Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/multibeam/workSite.cfg
reateTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/multibeam/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::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 = (1289947489,476625625)
: Navigation: Opening Acoustic Modem Interface:
Supervisor::createTask() - dropWeightServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - kearfottServer
Supervisor::createTask() - kearfottDvlServer
Superv: SerialDevice: done...

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

or::createT:  DropWeight::initialize - Resetting counters.
ask: **** EventTriggers::add() - attaching proxy
() -: Preparing to fork

 fanServer
: 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...

: I'm the child...forking

: SerialDevice: done...

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

: SerialDevice: done...

Supe: SerialDevice: done...

rvisor::createTask() - echoSounderServer
Supervisor::createTask() - cameraServer
S: BluefinBatt driver - running with 2 batteries
uperviso: SerialDevice: done...

r::cr: BluefineBatt::init() - 2 batteries on 10 second interval
eateTask() - m3d: BluefinBatt.cc - Looking for Parosci server
mgx1
: SerialDevice: done...

: BluefinBatt::init() - querying for batt ids
: SerialDevice: done...

: BluefinBatt::init() - battery echo is !?


: SerialDevice: done...

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

: Navigation::connectSensors core - connecting to DepthSensor at t = 5549.
: Navigation::connectSensors core - connecting to TailCone at t = 5549.
: Navigation::connectSensors core - connecting to KearfottServer at t = 5549.
: Navigation::connectSensors core - connecting to Dvl at t = 5559.
: Navigation::connectSensors aux - connecting to Gps at t = 5559.
: Navigation::connectSensors aux - connecting to EchoSounder at t = 5599.
: 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
: SerialDevice: done...

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


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

: Crossbow.cc: In getSerialNumber()
: SerialDevice: done...

: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

: SerialDevice: done...

: 3 Modules found
: BenthosModem::commandMode() - confirming...
: Set verbose level
: EchoSounderDriver:: Constructor beginning.
: AshtechGps::processRecord() - $GPGGA,224457.00,3648.93806,N,12151.14160,W,1,10,0.8,-2.56,M,-32.68,M,,*72

: CameraDriver:: Before navigation IF.
: CameraDriver enabling 12V camera power supply
: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: Navigation::connectSensors aux - connecting to Velocimeter at t = 7649.
: Navigation: Server for aux sensor "Velocimeter" not found
: Navigation::connectSensors aux - connecting to Usbl at t = 7659.
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6548

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

: Scaled and shifted frequency = 100
: EchoSounderLog:: Constructor starting.
: EchoSounderLog:: Constructor finishing.
: EchoSounderDriver:: Constructor finishing.
: AshtechGps::processRecord() - $GPGGA,224458.00,3648.93803,N,12151.14152,W,1,10,0.8,-2.21,M,-32.68,M,,*79

: PeriodicTask::run() (fanDriver) - sampleInterval=10000, maxInterval=10000
: EchoSounderDriver::run() _toffset = 0
: Set remote response waiting time
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Turn on doppler correction
: NMEA Update: $GPGGA,224459.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57

: AshtechGps::processRecord() - $GPGGA,224459.00,3648.93800,N,12151.14125,W,1,10,0.8,-2.10,M,-32.68,M,,*79

: AshtechGps::processRecord() - $GPGGA,224500.00,3648.93803,N,12151.14100,W,1,10,0.8,-2.32,M,-32.68,M,,*70

: Parosci.cc -- Initial pressure = -0.758424
: Parosci.cc -- Parosci initial pressure period = 29.954980
: BluefinBatt::init() - battery ids are 
aa c0  
: NMEA Update: $GPGGA,224500.97,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53

: BenthosModem::onlineMode() - confirming...
: BluefinBatt::init() - found battery aa
: BluefinBatt::init() - found battery c0
: BluefinBatt::init() - battery echo is #aawf


: Parosci.cc -- Parosci initial temp period = 5.813670
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,224501.00,3648.93806,N,12151.14094,W,1,10,0.8,-2.65,M,-32.68,M,,*7A

