.0716,N,-12150.1894,W,1,03,00.5,050.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182805.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182805.78,3649.0716,N,-12150.1888,W,1,03,00.5,051.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182806.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182806.78,3649.0716,N,-12150.1881,W,1,03,00.5,051.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182807.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182807.78,3649.0716,N,-12150.1874,W,1,03,00.5,050.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182808.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182808.78,3649.0716,N,-12150.1867,W,1,03,00.5,051.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182809.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.03 14.94 4.05 4.08 0 12758.81 03:54:43 m

: NMEA Update: $GPGGA,182809.78,3649.0716,N,-12150.1861,W,1,03,00.5,051.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182810.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182810.78,3649.0716,N,-12150.1854,W,1,03,00.5,051.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182811.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1345.08 03:54:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182811.78,3649.0716,N,-12150.1848,W,1,03,00.5,051.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182812.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182812.78,3649.0716,N,-12150.1841,W,1,03,00.5,050.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182813.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,182813.78,3649.0716,N,-12150.1835,W,1,03,00.5,051.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182814.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182814.78,3649.0716,N,-12150.1829,W,1,03,00.5,051.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182815.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182815.78,3649.0716,N,-12150.1822,W,1,03,00.5,050.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182816.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182816.78,3649.0716,N,-12150.1816,W,1,03,00.5,050.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182817.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182817.78,3649.0715,N,-12150.1809,W,1,03,00.5,051.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182818.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182818.78,3649.0715,N,-12150.1803,W,1,03,00.5,051.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182819.00,,,,,0,00,,,M,,M,,*43

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.15 14.94 4.05 4.08 0 12758.57 03:54:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182819.78,3649.0715,N,-12150.1796,W,1,03,00.5,051.2,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182820.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182820.78,3649.0715,N,-12150.1789,W,1,03,00.5,051.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182821.00,,,,,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=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1344.88 03:54:55 m

: NMEA Update: $GPGGA,182821.78,3649.0715,N,-12150.1783,W,1,03,00.5,051.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182822.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182822.78,3649.0715,N,-12150.1776,W,1,03,00.5,051.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182823.00,,,,,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,182823.78,3649.0715,N,-12150.1769,W,1,03,00.5,051.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182824.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182824.78,3649.0715,N,-12150.1763,W,1,03,00.5,051.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182825.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182825.78,3649.0715,N,-12150.1756,W,1,03,00.5,051.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182826.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182826.78,3649.0715,N,-12150.1750,W,1,03,00.5,051.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182827.00,,,,,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,182827.78,3649.0714,N,-12150.1743,W,1,03,00.5,051.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182828.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182828.78,3649.0714,N,-12150.1737,W,1,03,00.5,051.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182829.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $aaq0 d- 32.51  2.59 14.84 4.06 4.08 0 12758.40 03:55:03 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182829.78,3649.0714,N,-12150.1730,W,1,03,00.5,052.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182830.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182830.59,3649.0714,N,-12150.1725,W,1,03,00.5,051.0,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182831.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.71  3.66 15.42 4.04 4.08 0  1344.55 03:55:05 m

: NMEA Update: $GPGGA,182831.59,3649.0715,N,-12150.1718,W,1,03,00.5,051.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182832.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182832.59,3649.0715,N,-12150.1712,W,1,03,00.5,051.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182833.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,182833.59,3649.0715,N,-12150.1705,W,1,03,00.5,051.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182834.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182834.59,3649.0715,N,-12150.1698,W,1,03,00.5,051.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182835.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182835.59,3649.0714,N,-12150.1692,W,1,03,00.5,051.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182836.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182836.59,3649.0714,N,-12150.1685,W,1,03,00.5,051.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182837.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,182837.59,3649.0714,N,-12150.1678,W,1,03,00.5,051.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182838.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182838.59,3649.0714,N,-12150.1672,W,1,03,00.5,051.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182839.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.59  2.11 14.84 4.06 4.08 0 12758.14 03:55:13 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182839.59,3649.0714,N,-12150.1666,W,1,03,00.5,051.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182840.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182840.59,3649.0714,N,-12150.1659,W,1,03,00.5,051.4,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182841.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1344.35 03:55:15 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182841.59,3649.0714,N,-12150.1653,W,1,03,00.5,052.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182842.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,182842.59,3649.0714,N,-12150.1647,W,1,03,00.5,052.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182843.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182843.59,3649.0714,N,-12150.1640,W,1,03,00.5,051.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182844.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182844.59,3649.0714,N,-12150.1633,W,1,03,00.5,052.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182845.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182845.59,3649.0714,N,-12150.1626,W,1,03,00.5,052.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182846.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182846.59,3649.0714,N,-12150.1620,W,1,03,00.5,052.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,182847.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,182847.59,3649.0714,N,-12150.1613,W,1,03,00.5,052.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182848.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182848.59,3649.0714,N,-12150.1606,W,1,03,00.5,052.0,M,-99.9,M,,*49

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182849.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.22 14.84 4.05 4.08 0 12757.95 03:55:23 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182849.59,3649.0714,N,-12150.1600,W,1,03,00.5,052.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182850.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182850.59,3649.0714,N,-12150.1593,W,1,03,00.5,052.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182851.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $c0q0 d- 32.71  2.98 15.33 4.04 4.08 0  1344.00 03:55:25 m

: NMEA Update: $GPGGA,182851.59,3649.0714,N,-12150.1587,W,1,03,00.5,052.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182852.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182852.59,3649.0714,N,-12150.1580,W,1,03,00.5,052.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182853.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182853.59,3649.0714,N,-12150.1574,W,1,03,00.5,051.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182854.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182854.59,3649.0714,N,-12150.1567,W,1,03,00.5,051.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182855.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,182855.59,3649.0714,N,-12150.1561,W,1,03,00.5,051.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182856.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182856.59,3649.0714,N,-12150.1554,W,1,03,00.5,051.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182857.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182857.59,3649.0714,N,-12150.1548,W,1,03,00.5,051.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182858.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182858.59,3649.0714,N,-12150.1541,W,1,03,00.5,051.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182859.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $aaq0 d- 32.55  2.18 14.94 4.05 4.08 0 12757.70 03:55:33 m

: updating external sensors

: NMEA Update: $GPGGA,182859.59,3649.0714,N,-12150.1534,W,1,03,00.5,051.5,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182900.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182900.59,3649.0713,N,-12150.1528,W,1,03,00.5,051.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182901.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.66 15.42 4.04 4.08 0  1343.81 03:55:35 m

: NMEA Update: $GPGGA,182901.59,3649.0713,N,-12150.1521,W,1,03,00.5,051.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182902.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: NMEA Update: $GPGGA,182902.59,3649.0713,N,-12150.1515,W,1,03,00.5,050.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182903.00,,,,,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=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182903.59,3649.0713,N,-12150.1508,W,1,03,00.5,050.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182904.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182904.59,3649.0713,N,-12150.1502,W,1,03,00.5,051.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182905.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,182905.59,3649.0713,N,-12150.1495,W,1,03,00.5,051.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,182906.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182906.59,3649.0713,N,-12150.1489,W,1,03,00.5,051.4,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182907.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182907.59,3649.0713,N,-12150.1482,W,1,03,00.5,051.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182908.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182908.59,3649.0713,N,-12150.1476,W,1,03,00.5,051.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182909.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.18 14.94 4.05 4.08 0 12757.53 03:55:43 m