: done initializing modem

: PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000
: KearfottDriver: unable to open ctd interface

: NMEA Update: $GPGGA,224502.15,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b

: AshtechGps::processRecord() - $GPGGA,224502.00,3648.93793,N,12151.14086,W,1,10,0.8,-2.31,M,-32.68,M,,*78

: Kearfott::deltaTime is 1289947503.235683

: updating external sensors

: NMEA Update: $GPGGA,224504.28,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53

: gpsDriver::readRecord() - serial device timed out
: Kearfott::deltaTime is 1.039929

: Kearfott::parseGPS_GGA - lat(36.815639) lon(121.852365)

: **** EventTriggers::add() - attaching proxy
: Kearfott::parseGPS_GGA - lat(36.815636) lon(121.852361)

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852360)

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852359)

: Kearfott::parseGPS_GGA - lat(36.815633) lon(121.852354)

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852350)

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852349)

: Kearfott::parseGPS_GGA - lat(36.815632) lon(121.852348)

: AshtechGps::processRecord() - PGGA,224503.00,3648.93799,N,12151.14089,W,1,10,0.8,-2.38,M,-32.68,M,,*75

: AshtechGps::processRecord() - $GPGGA,224504.00,3648.93797,N,12151.14075,W,1,10,0.8,-2.19,M,-32.68,M,,*7C

: AshtechGps::processRecord() - $GPGGA,224505.00,3648.93798,N,12151.14063,W,1,10,0.8,-2.47,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.815633) lon(121.852344)

: NMEA Update: $GPGGA,224505.10,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59

: DynamicControl - Could not open TerrainAid IF.
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: DepthEnvelope - Error. maxLowerPitch must be a postive number.
Flipping the sign now.
: maxLowerPitch = 1745.31
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: updating external sensors

: Kearfott::deltaTime is 1.899870

: BluefinBatt::init() - battery watchdog state is 
$aawf 1
 
: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,224507.87,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55

: Kearfott::parseGPS_GGA - lat(36.815633) lon(121.852343)

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852341)

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


: AshtechGps::processRecord() - GPGGA,224506.00,3648.93799,N,12151.14055,W,1,10,0.8,-3.04,M,-32.68,M,,*7F

: AshtechGps::processRecord() - $GPGGA,224507.00,3648.93804,N,12151.14045,W,1,10,0.8,-2.95,M,-32.68,M,,*7D

: AshtechGps::processRecord() - $GPGGA,224508.00,3648.93802,N,12151.14060,W,1,10,0.8,-3.25,M,-32.68,M,,*79

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815634) lon(121.852343)

: NMEA Update: $GPGGA,224508.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52

: AshtechGps::processRecord() - $GPGGA,224509.00,3648.93809,N,12151.14069,W,1,10,0.8,-3.10,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.815635) lon(121.852345)

: NMEA Update: $GPGGA,224509.70,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53

: Navigation: Server for aux sensor "Usbl" not found
: Navigation::Navigation() - Error.  The echo sounder IF isn't 
yet connected; can't read it's data.
: Navigation::Navigation(). _es->valid() = 0 at t = 20398.
: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,224510.00,3648.93809,N,12151.14047,W,1,10,0.8,-2.40,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.815635) lon(121.852341)

: updating external sensors

: **** EventTriggers::add() - attaching proxy
: Kearfott::deltaTime is 0.759948

: NMEA Update: $GPGGA,224511.14,3648.9379,N,-12151.1408,W,1,03,00.5,100.0,M,-99.9,M,,*42

: Kearfott::parseGPS_GGA - lat(36.815631) lon(121.852331)

: AshtechGps::processRecord() - $GPGGA,224511.00,3648.93783,N,12151.13984,W,1,10,0.8,-1.33,M,-32.68,M,,*76

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

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

: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer:-1 has changed to state Active

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

: updating external sensors

: Kearfott::deltaTime is 0.849942

: Kearfott::parseGPS_GGA - lat(36.815630) lon(121.852325)

: AshtechGps::processRecord() - $GPGGA,224512.00,3648.93777,N,12151.13951,W,1,10,0.8,-1.53,M,-32.68,M,,*70

: NMEA Update: $GPGGA,224512.50,3648.9377,N,-12151.1398,W,1,03,00.5,100.0,M,-99.9,M,,*41

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 2 of 10 needed
: BluefinBatt::init() - battery watchdog state is 
$c0wf 1
 
: Kearfott::parseGPS_GGA - lat(36.815628) lon(121.852320)

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

: Kearfott::deltaTime is 0.869940

: NMEA Update: $GPGGA,224513.88,3648.9376,N,-12151.1397,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,224513.00,3648.93766,N,12151.13918,W,1,10,0.8,-2.23,M,-32.68,M,,*78

: AshtechGps::processRecord() - $GPGGA,224514.00,3648.93761,N,12151.13908,W,1,10,0.8,-2.66,M,-32.68,M,,*78

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

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

: Kearfott::parseGPS_GGA - lat(36.815627) lon(121.852318)

: NMEA Update: $GPGGA,224514.69,3648.9375,N,-12151.1398,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224515.00,3648.93756,N,12151.13915,W,1,10,0.8,-3.12,M,-32.68,M,,*73

: 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
: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852319)

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

: NMEA Update: $GPGGA,224515.69,3648.9375,N,-12151.1399,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224516.00,3648.93757,N,12151.13933,W,1,10,0.8,-3.18,M,-32.68,M,,*7F

: 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
: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852322)

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

: NMEA Update: $GPGGA,224516.69,3648.9375,N,-12151.1400,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224517.00,3648.93764,N,12151.13949,W,1,10,0.8,-3.16,M,-32.68,M,,*7D

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 6 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.815627) lon(121.852325)

: NMEA Update: $GPGGA,224517.69,3648.9375,N,-12151.1401,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224518.00,3648.93771,N,12151.13955,W,1,10,0.8,-2.91,M,-32.68,M,,*75

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

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

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815629) lon(121.852326)

: NMEA Update: $GPGGA,224518.69,3648.9375,N,-12151.1400,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224519.00,3648.93769,N,12151.13944,W,1,10,0.8,-2.49,M,-32.68,M,,*78

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
: Kearfott::parseGPS_GGA - lat(36.815628) lon(121.852324)

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

: NMEA Update: $GPGGA,224519.69,3648.9374,N,-12151.1399,W,1,03,00.5,100.0,M,-99.9,M,,*42

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815628) lon(121.852320)

: gpsDriver::readRecord() - serial device timed out
: Kearfott::deltaTime is 0.949935

: AshtechGps::processRecord() - .13922,W,1,11,0.8,-2.01,M,-32.68,M,,*73

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: AshtechGps::processRecord() - $GPGGA,224521.00,3648.93754,N,12151.13911,W,1,11,0.8,-1.62,M,-32.68,M,,*76

: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852319)

: NMEA Update: $GPGGA,224521.09,3648.9373,N,-12151.1397,W,1,03,00.5,100.0,M,-99.9,M,,*46

: 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            1

: 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,224522.00,3648.93752,N,12151.13879,W,1,11,0.8,-1.42,M,-32.68,M,,*7E

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815625) lon(121.852313)

: NMEA Update: $GPGGA,224522.09,3648.9373,N,-12151.1394,W,1,03,00.5,100.0,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,224523.00,3648.93758,N,12151.13857,W,1,11,0.8,-1.32,M,-32.68,M,,*7E

: 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

: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852310)

: NMEA Update: $GPGGA,224523.09,3648.9373,N,-12151.1390,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224524.00,3648.93756,N,12151.13822,W,1,11,0.8,-1.40,M,-32.68,M,,*70

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852304)

: NMEA Update: $GPGGA,224524.09,3648.9373,N,-12151.1387,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224525.00,3648.93751,N,12151.13776,W,1,11,0.8,-1.63,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.815625) lon(121.852296)

: NMEA Update: $GPGGA,224525.09,3648.9371,N,-12151.1382,W,1,03,00.5,100.0,M,-99.9,M,,*44