: updating external sensors

: NMEA Update: $GPGGA,182909.59,3649.0713,N,-12150.1469,W,1,03,00.5,051.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182910.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182910.59,3649.0713,N,-12150.1462,W,1,03,00.5,051.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182911.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.69 15.33 4.04 4.08 0  1343.49 03:55:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182911.59,3649.0713,N,-12150.1456,W,1,03,00.5,051.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182912.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: NMEA Update: $GPGGA,182912.59,3649.0712,N,-12150.1449,W,1,03,00.5,051.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182913.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182913.59,3649.0712,N,-12150.1442,W,1,03,00.5,050.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182914.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182914.59,3649.0712,N,-12150.1436,W,1,03,00.5,051.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182915.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,182915.59,3649.0712,N,-12150.1430,W,1,03,00.5,051.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182916.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182916.59,3649.0712,N,-12150.1423,W,1,03,00.5,051.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182917.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182917.59,3649.0712,N,-12150.1417,W,1,03,00.5,051.2,M,-99.9,M,,*47

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182918.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182918.59,3649.0712,N,-12150.1411,W,1,03,00.5,051.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182919.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $aaq0 d- 32.55  2.33 14.84 4.05 4.08 0 12757.26 03:55:53 m

: NMEA Update: $GPGGA,182919.59,3649.0712,N,-12150.1404,W,1,03,00.5,050.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182920.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182920.59,3649.0712,N,-12150.1397,W,1,03,00.5,050.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182921.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $c0q0 d- 32.71  2.83 15.33 4.04 4.08 0  1343.27 03:55:55 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182921.59,3649.0712,N,-12150.1390,W,1,03,00.5,051.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,182922.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: NMEA Update: $GPGGA,182922.59,3649.0712,N,-12150.1383,W,1,03,00.5,050.6,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182923.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,182923.59,3649.0712,N,-12150.1377,W,1,03,00.5,050.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182924.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182924.59,3649.0712,N,-12150.1370,W,1,03,00.5,050.5,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,182925.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182925.59,3649.0712,N,-12150.1364,W,1,03,00.5,050.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,182926.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182926.59,3649.0712,N,-12150.1358,W,1,03,00.5,050.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182927.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182927.59,3649.0712,N,-12150.1351,W,1,03,00.5,050.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182928.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182928.59,3649.0712,N,-12150.1345,W,1,03,00.5,050.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182929.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.22 14.94 4.05 4.08 0 12757.09 03:56:03 m

: updating external sensors

: NMEA Update: $GPGGA,182929.59,3649.0712,N,-12150.1339,W,1,03,00.5,050.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182930.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182930.59,3649.0712,N,-12150.1332,W,1,03,00.5,049.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182931.00,,,,,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=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.80 15.33 4.04 4.08 0  1342.98 03:56:05 m

: NMEA Update: $GPGGA,182931.59,3649.0712,N,-12150.1325,W,1,03,00.5,050.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,182932.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182932.59,3649.0712,N,-12150.1318,W,1,03,00.5,049.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182933.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,182933.59,3649.0712,N,-12150.1312,W,1,03,00.5,049.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182934.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182934.59,3649.0712,N,-12150.1305,W,1,03,00.5,049.6,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182935.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182935.59,3649.0712,N,-12150.1298,W,1,03,00.5,049.9,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182936.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182936.59,3649.0712,N,-12150.1292,W,1,03,00.5,049.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182937.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,182937.59,3649.0712,N,-12150.1285,W,1,03,00.5,049.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182938.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182938.59,3649.0711,N,-12150.1279,W,1,03,00.5,049.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,182939.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.51  2.18 14.84 4.05 4.08 0 12756.85 03:56:13 m

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182939.59,3649.0711,N,-12150.1272,W,1,03,00.5,049.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182940.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182940.59,3649.0711,N,-12150.1266,W,1,03,00.5,049.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182941.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.66 15.33 4.04 4.08 0  1342.78 03:56:15 m

: NMEA Update: $GPGGA,182941.59,3649.0711,N,-12150.1259,W,1,03,00.5,049.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,182942.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182942.59,3649.0711,N,-12150.1253,W,1,03,00.5,049.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182943.00,,,,,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,182943.59,3649.0711,N,-12150.1246,W,1,03,00.5,049.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182944.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182944.59,3649.0711,N,-12150.1240,W,1,03,00.5,049.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182945.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182945.59,3649.0711,N,-12150.1233,W,1,03,00.5,049.6,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,182946.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182946.58,3649.0711,N,-12150.1226,W,1,03,00.5,049.6,M,-99.9,M,,*48

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182947.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,182947.58,3649.0711,N,-12150.1220,W,1,03,00.5,049.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,182948.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182948.58,3649.0711,N,-12150.1213,W,1,03,00.5,048.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,182949.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  3.04 14.84 4.05 4.08 0 12756.68 03:56:23 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182949.58,3649.0711,N,-12150.1207,W,1,03,00.5,049.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,182950.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,182950.58,3649.0711,N,-12150.1200,W,1,03,00.5,048.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182951.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 32.75  2.62 15.33 4.03 4.08 0  1342.46 03:56:25 m

: NMEA Update: $GPGGA,182951.58,3649.0711,N,-12150.1194,W,1,03,00.5,048.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182952.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.030000, mean min cell voltage 4.040000

: NMEA Update: $GPGGA,182952.58,3649.0711,N,-12150.1187,W,1,03,00.5,048.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,182953.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182953.58,3649.0711,N,-12150.1181,W,1,03,00.5,048.9,M,-99.9,M,,*4c

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,182954.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182954.58,3649.0711,N,-12150.1174,W,1,03,00.5,048.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182955.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: updating external sensors

: NMEA Update: $GPGGA,182955.58,3649.0711,N,-12150.1168,W,1,03,00.5,048.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,182956.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182956.58,3649.0711,N,-12150.1161,W,1,03,00.5,048.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,182957.00,,,,,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,182957.58,3649.0711,N,-12150.1154,W,1,03,00.5,048.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,182958.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,182958.58,3649.0711,N,-12150.1148,W,1,03,00.5,047.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,182959.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.55  2.22 14.84 4.05 4.08 0 12756.43 03:56:33 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,182959.58,3649.0711,N,-12150.1141,W,1,03,00.5,047.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,183000.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183000.58,3649.0711,N,-12150.1135,W,1,03,00.5,048.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183001.00,,,,,0,00,,,M,,M,,*43

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $c0q0 d- 32.71  2.80 15.33 4.03 4.08 0  1342.25 03:56:35 m

: NMEA Update: $GPGGA,183001.58,3649.0711,N,-12150.1128,W,1,03,00.5,047.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,183002.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.030000, mean min cell voltage 4.040000

: NMEA Update: $GPGGA,183002.58,3649.0711,N,-12150.1122,W,1,03,00.5,047.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183003.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183003.58,3649.0711,N,-12150.1115,W,1,03,00.5,047.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183004.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183004.58,3649.0711,N,-12150.1109,W,1,03,00.5,047.4,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183005.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,183005.58,3649.0710,N,-12150.1103,W,1,03,00.5,047.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,183006.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183006.58,3649.0710,N,-12150.1096,W,1,03,00.5,046.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,183007.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183007.58,3649.0710,N,-12150.1090,W,1,03,00.5,047.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183008.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.059927