: BluefinBatt Reply: $aaq0 d- 31.29  1.48 16.11 3.88 3.94 0 12451.47 08:11:59 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224526.00,3648.93730,N,12151.13744,W,1,11,0.8,-2.14,M,-32.68,M,,*7F

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815622) lon(121.852291)

: NMEA Update: $GPGGA,224526.09,3648.9370,N,-12151.1378,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224527.00,3648.93724,N,12151.13755,W,1,11,0.8,-3.07,M,-32.68,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.815621) lon(121.852293)

: NMEA Update: $GPGGA,224527.09,3648.9370,N,-12151.1381,W,1,03,00.5,100.0,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 31.35  5.10 16.69 3.86 3.92 0   976.76 08:12:02 m

: AshtechGps::processRecord() - $GPGGA,224528.00,3648.93727,N,12151.13804,W,1,11,0.8,-3.40,M,-32.68,M,,*7C

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815621) lon(121.852301)

: NMEA Update: $GPGGA,224528.09,3648.9371,N,-12151.1387,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: Kearfott::deltaTime is 0.819944

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.815625) lon(121.852312)

: batts online 2, min cell voltage 3.860000, mean min cell voltage 3.870000

: NMEA Update: $GPGGA,224529.34,3648.9371,N,-12151.1388,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224529.00,3648.93750,N,12151.13873,W,1,11,0.8,-3.30,M,-32.68,M,,*7A

: AshtechGps::processRecord() - $GPGGA,224530.00,3648.93743,N,12151.13889,W,1,11,0.8,-2.36,M,-32.68,M,,*72

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815624) lon(121.852315)

: NMEA Update: $GPGGA,224530.29,3648.9372,N,-12151.1394,W,1,03,00.5,100.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224531.00,3648.93730,N,12151.13866,W,1,11,0.8,-1.31,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.815622) lon(121.852311)

: NMEA Update: $GPGGA,224531.29,3648.9371,N,-12151.1390,W,1,03,00.5,100.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224532.00,3648.93704,N,12151.13808,W,1,11,0.8,-0.72,M,-32.68,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815617) lon(121.852301)

: NMEA Update: $GPGGA,224532.29,3648.9370,N,-12151.1386,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224533.00,3648.93694,N,12151.13783,W,1,11,0.8,-1.06,M,-32.68,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.815616) lon(121.852297)

: NMEA Update: $GPGGA,224533.29,3648.9369,N,-12151.1384,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224534.00,3648.93699,N,12151.13785,W,1,11,0.8,-1.83,M,-32.68,M,,*7E

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815617) lon(121.852298)

: NMEA Update: $GPGGA,224534.29,3648.9369,N,-12151.1385,W,1,03,00.5,100.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224535.00,3648.93699,N,12151.13814,W,1,11,0.8,-2.20,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.815617) lon(121.852302)

: BluefinBatt Reply: $aaq0 d- 31.14  4.19 16.11 3.86 3.92 0 12451.09 08:12:09 m

: NMEA Update: $GPGGA,224535.29,3648.9370,N,-12151.1387,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224536.00,3648.93719,N,12151.13864,W,1,11,0.8,-2.74,M,-32.68,M,,*7E

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815620) lon(121.852311)

: Kearfott::deltaTime is 1.029929

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.815621) lon(121.852319)

: NMEA Update: $GPGGA,224537.15,3648.9371,N,-12151.1391,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224537.00,3648.93723,N,12151.13911,W,1,11,0.8,-2.77,M,-32.68,M,,*76

: AshtechGps::processRecord() - $GPGGA,224538.00,3648.93730,N,12151.13966,W,1,11,0.8,-2.83,M,-32.68,M,,*70

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815622) lon(121.852328)

: NMEA Update: $GPGGA,224538.09,3648.9371,N,-12151.1399,W,1,03,00.5,100.0,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 31.28  5.10 16.69 3.86 3.92 0   976.31 08:12:13 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224539.00,3648.93740,N,12151.14006,W,1,11,0.8,-2.59,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.815623) lon(121.852334)