: updating external sensors

: NMEA Update: $GPGGA,183009.00,3649.0710,N,-12150.1086,W,1,03,00.5,047.6,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: BluefinBatt Reply: $aaq0 d- 32.55  2.37 14.84 4.06 4.08 0 12756.27 03:56:43 m

: AshtechGps::processRecord() - $GPGGA,183009.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183010.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183009.98,3649.0710,N,-12150.1074,W,1,03,00.5,046.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183011.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183010.98,3649.0710,N,-12150.1068,W,1,03,00.5,046.6,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.42 4.04 4.08 0  1341.97 03:56:45 m

: AshtechGps::processRecord() - $GPGGA,183012.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183011.98,3649.0710,N,-12150.1061,W,1,03,00.5,046.7,M,-99.9,M,,*40

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183013.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183012.98,3649.0710,N,-12150.1054,W,1,03,00.5,047.1,M,-99.9,M,,*42

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,183014.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183013.98,3649.0710,N,-12150.1047,W,1,03,00.5,046.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183015.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183014.98,3649.0710,N,-12150.1040,W,1,03,00.5,047.0,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183016.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183015.98,3649.0710,N,-12150.1033,W,1,03,00.5,046.6,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183017.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183016.98,3649.0710,N,-12150.1027,W,1,03,00.5,046.5,M,-99.9,M,,*47

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,183018.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183017.98,3649.0710,N,-12150.1020,W,1,03,00.5,046.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183019.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183018.98,3649.0710,N,-12150.1014,W,1,03,00.5,046.3,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 32.51  2.37 14.84 4.06 4.08 0 12756.04 03:56:53 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183020.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183019.98,3649.0710,N,-12150.1008,W,1,03,00.5,046.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183021.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183020.98,3649.0710,N,-12150.1002,W,1,03,00.5,046.6,M,-99.9,M,,*46

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.76 15.33 4.04 4.08 0  1341.75 03:56:55 m

: AshtechGps::processRecord() - $GPGGA,183022.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183021.98,3649.0710,N,-12150.0996,W,1,03,00.5,046.1,M,-99.9,M,,*45

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183023.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183022.98,3649.0710,N,-12150.0989,W,1,03,00.5,046.2,M,-99.9,M,,*4b

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183024.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183023.98,3649.0710,N,-12150.0983,W,1,03,00.5,046.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183025.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183024.98,3649.0710,N,-12150.0976,W,1,03,00.5,046.4,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183026.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183025.98,3649.0710,N,-12150.0969,W,1,03,00.5,046.5,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183027.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183026.98,3649.0710,N,-12150.0962,W,1,03,00.5,046.0,M,-99.9,M,,*48

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183028.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183027.98,3649.0710,N,-12150.0955,W,1,03,00.5,046.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,183029.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183028.98,3649.0710,N,-12150.0948,W,1,03,00.5,046.0,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 32.55  2.44 14.84 4.05 4.08 0 12755.88 03:57:03 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183030.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183029.98,3649.0710,N,-12150.0941,W,1,03,00.5,045.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183031.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183030.98,3649.0710,N,-12150.0935,W,1,03,00.5,045.9,M,-99.9,M,,*47

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.66 15.33 4.03 4.08 0  1341.45 03:57:05 m

: AshtechGps::processRecord() - $GPGGA,183032.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183031.98,3649.0709,N,-12150.0928,W,1,03,00.5,045.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.030000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,183033.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183032.98,3649.0709,N,-12150.0922,W,1,03,00.5,045.6,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183034.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183033.98,3649.0709,N,-12150.0916,W,1,03,00.5,045.4,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183035.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183034.98,3649.0709,N,-12150.0910,W,1,03,00.5,045.3,M,-99.9,M,,*46

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,183036.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183035.98,3649.0709,N,-12150.0903,W,1,03,00.5,045.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183037.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183036.98,3649.0709,N,-12150.0897,W,1,03,00.5,045.3,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183038.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183037.98,3649.0709,N,-12150.0890,W,1,03,00.5,045.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183039.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183038.98,3649.0709,N,-12150.0883,W,1,03,00.5,045.7,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 32.51  3.11 14.84 4.05 4.08 0 12755.63 03:57:13 m

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183040.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183039.98,3649.0709,N,-12150.0876,W,1,03,00.5,045.7,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183041.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183040.98,3649.0709,N,-12150.0870,W,1,03,00.5,045.2,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.71  2.62 15.33 4.03 4.08 0  1341.23 03:57:15 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 0.849942

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: batts online 2, min cell voltage 4.030000, mean min cell voltage 4.040000

: NMEA Update: $GPGGA,183042.68,3649.0709,N,-12150.0863,W,1,03,00.5,045.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183042.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,183043.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,183043.58,3649.0709,N,-12150.0852,W,1,03,00.5,045.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183044.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183044.58,3649.0708,N,-12150.0846,W,1,03,00.5,044.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183045.00,,,,,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=1.57
	speedMode=1 speed=1.00

: NMEA Update: $GPGGA,183045.58,3649.0708,N,-12150.0839,W,1,03,00.5,045.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183046.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183046.58,3649.0708,N,-12150.0833,W,1,03,00.5,044.5,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=50.00
	horzlMode=3 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,183047.00,,,,,0,00,,,M,,M,,*41

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

:  Waypoint has set the state to finished.

: Waypoint (4075300.0, 603931.2), 
  reached at t = 1734.79                                         (wplog)

: Vehicle Position is error is (0.7, -0.1)

: LayeredControl::execute() -- (t = 1734.791159) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1734.801158) Behavior acousticUpdate:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1734.801158) Behavior ascend:-1 has changed to state Active

: NMEA Update: $GPGGA,183047.58,3649.0708,N,-12150.0826,W,1,03,00.5,045.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183048.00,,,,,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,183048.58,3649.0708,N,-12150.0820,W,1,03,00.5,044.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183049.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.48  2.70 14.84 4.05 4.08 0 12755.45 03:57:23 m

: updating external sensors

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

: NMEA Update: $GPGGA,183049.58,3649.0708,N,-12150.0813,W,1,03,00.5,044.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183050.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183050.58,3649.0708,N,-12150.0806,W,1,03,00.5,043.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183051.00,,,,,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

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.68  4.31 15.23 4.04 4.08 0  1340.84 03:57:25 m

: NMEA Update: $GPGGA,183051.58,3649.0708,N,-12150.0799,W,1,03,00.5,043.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183052.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.045000

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

: NMEA Update: $GPGGA,183052.58,3649.0708,N,-12150.0791,W,1,03,00.5,044.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183053.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183053.58,3649.0708,N,-12150.0783,W,1,03,00.5,044.3,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,183054.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183054.58,3649.0709,N,-12150.0775,W,1,03,00.5,044.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183055.00,,,,,0,00,,,M,,M,,*42

: 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,183055.58,3649.0709,N,-12150.0766,W,1,03,00.5,043.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,183056.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183056.39,3649.0709,N,-12150.0759,W,1,03,00.5,043.2,M,-99.9,M,,*4d

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

: AshtechGps::processRecord() - $GPGGA,183057.00,,,,,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,183057.39,3649.0710,N,-12150.0751,W,1,03,00.5,043.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183058.00,,,,,0,00,,,M,,M,,*4F

: 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,183058.39,3649.0711,N,-12150.0743,W,1,03,00.5,042.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,183059.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.36  4.52 14.84 4.05 4.08 0 12755.06 03:57:33 m

: updating external sensors

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

: NMEA Update: $GPGGA,183059.39,3649.0711,N,-12150.0734,W,1,03,00.5,042.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183100.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183100.39,3649.0713,N,-12150.0726,W,1,03,00.5,043.4,M,-99.9,M,,*4a

: 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,183101.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $c0q0 d- 32.56  5.60 15.33 4.04 4.08 0  1340.50 03:57:35 m

: NMEA Update: $GPGGA,183101.39,3649.0714,N,-12150.0718,W,1,03,00.5,042.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183102.00,,,,,0,00,,,M,,M,,*41

: 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 4.040000, mean min cell voltage 4.045000

: NMEA Update: $GPGGA,183102.39,3649.0716,N,-12150.0711,W,1,03,00.5,043.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,183103.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,183103.39,3649.0717,N,-12150.0702,W,1,03,00.5,100.0,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,183104.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183104.39,3649.0719,N,-12150.0694,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,183105.00,,,,,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

: updating external sensors

: NMEA Update: $GPGGA,183105.39,3649.0721,N,-12150.0686,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183106.00,,,,,0,00,,,M,,M,,*45

: 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,183106.39,3649.0723,N,-12150.0679,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183107.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,183107.39,3649.0725,N,-12150.0671,W,1,03,00.5,100.0,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,183108.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183108.39,3649.0727,N,-12150.0664,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,183109.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 32.44  4.00 14.84 4.04 4.07 0 12754.76 03:57:43 m

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

: NMEA Update: $GPGGA,183109.39,3649.0730,N,-12150.0658,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183110.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183110.39,3649.0733,N,-12150.0651,W,1,03,00.5,100.0,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,183111.00,,,,,0,00,,,M,,M,,*43

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

: BluefinBatt Reply: $c0q0 d- 32.64  4.52 15.33 4.02 4.07 0  1340.01 03:57:45 m

: NMEA Update: $GPGGA,183111.39,3649.0737,N,-12150.0645,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183112.00,,,,,0,00,,,M,,M,,*40

: 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 4.020000, mean min cell voltage 4.030000

: NMEA Update: $GPGGA,183112.39,3649.0740,N,-12150.0639,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183113.00,,,,,0,00,,,M,,M,,*41

: 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,183113.39,3649.0744,N,-12150.0633,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183114.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183114.39,3649.0749,N,-12150.0627,W,1,03,00.5,100.0,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,183115.00,,,,,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,183115.39,3649.0753,N,-12150.0622,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183116.00,,,,,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

: NMEA Update: $GPGGA,183116.39,3649.0758,N,-12150.0616,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183117.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,183117.39,3649.0764,N,-12150.0610,W,1,03,00.5,100.0,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,183118.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183118.39,3649.0770,N,-12150.0605,W,1,03,00.5,100.0,M,-99.9,M,,*44

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183119.00,,,,,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

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.44  3.85 14.84 4.04 4.07 0 12754.31 03:57:53 m

: NMEA Update: $GPGGA,183119.39,3649.0776,N,-12150.0600,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183120.00,,,,,0,00,,,M,,M,,*41

: 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,183120.39,3649.0782,N,-12150.0596,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183121.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $c0q0 d- 32.64  4.34 15.33 4.02 4.07 0  1339.69 03:57:55 m

: NMEA Update: $GPGGA,183121.39,3649.0788,N,-12150.0593,W,1,03,00.5,059.9,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,183122.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183122.39,3649.0795,N,-12150.0591,W,1,03,00.5,061.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,183123.00,,,,,0,00,,,M,,M,,*42

: 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,183123.39,3649.0801,N,-12150.0590,W,1,03,00.5,061.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183124.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183124.39,3649.0808,N,-12150.0589,W,1,03,00.5,100.0,M,-99.9,M,,*4c

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

: AshtechGps::processRecord() - $GPGGA,183125.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,183125.39,3649.0815,N,-12150.0589,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,183126.00,,,,,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,183126.39,3649.0821,N,-12150.0590,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183127.00,,,,,0,00,,,M,,M,,*46

: 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,183127.39,3649.0827,N,-12150.0591,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183128.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183128.39,3649.0834,N,-12150.0593,W,1,03,00.5,100.0,M,-99.9,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,183129.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 32.44  3.82 14.84 4.04 4.07 0 12754.06 03:58:03 m

: NMEA Update: $GPGGA,183129.39,3649.0839,N,-12150.0596,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183130.00,,,,,0,00,,,M,,M,,*40

: 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,183130.39,3649.0845,N,-12150.0600,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183131.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 32.56  5.71 15.23 4.02 4.07 0  1339.24 03:58:05 m

: NMEA Update: $GPGGA,183131.39,3649.0850,N,-12150.0605,W,1,03,00.5,100.0,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,183132.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

: NMEA Update: $GPGGA,183132.39,3649.0854,N,-12150.0610,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,183133.00,,,,,0,00,,,M,,M,,*43

: 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,183133.39,3649.0858,N,-12150.0617,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,183134.00,,,,,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

: NMEA Update: $GPGGA,183134.39,3649.0861,N,-12150.0623,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,183135.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,183135.39,3649.0864,N,-12150.0630,W,1,03,00.5,100.0,M,-99.9,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,183136.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183136.39,3649.0866,N,-12150.0638,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183137.00,,,,,0,00,,,M,,M,,*47

: 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,183137.39,3649.0867,N,-12150.0646,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183138.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183138.39,3649.0867,N,-12150.0653,W,1,03,00.5,100.0,M,-99.9,M,,*4c

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

: AshtechGps::processRecord() - $GPGGA,183139.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 32.40  4.37 14.84 4.04 4.07 0 12753.63 03:58:13 m

: NMEA Update: $GPGGA,183139.39,3649.0867,N,-12150.0660,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183140.00,,,,,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

: NMEA Update: $GPGGA,183140.39,3649.0865,N,-12150.0667,W,1,03,00.5,100.0,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183141.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 32.64  4.02 15.33 4.02 4.07 0  1338.95 03:58:15 m

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

: NMEA Update: $GPGGA,183141.39,3649.0863,N,-12150.0674,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183142.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

: NMEA Update: $GPGGA,183142.39,3649.0859,N,-12150.0682,W,1,03,00.5,100.0,M,-99.9,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,183143.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,183143.39,3649.0856,N,-12150.0689,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,183144.00,,,,,0,00,,,M,,M,,*43

: 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,183144.39,3649.0852,N,-12150.0696,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183145.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,183145.39,3649.0847,N,-12150.0702,W,1,03,00.5,100.0,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,183146.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183146.39,3649.0842,N,-12150.0707,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183147.00,,,,,0,00,,,M,,M,,*40

: 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,183147.39,3649.0837,N,-12150.0709,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183148.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 1795.996966) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1795.996966) Behavior getgps:-1 has changed to state Active

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

: NMEA Update: $GPGGA,183148.39,3649.0831,N,-12150.0710,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,183149.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 32.44  3.78 14.84 4.04 4.07 0 12753.31 03:58:23 m