: NMEA Update: $GPGGA,224539.09,3648.9372,N,-12151.1403,W,1,03,00.5,100.0,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.860000, mean min cell voltage 3.860000

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224540.00,3648.93751,N,12151.14025,W,1,11,0.8,-2.13,M,-32.68,M,,*78

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815625) lon(121.852338)

: NMEA Update: $GPGGA,224540.09,3648.9373,N,-12151.1403,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224541.00,3648.93758,N,12151.14028,W,1,11,0.8,-2.13,M,-32.68,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.815626) lon(121.852338)

: NMEA Update: $GPGGA,224541.09,3648.9373,N,-12151.1403,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224542.00,3648.93768,N,12151.14047,W,1,11,0.8,-2.41,M,-32.68,M,,*73

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815628) lon(121.852341)

: NMEA Update: $GPGGA,224542.09,3648.9374,N,-12151.1406,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224543.00,3648.93782,N,12151.14081,W,1,11,0.8,-2.80,M,-32.68,M,,*71

: Kearfott::parseGPS_GGA - lat(36.815630) lon(121.852347)

: NMEA Update: $GPGGA,224543.09,3648.9376,N,-12151.1409,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224544.00,3648.93797,N,12151.14124,W,1,11,0.8,-2.86,M,-32.68,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815633) lon(121.852354)

: NMEA Update: $GPGGA,224544.09,3648.9378,N,-12151.1413,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224545.00,3648.93829,N,12151.14145,W,1,11,0.8,-2.76,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.815638) lon(121.852358)

: NMEA Update: $GPGGA,224545.09,3648.9380,N,-12151.1415,W,1,03,00.5,100.0,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 31.10  4.34 16.21 3.86 3.92 0 12450.77 08:12:19 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224546.00,3648.93729,N,12151.14257,W,1,07,1.3,-5.50,M,-32.68,M,,*7B

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815622) lon(121.852376)

: NMEA Update: $GPGGA,224546.09,3648.9383,N,-12151.1418,W,1,03,00.5,100.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224547.00,,,,,0,03,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224547.09,3648.9387,N,-12151.1424,W,1,03,00.5,100.0,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 31.28  5.50 16.69 3.83 3.91 0   975.99 08:12:22 m

: AshtechGps::processRecord() - $GPGGA,224548.00,3648.93870,N,12151.14319,W,1,09,0.9,-3.30,M,-32.68,M,,*78

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815645) lon(121.852387)

: NMEA Update: $GPGGA,224548.09,3648.9391,N,-12151.1432,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.845000

: AshtechGps::processRecord() - $GPGGA,224549.00,3648.93778,N,12151.14375,W,1,09,0.9,-1.34,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.815630) lon(121.852396)

: NMEA Update: $GPGGA,224549.09,3648.9394,N,-12151.1434,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224550.00,3648.93933,N,12151.14282,W,1,09,0.9,-0.47,M,-32.68,M,,*77

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815656) lon(121.852380)

: NMEA Update: $GPGGA,224550.09,3648.9396,N,-12151.1434,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224551.00,3648.93990,N,12151.14278,W,1,10,0.8,-0.58,M,-32.68,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.815665) lon(121.852380)

: NMEA Update: $GPGGA,224551.09,3648.9401,N,-12151.1433,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224552.00,3648.94065,N,12151.14315,W,1,10,0.8,-1.88,M,-32.68,M,,*7C

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815678) lon(121.852386)

: NMEA Update: $GPGGA,224552.09,3648.9407,N,-12151.1438,W,1,03,00.5,100.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224553.00,3648.94126,N,12151.14359,W,1,10,0.8,-2.11,M,-32.68,M,,*70

: Kearfott::parseGPS_GGA - lat(36.815688) lon(121.852393)

: NMEA Update: $GPGGA,224553.09,3648.9412,N,-12151.1441,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: 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

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224554.00,3648.94205,N,12151.14304,W,1,10,0.8,-0.16,M,-32.68,M,,*78