: NMEA Update: $GPGGA,183149.39,3649.0826,N,-12150.0713,W,1,03,00.5,100.0,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,183150.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183150.39,3649.0822,N,-12150.0715,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,183151.00,,,,,0,00,,,M,,M,,*47

: 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

: BluefinBatt Reply: $c0q0 d- 32.75  1.86 15.23 4.02 4.07 0  1338.48 03:58:25 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183151.39,3649.0816,N,-12150.0717,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,183152.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

: NMEA Update: $GPGGA,183152.39,3649.0810,N,-12150.0717,W,1,03,00.5,100.0,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,183153.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,183153.39,3649.0805,N,-12150.0716,W,1,03,00.5,086.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183154.00,,,,,0,00,,,M,,M,,*42

: 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,183154.39,3649.0800,N,-12150.0717,W,1,03,00.5,086.2,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183155.00,,,,,0,00,,,M,,M,,*43

: 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,183155.39,3649.0796,N,-12150.0720,W,1,03,00.5,086.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183156.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183156.39,3649.0792,N,-12150.0723,W,1,03,00.5,086.4,M,-99.9,M,,*4c

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

: AshtechGps::processRecord() - $GPGGA,183157.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,183157.39,3649.0787,N,-12150.0725,W,1,03,00.5,086.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183158.00,,,,,0,00,,,M,,M,,*4E

: 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,183158.39,3649.0784,N,-12150.0723,W,1,03,00.5,087.5,M,-99.9,M,,*45

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183159.00,3649.08510,N,12150.07684,W,1,05,2.1,-1.27,M,-32.59,M,,*78

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  0.96 14.94 4.04 4.07 0 12753.13 03:58:33 m

: Kearfott::parseGPS_GGA - lat(36.818085) lon(121.834614)

: 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:          1
   ZUPT processed              0
   Valid Dvl height            0

: NMEA Update: $GPGGA,183159.39,3649.0780,N,-12150.0719,W,1,03,00.5,088.1,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,183200.00,3649.08431,N,12150.07649,W,1,06,1.6,-1.84,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.818072) lon(121.834608)

: 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

: NMEA Update: $GPGGA,183200.39,3649.0776,N,-12150.0716,W,1,03,00.5,086.9,M,-99.9,M,,*4d

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

: AshtechGps::processRecord() - $GPGGA,183201.00,3649.08433,N,12150.07641,W,1,06,1.6,-2.97,M,-32.59,M,,*70

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.818072) lon(121.834607)

: 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

: BluefinBatt Reply: $c0q0 d- 32.79  1.39 15.13 4.02 4.07 0  1338.33 03:58:35 m

: NMEA Update: $GPGGA,183201.39,3649.0771,N,-12150.0713,W,1,03,00.5,086.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,183202.00,3649.08382,N,12150.07605,W,1,06,1.6,-2.30,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.818064) lon(121.834601)

: GetGPS::execute() -- Got a new GPS hit: 4 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:          1
   ZUPT processed              0
   Valid Dvl height            0

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: batts online 2, min cell voltage 4.020000, mean min cell voltage 4.030000

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

: NMEA Update: $GPGGA,183202.39,3649.0767,N,-12150.0712,W,1,03,00.5,088.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,183203.00,3649.08310,N,12150.07593,W,1,06,1.6,-2.54,M,-32.59,M,,*77

: updating external sensors

: Kearfott::deltaTime is 1.089925

: NMEA Update: $GPGGA,183203.99,3649.0765,N,-12150.0713,W,1,03,00.5,085.1,M,-99.9,M,,*48

: Kearfott::parseGPS_GGA - lat(36.818052) lon(121.834599)

: Kearfott::parseGPS_GGA - lat(36.818049) lon(121.834601)

: AshtechGps::processRecord() - $GPGGA,183204.00,3649.08296,N,12150.07603,W,1,07,1.2,-2.37,M,-32.59,M,,*75

: 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            1

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

: AshtechGps::processRecord() - $GPGGA,183205.00,,,,,0,02,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183204.99,3649.0761,N,-12150.0717,W,1,03,00.5,085.6,M,-99.9,M,,*48

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183206.00,,,,,0,00,,,M,,M,,*46

: 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,183205.99,3649.0822,N,-12150.0771,W,1,03,00.5,086.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183207.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183206.99,3649.0819,N,-12150.0773,W,1,03,00.5,086.3,M,-99.9,M,,*4e

: updating external sensors

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

: AshtechGps::processRecord() - $GPGGA,183208.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183207.99,3649.0816,N,-12150.0772,W,1,03,00.5,086.9,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,183209.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183208.99,3649.0813,N,-12150.0769,W,1,03,00.5,087.2,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.51  2.07 14.84 4.06 4.08 0 12753.03 03:58:43 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183210.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183209.99,3649.0811,N,-12150.0765,W,1,03,00.5,088.5,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,183211.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183210.99,3649.0808,N,-12150.0762,W,1,03,00.5,087.3,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  2.12 15.23 4.04 4.08 0  1338.12 03:58:45 m

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

: AshtechGps::processRecord() - $GPGGA,183212.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183211.98,3649.0805,N,-12150.0762,W,1,03,00.5,086.9,M,-99.9,M,,*4e

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,183213.00,,,,,0,00,,,M,,M,,*42

: 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,183212.98,3649.0803,N,-12150.0763,W,1,03,00.5,085.0,M,-99.9,M,,*40

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: updating external sensors

: AshtechGps::processRecord() - $GPGGA,183214.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183213.98,3649.0801,N,-12150.0766,W,1,03,00.5,086.0,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,183215.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183214.98,3649.0799,N,-12150.0768,W,1,03,00.5,086.5,M,-99.9,M,,*47

: updating external sensors

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

: AshtechGps::processRecord() - $GPGGA,183216.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183215.98,3649.0796,N,-12150.0770,W,1,03,00.5,085.0,M,-99.9,M,,*46

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183217.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183216.98,3649.0794,N,-12150.0771,W,1,03,00.5,087.6,M,-99.9,M,,*42

: updating external sensors

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

: AshtechGps::processRecord() - $GPGGA,183218.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183217.98,3649.0792,N,-12150.0771,W,1,03,00.5,086.7,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,183219.00,,,,,0,01,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,183218.98,3649.0790,N,-12150.0770,W,1,03,00.5,087.2,M,-99.9,M,,*4d

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  0.92 14.84 4.06 4.08 0 12752.89 03:58:53 m

: Kearfott::deltaTime is 1.009931

: Kearfott::parseGPS_GGA - lat(36.817975) lon(121.834578)

: NMEA Update: $GPGGA,183220.51,3649.0788,N,-12150.0770,W,1,03,00.5,087.3,M,-99.9,M,,*4b

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::deltaTime is 1.039929

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

: gpsDriver::readRecord() - serial device timed out
: updating external sensors

: NMEA Update: $GPGGA,183221.57,3649.0788,N,-12150.0770,W,1,03,00.5,087.3,M,-99.9,M,,*4c

: Kearfott::parseGPS_GGA - lat(36.817983) lon(121.834572)

: AshtechGps::processRecord() - 83220.00,3649.07849,N,12150.07465,W,1,06,1.2,0.72,M,-32.59,M,,*59

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: AshtechGps::processRecord() - $GPGGA,183221.00,3649.07900,N,12150.07434,W,1,06,1.2,1.06,M,-32.59,M,,*52

:  Navigation:: deltaT = 2.40 is impermissible.

: GetGPS::execute() -- Got a new GPS hit: 6 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:          1
   ZUPT processed              0
   Valid Dvl height            0

: AshtechGps::processRecord() - $GPGGA,183222.00,3649.07831,N,12150.07436,W,1,06,1.2,-1.05,M,-32.59,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.817972) lon(121.834573)

: NMEA Update: $GPGGA,183222.38,3649.0784,N,-12150.0765,W,1,03,00.5,085.7,M,-99.9,M,,*48

: BluefinBatt Reply: $c0q0 d- 32.79  1.36 15.23 4.04 4.08 0  1337.98 03:58:56 m

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

: AshtechGps::processRecord() - $GPGGA,183223.00,3649.07846,N,12150.07423,W,1,06,1.2,-0.38,M,-32.59,M,,*74

: Kearfott::parseGPS_GGA - lat(36.817974) lon(121.834571)

: updating external sensors

: 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: 2 of 10 needed
: NMEA Update: $GPGGA,183223.38,3649.0775,N,-12150.0744,W,1,03,00.5,087.6,M,-99.9,M,,*47

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,183224.00,3649.07756,N,12150.07416,W,1,06,1.2,-1.22,M,-32.59,M,,*71

: Kearfott::parseGPS_GGA - lat(36.817959) lon(121.834569)

: 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: 3 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,183224.38,3649.0773,N,-12150.0743,W,1,03,00.5,086.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,183225.00,3649.07719,N,12150.07390,W,1,06,1.2,-0.90,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.817953) lon(121.834565)

: updating external sensors

: 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: 4 of 10 needed
: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183225.38,3649.0771,N,-12150.0744,W,1,03,00.5,086.2,M,-99.9,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,183226.00,3649.07730,N,12150.07456,W,1,06,1.2,-1.81,M,-32.59,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.817955) lon(121.834576)

: 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: 5 of 10 needed
: NMEA Update: $GPGGA,183226.38,3649.0769,N,-12150.0748,W,1,03,00.5,086.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183227.00,3649.07706,N,12150.07491,W,1,07,1.2,-1.14,M,-32.59,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.817951) lon(121.834582)

: updating external sensors

: 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: 6 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,183227.38,3649.0766,N,-12150.0750,W,1,03,00.5,086.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,183228.00,3649.07686,N,12150.07512,W,1,07,1.2,-0.67,M,-32.59,M,,*75

: Kearfott::parseGPS_GGA - lat(36.817948) lon(121.834585)

: 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: 7 of 10 needed
: NMEA Update: $GPGGA,183228.38,3649.0764,N,-12150.0753,W,1,03,00.5,088.0,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,183229.00,3649.07670,N,12150.07507,W,1,07,1.2,0.00,M,-32.59,M,,*55

: Kearfott::parseGPS_GGA - lat(36.817945) lon(121.834585)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  1.07 14.84 4.06 4.08 0 12752.76 03:59:03 m

: 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: 8 of 10 needed
: NMEA Update: $GPGGA,183229.38,3649.0762,N,-12150.0752,W,1,03,00.5,089.4,M,-99.9,M,,*40

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

: AshtechGps::processRecord() - $GPGGA,183230.00,3649.07653,N,12150.07490,W,1,07,1.2,0.49,M,-32.59,M,,*5E

: Kearfott::parseGPS_GGA - lat(36.817942) lon(121.834582)

: GetGPS::execute() -- Got a new GPS hit: 14 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
: NMEA Update: $GPGGA,183230.38,3649.0760,N,-12150.0750,W,1,03,00.5,086.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183231.00,3649.07635,N,12150.07451,W,1,07,1.2,0.56,M,-32.59,M,,*5C

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.817939) lon(121.834575)

: GetGPS::execute() -- Got a new GPS hit: 15 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1838.794034) Behavior getgps:-1 has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: BluefinBatt Reply: $c0q0 d- 32.79  1.97 15.13 4.04 4.08 0  1337.79 03:59:05 m

: LayeredControl::execute() -- (t = 1838.994020) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1838.994020) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1838.994020) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1838.994020) Behavior missionTimer:-1 has changed to state Active

: NMEA Update: $GPGGA,183231.38,3649.0759,N,-12150.0745,W,1,03,00.5,089.4,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,183232.00,3649.07602,N,12150.07423,W,1,07,1.2,0.41,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817934) lon(121.834571)

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,183232.38,3649.0757,N,-12150.0743,W,1,03,00.5,087.4,M,-99.9,M,,*42

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,183233.00,3649.07596,N,12150.07381,W,1,07,1.2,0.27,M,-32.59,M,,*58

: Kearfott::parseGPS_GGA - lat(36.817933) lon(121.834564)

: updating external sensors

: NMEA Update: $GPGGA,183233.38,3649.0756,N,-12150.0740,W,1,03,00.5,088.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183234.00,3649.07583,N,12150.07373,W,1,07,1.2,-0.34,M,-32.59,M,,*79

: Kearfott::parseGPS_GGA - lat(36.817931) lon(121.834562)

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

: NMEA Update: $GPGGA,183234.38,3649.0755,N,-12150.0740,W,1,03,00.5,086.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183235.00,3649.07573,N,12150.07384,W,1,07,1.2,-0.81,M,-32.59,M,,*71

: Kearfott::parseGPS_GGA - lat(36.817929) lon(121.834564)

: updating external sensors

: NMEA Update: $GPGGA,183235.38,3649.0753,N,-12150.0741,W,1,03,00.5,086.6,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,183236.00,3649.07561,N,12150.07404,W,1,07,1.2,-0.96,M,-32.59,M,,*78

: Kearfott::parseGPS_GGA - lat(36.817927) lon(121.834567)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183236.38,3649.0752,N,-12150.0744,W,1,03,00.5,087.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183237.00,3649.07540,N,12150.07433,W,1,07,1.2,-0.71,M,-32.59,M,,*77

: Kearfott::parseGPS_GGA - lat(36.817923) lon(121.834572)

: updating external sensors

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

: NMEA Update: $GPGGA,183237.38,3649.0750,N,-12150.0746,W,1,03,00.5,085.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,183238.00,3649.07517,N,12150.07429,W,1,07,1.2,-0.38,M,-32.59,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.817920) lon(121.834572)

: NMEA Update: $GPGGA,183238.38,3649.0748,N,-12150.0747,W,1,03,00.5,088.0,M,-99.9,M,,*49

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

: Kearfott::parseGPS_GGA - lat(36.817914) lon(121.834572)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  1.11 14.84 4.06 4.08 0 12752.63 03:59:13 m

: NMEA Update: $GPGGA,183239.73,3649.0746,N,-12150.0747,W,1,03,00.5,088.4,M,-99.9,M,,*4d

: Kearfott::deltaTime is 0.739949

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: AshtechGps::processRecord() - $GPGGA,183239.00,3649.07481,N,12150.07429,W,1,08,1.1,-0.41,M,-32.59,M,,*71

: AshtechGps::processRecord() - $GPGGA,183240.00,3649.07461,N,12150.07411,W,1,08,1.1,-0.16,M,-32.59,M,,*78