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815701) lon(121.852384)

: NMEA Update: $GPGGA,224554.09,3648.9417,N,-12151.1439,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224555.00,3648.94207,N,12151.14313,W,1,05,1.9,-4.35,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.815701) lon(121.852386)

: NMEA Update: $GPGGA,224555.09,3648.9422,N,-12151.1437,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 31.07  4.93 16.11 3.85 3.91 0 12450.27 08:12:29 m

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224556.00,3648.94201,N,12151.14379,W,1,09,0.9,-4.75,M,-32.68,M,,*7C

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815700) lon(121.852397)

: NMEA Update: $GPGGA,224556.09,3648.9428,N,-12151.1438,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224557.00,3648.94343,N,12151.14324,W,1,10,0.8,-2.40,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.815724) lon(121.852387)

: NMEA Update: $GPGGA,224557.09,3648.9432,N,-12151.1437,W,1,03,00.5,100.0,M,-99.9,M,,*48

: BluefinBatt Reply: $c0q0 d- 31.24  5.75 16.69 3.83 3.91 0   975.37 08:12:32 m

: AshtechGps::processRecord() - $GPGGA,224558.00,3648.94421,N,12151.14307,W,1,10,0.8,-2.17,M,-32.68,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815737) lon(121.852385)

: NMEA Update: $GPGGA,224558.09,3648.9436,N,-12151.1432,W,1,03,00.5,100.0,M,-99.9,M,,*46

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,224559.00,3648.94447,N,12151.14300,W,1,10,0.8,-2.91,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.815741) lon(121.852383)

: NMEA Update: $GPGGA,224559.09,3648.9441,N,-12151.1429,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224600.00,3648.94506,N,12151.14299,W,1,10,0.8,-3.62,M,-32.68,M,,*7B

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815751) lon(121.852383)

: NMEA Update: $GPGGA,224600.09,3648.9447,N,-12151.1426,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224601.00,3648.94579,N,12151.14248,W,1,10,0.8,-2.84,M,-32.68,M,,*77

: Kearfott::parseGPS_GGA - lat(36.815763) lon(121.852375)

: NMEA Update: $GPGGA,224601.09,3648.9454,N,-12151.1422,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224602.00,3648.94643,N,12151.14217,W,1,10,0.8,-1.90,M,-32.68,M,,*72

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815774) lon(121.852370)

: NMEA Update: $GPGGA,224602.09,3648.9461,N,-12151.1417,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224603.00,3648.94663,N,12151.14167,W,1,10,0.8,-1.46,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.815777) lon(121.852361)

: NMEA Update: $GPGGA,224603.09,3648.9466,N,-12151.1413,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224604.00,3648.94722,N,12151.14128,W,1,10,0.8,-1.36,M,-32.68,M,,*71

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815787) lon(121.852355)

: NMEA Update: $GPGGA,224604.09,3648.9470,N,-12151.1407,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224605.00,3648.94737,N,12151.14070,W,1,10,0.8,-1.77,M,-32.68,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: Kearfott::parseGPS_GGA - lat(36.815790) lon(121.852345)

: BluefinBatt Reply: $aaq0 d- 31.18  3.15 16.11 3.85 3.91 0 12449.92 08:12:39 m

: NMEA Update: $GPGGA,224605.09,3648.9474,N,-12151.1400,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: updating external sensors

: Kearfott::parseGPS_GGA - lat(36.815797) lon(121.852332)

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,224606.94,3648.9477,N,-12151.1395,W,1,03,00.5,100.0,M,-99.9,M,,*45

: Kearfott::deltaTime is 0.939936

: AshtechGps::processRecord() - 0.8,-1.98,M,-32.68,M,,*71

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: -
: AshtechGps::processRecord() - $GPGGA,224607.00,3648.94828,N,12151.13915,W,1,09,0.9,-1.74,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.815805) lon(121.852319)

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224608.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224607.89,3648.9483,N,-12151.1379,W,1,03,00.5,100.0,M,-99.9,M,,*41