: Kearfott::parseGPS_GGA - lat(36.817910) lon(121.834569)

: NMEA Update: $GPGGA,183240.58,3649.0743,N,-12150.0744,W,1,03,00.5,087.4,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,183241.00,3649.07444,N,12150.07382,W,1,08,1.1,-0.25,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.817907) lon(121.834564)

: updating external sensors

: NMEA Update: $GPGGA,183241.58,3649.0741,N,-12150.0742,W,1,03,00.5,088.9,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 32.75  1.65 15.13 4.04 4.08 0  1337.61 03:59:16 m

: AshtechGps::processRecord() - $GPGGA,183242.00,3649.07425,N,12150.07382,W,1,08,1.1,-0.47,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.817904) lon(121.834564)

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

: NMEA Update: $GPGGA,183242.58,3649.0740,N,-12150.0744,W,1,03,00.5,086.5,M,-99.9,M,,*42

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,183243.00,3649.07425,N,12150.07384,W,1,08,1.1,-0.48,M,-32.59,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.817904) lon(121.834564)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183243.58,3649.0739,N,-12150.0743,W,1,03,00.5,087.5,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,183244.00,3649.07426,N,12150.07386,W,1,08,1.1,-0.13,M,-32.59,M,,*73

: Kearfott::parseGPS_GGA - lat(36.817904) lon(121.834564)

: NMEA Update: $GPGGA,183244.58,3649.0738,N,-12150.0743,W,1,03,00.5,088.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,183245.00,3649.07418,N,12150.07379,W,1,08,1.1,0.02,M,-32.59,M,,*52

: Kearfott::parseGPS_GGA - lat(36.817903) lon(121.834563)

: updating external sensors

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

: NMEA Update: $GPGGA,183245.58,3649.0736,N,-12150.0742,W,1,03,00.5,087.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183246.00,3649.07402,N,12150.07355,W,1,08,1.1,-0.20,M,-32.59,M,,*79

: Kearfott::parseGPS_GGA - lat(36.817900) lon(121.834559)

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

: NMEA Update: $GPGGA,183246.58,3649.0735,N,-12150.0742,W,1,03,00.5,088.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183247.00,3649.07381,N,12150.07356,W,1,08,1.1,-0.36,M,-32.59,M,,*70

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: Kearfott::parseGPS_GGA - lat(36.817897) lon(121.834559)

: updating external sensors

: NMEA Update: $GPGGA,183247.58,3649.0733,N,-12150.0740,W,1,03,00.5,085.8,M,-99.9,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,183248.00,3649.07370,N,12150.07348,W,1,08,1.1,-0.39,M,-32.59,M,,*71

: Kearfott::parseGPS_GGA - lat(36.817895) lon(121.834558)

: NMEA Update: $GPGGA,183248.58,3649.0731,N,-12150.0741,W,1,03,00.5,088.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,183249.00,3649.07354,N,12150.07341,W,1,08,1.1,-0.21,M,-32.59,M,,*76

: Kearfott::parseGPS_GGA - lat(36.817892) lon(121.834557)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  1.26 14.74 4.06 4.08 0 12752.54 03:59:23 m

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

: NMEA Update: $GPGGA,183249.58,3649.0730,N,-12150.0740,W,1,03,00.5,088.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,183250.00,3649.07338,N,12150.07325,W,1,08,1.1,-0.19,M,-32.59,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.817890) lon(121.834554)

: NMEA Update: $GPGGA,183250.58,3649.0728,N,-12150.0739,W,1,03,00.5,087.0,M,-99.9,M,,*41

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,183251.00,3649.07318,N,12150.07311,W,1,08,1.1,-0.38,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.817886) lon(121.834552)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  1.83 15.03 4.04 4.08 0  1337.49 03:59:25 m

: NMEA Update: $GPGGA,183251.58,3649.0726,N,-12150.0738,W,1,03,00.5,086.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,183252.00,3649.07260,N,12150.07305,W,1,09,0.9,-2.18,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.817877) lon(121.834551)

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

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,183252.58,3649.0725,N,-12150.0738,W,1,03,00.5,087.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,183253.00,3649.07253,N,12150.07310,W,1,09,0.9,-2.20,M,-32.59,M,,*74

: Kearfott::parseGPS_GGA - lat(36.817876) lon(121.834552)

: updating external sensors

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

: NMEA Update: $GPGGA,183253.58,3649.0724,N,-12150.0739,W,1,03,00.5,086.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,183254.00,3649.07242,N,12150.07313,W,1,09,0.9,-2.24,M,-32.59,M,,*74

: Kearfott::parseGPS_GGA - lat(36.817874) lon(121.834552)

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183254.58,3649.0723,N,-12150.0741,W,1,03,00.5,086.4,M,-99.9,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,183255.00,3649.07230,N,12150.07316,W,1,09,0.9,-1.87,M,-32.59,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.817872) lon(121.834553)

: updating external sensors

: NMEA Update: $GPGGA,183255.58,3649.0717,N,-12150.0731,W,1,03,00.5,087.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,183256.00,3649.07231,N,12150.07281,W,1,09,0.9,-1.66,M,-32.59,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.817872) lon(121.834547)

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

: NMEA Update: $GPGGA,183256.58,3649.0717,N,-12150.0729,W,1,03,00.5,090.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183257.00,3649.07212,N,12150.07273,W,1,09,0.9,-1.99,M,-32.59,M,,*70

: Kearfott::parseGPS_GGA - lat(36.817869) lon(121.834546)

: updating external sensors

: NMEA Update: $GPGGA,183257.58,3649.0715,N,-12150.0729,W,1,03,00.5,085.3,M,-99.9,M,,*48

: 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,183258.00,3649.07204,N,12150.07273,W,1,09,0.9,-2.06,M,-32.59,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.817867) lon(121.834546)

: NMEA Update: $GPGGA,183258.58,3649.0713,N,-12150.0730,W,1,03,00.5,086.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183259.00,3649.07193,N,12150.07263,W,1,09,0.9,-1.69,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.817866) lon(121.834544)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.63  1.14 14.84 4.06 4.08 0 12752.41 03:59:33 m

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

: NMEA Update: $GPGGA,183259.58,3649.0714,N,-12150.0728,W,1,03,00.5,090.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183300.00,3649.07182,N,12150.07240,W,1,09,0.9,-1.62,M,-32.59,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.817864) lon(121.834540)

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

: NMEA Update: $GPGGA,183300.58,3649.0712,N,-12150.0726,W,1,03,00.5,086.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,183301.00,3649.07176,N,12150.07210,W,1,09,0.9,-1.87,M,-32.59,M,,*79

: Kearfott::parseGPS_GGA - lat(36.817863) lon(121.834535)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 32.75  1.90 15.13 4.04 4.08 0  1337.37 03:59:35 m

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183301.58,3649.0711,N,-12150.0725,W,1,03,00.5,087.1,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,183302.00,3649.07157,N,12150.07221,W,1,09,0.9,-2.42,M,-32.59,M,,*71

: Kearfott::parseGPS_GGA - lat(36.817860) lon(121.834537)

: batts online 2, min cell voltage 4.040000, mean min cell voltage 4.050000

: NMEA Update: $GPGGA,183302.58,3649.0709,N,-12150.0728,W,1,03,00.5,086.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,183303.00,3649.07148,N,12150.07240,W,1,09,0.9,-2.33,M,-32.59,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.817858) lon(121.834540)

: updating external sensors

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

: NMEA Update: $GPGGA,183303.58,3649.0710,N,-12150.0724,W,1,03,00.5,086.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183304.00,3649.07141,N,12150.07235,W,1,10,0.8,-2.05,M,-32.59,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.817857) lon(121.834539)

: NMEA Update: $GPGGA,183304.58,3649.0708,N,-12150.0723,W,1,03,00.5,087.5,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,183305.00,3649.07125,N,12150.07230,W,1,10,0.8,-1.91,M,-32.59,M,,*77

: Kearfott::parseGPS_GGA - lat(36.817854) lon(121.834538)

: updating external sensors

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: NMEA Update: $GPGGA,183305.58,3649.0708,N,-12150.0721,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,183306.00,3649.07126,N,12150.07211,W,1,10,0.8,-1.99,M,-32.59,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.817854) lon(121.834535)

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

: NMEA Update: $GPGGA,183306.58,3649.0707,N,-12150.0720,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,183307.00,3649.07118,N,12150.07215,W,1,10,0.8,-1.93,M,-32.59,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.817853) lon(121.834536)

: updating external sensors

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

: NMEA Update: $GPGGA,183307.58,3649.0707,N,-12150.0720,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,183308.00,3649.07109,N,12150.07206,W,1,10,0.8,-1.68,M,-32.59,M,,*77

: Kearfott::parseGPS_GGA - lat(36.817852) lon(121.834534)

: NMEA Update: $GPGGA,183308.58,3649.0705,N,-12150.0718,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,183309.00,3649.07093,N,12150.07184,W,1,10,0.8,-1.49,M,-32.59,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.817849) lon(121.834531)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 32.59  1.41 14.74 4.06 4.08 0 12752.32 03:59:43 m

: NMEA Update: $GPGGA,183309.58,3649.0704,N,-12150.0716,W,1,03,00.5,087.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,183310.00,3649.07077,N,12150.07164,W,1,10,0.8,-1.63,M,-32.59,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.817846) lon(121.834527)

: 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

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object kearfottOutput ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task InsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: 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

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: 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 ****

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: EchoSounderDriver:: Destructor executing.
:  CameraDestructor 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

:  DropWeight Destructor Executing.
: **** SharedData destructor for object BluefinBattOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: destroying segment ParosciOutput_ShmemName
: failed to unlink queue benthosModemCommand
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: destroying segment kearfottOutput
: **** SharedData destructor for object TailConeInput_ShmemName ****

: destroying segment m3dmgx1Cmd
: **** SharedData destructor for object kearfottOutput ****

: EchoSounderServer:: Destructor executing.
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: destroying prot sem m3dmgx1Cmd_prot
: destroying segment LayeredControlOutput_ShmemName
: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object dropWeightOutput ****

: destroying segment BluefinBattOutput
: **** SharedData destructor for object dropWeightOutput ****

: destroying segment GpsOutput_ShmemName
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying prot sem ParosciOutput_ShmemName_prot
: destroying prot sem kearfottOutput_prot
: destroying segment TailConeInput_ShmemName
: destroying segment SonardyneOutput_ShmemName
: destroying segment kearfottOutput
: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: destroying segment SonardyneOutput_ShmemName
: destroying segment DvlOutput_ShmemName
: destroying segment ParosciOutput_ShmemName
: destroying segment GpsOutput_ShmemName
: destroying segment navigationOutput
: destroying notify sem m3dmgx1Cmd_notify
: destroying prot sem LayeredControlOutput_ShmemName_prot
: destroying segment TailConeInput_ShmemName
: destroying segment fanOutput
: **** SharedData destructor for object navigationOutput ****

: destroying segment EchoSounderOutput_ShmemName
: destroying prot sem BluefinBattOutput_prot
: destroying segment dropWeightOutput
: destroying prot sem GpsOutput_ShmemName_prot
: destroying segment dropWeightOutput
: destroying segment fanOutput
: destroying notify sem ParosciOutput_ShmemName_notify
: destroying segment CameraOutput
: destroying notify sem kearfottOutput_notify
: destroying segment LayeredControlInput_ShmemName
: destroying prot sem TailConeInput_ShmemName_prot
: destroying prot sem SonardyneOutput_ShmemName_prot
: destroying prot sem kearfottOutput_prot
: destroying prot sem navigationOutput_prot
: destroying segment EchoSounderOutput_ShmemName
: destroying prot sem SonardyneOutput_ShmemName_prot
: destroying segment CameraOutput
: destroying prot sem DvlOutput_ShmemName_prot
: destroying prot sem ParosciOutput_ShmemName_prot
: destroying prot sem GpsOutput_ShmemName_prot
: **** SharedData destructor for object m3dmgx1 ****

: destroying notify sem LayeredControlOutput_ShmemName_notify
: destroying prot sem TailConeInput_ShmemName_prot
: destroying prot sem fanOutput_prot
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying segment navigationOutput
: destroying notify sem BluefinBattOutput_notify
: destroying prot sem dropWeightOutput_prot
: destroying notify sem GpsOutput_ShmemName_notify
: destroying prot sem dropWeightOutput_prot
: destroying prot sem fanOutput_prot
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: destroying prot sem CameraOutput_prot
: **** SharedData destructor for object DvlOutput_ShmemName ****

: destroying segment m3dmgx1
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying prot sem LayeredControlInput_ShmemName_prot
: destroying notify sem TailConeInput_ShmemName_notify
: destroying notify sem SonardyneOutput_ShmemName_notify
: destroying notify sem kearfottOutput_notify
: destroying notify sem navigationOutput_notify
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying notify sem SonardyneOutput_ShmemName_notify
: destroying prot sem CameraOutput_prot
: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem GpsOutput_ShmemName_notify
: destroying notify sem TailConeInput_ShmemName_notify
: destroying notify sem fanOutput_notify
: destroying notify sem EchoSounderOutput_ShmemName_notify
: destroying prot sem navigationOutput_prot
: destroying notify sem dropWeightOutput_notify
: destroying notify sem dropWeightOutput_notify
: destroying notify sem fanOutput_notify
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: destroying notify sem CameraOutput_notify
: destroying segment DvlOutput_ShmemName
: destroying prot sem m3dmgx1_prot
: destroying segment LayeredControlInput_ShmemName
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying notify sem CameraOutput_notify
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: destroying notify sem EchoSounderOutput_ShmemName_notify
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: SerialDeviceExt::closeSD() - closed

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: destroying prot sem DvlOutput_ShmemName_prot
: destroying notify sem m3dmgx1_notify
: destroying prot sem LayeredControlInput_ShmemName_prot
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: destroying segment TailConeOutput_ShmemName
: failed to unlink queue EchoSounderCommand
: destroying segment TailConeOutput_ShmemName
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying prot sem TailConeOutput_ShmemName_prot
: destroying prot sem TailConeOutput_ShmemName_prot
: destroying segment LayeredControlOutput_ShmemName

//3/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000447E4.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: destroying notify sem TailConeOutput_ShmemName_notify
: destroying notify sem TailConeOutput_ShmemName_notify
: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18