: updating external sensors

: Kearfott::deltaTime is 0.689953

: NMEA Update: $GPGGA,224609.20,3648.9483,N,-12151.1378,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: BluefinBatt Reply: $c0q0 d- 31.28  4.56 16.79 3.85 3.91 0   975.06 08:12:42 m

: AshtechGps::processRecord() - $GPGGA,224609.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224610.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,224610.09,3648.9489,N,-12151.1370,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: batts online 2, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,224611.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224611.09,3648.9493,N,-12151.1365,W,1,03,00.5,100.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224612.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,224612.09,3648.9496,N,-12151.1360,W,1,03,00.5,100.0,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=0.80
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224613.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224613.09,3648.9500,N,-12151.1354,W,1,03,00.5,100.0,M,-99.9,M,,*49

: Descend::execute() - Descend terminating on depth 3.005185 > 3.000000 at time 61.995753

: LayeredControl::execute() -- (t = 61.995753) Behavior descend:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 61.995753) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 62.00                             (wplog)
  The current location (N,E) = 4075056.9      , 602369.5         (wplog)
  The next waypoint          = 4075842.9      , 603090.7         (wplog)
  The bearing to the next w.p. is 42.5 Degrees.

: LayeredControl::execute() -- (t = 62.005752) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224614.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,224614.09,3648.9503,N,-12151.1346,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224615.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224615.09,3648.9506,N,-12151.1339,W,1,03,00.5,100.0,M,-99.9,M,,*42

: BluefinBatt Reply: $aaq0 d- 31.03  5.23 16.30 3.85 3.92 0 12449.50 08:12:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224616.00,,,,,0,00,,,M,,M,,*4D

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

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,224617.03,3648.9509,N,-12151.1331,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,224617.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224618.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224617.89,3648.9514,N,-12151.1319,W,1,03,00.5,100.0,M,-99.9,M,,*49

: BluefinBatt Reply: $c0q0 d- 31.24  5.67 16.79 3.85 3.91 0   974.47 08:12:53 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224619.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224618.89,3648.9518,N,-12151.1314,W,1,03,00.5,100.0,M,-99.9,M,,*47

: updating external sensors

: batts online 2, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,224620.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224619.89,3648.9523,N,-12151.1308,W,1,03,00.5,100.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224621.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224620.89,3648.9528,N,-12151.1302,W,1,03,00.5,100.0,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224622.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224621.89,3648.9533,N,-12151.1296,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224623.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224622.89,3648.9538,N,-12151.1289,W,1,03,00.5,100.0,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224624.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224623.89,3648.9543,N,-12151.1280,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224625.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224624.89,3648.9548,N,-12151.1271,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  4.45 16.21 3.85 3.92 0 12449.18 08:12:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224626.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224625.89,3648.9553,N,-12151.1262,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224627.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224626.89,3648.9558,N,-12151.1253,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.24  5.32 16.79 3.83 3.90 0   974.11 08:13:02 m

: AshtechGps::processRecord() - $GPGGA,224628.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224627.89,3648.9563,N,-12151.1247,W,1,03,00.5,100.0,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224629.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224628.89,3648.9568,N,-12151.1242,W,1,03,00.5,100.0,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224630.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224629.89,3648.9573,N,-12151.1238,W,1,03,00.5,100.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224631.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224630.89,3648.9578,N,-12151.1233,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224632.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224631.89,3648.9583,N,-12151.1227,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224633.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224632.89,3648.9588,N,-12151.1221,W,1,03,00.5,100.0,M,-99.9,M,,*41

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224634.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224633.89,3648.9593,N,-12151.1214,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224635.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224634.89,3648.9598,N,-12151.1207,W,1,03,00.5,100.0,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  4.34 16.21 3.84 3.91 0 12448.71 08:13:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224636.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224635.89,3648.9603,N,-12151.1202,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224637.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224636.89,3648.9608,N,-12151.1197,W,1,03,00.5,100.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.24  5.53 16.89 3.83 3.90 0   973.55 08:13:12 m

: AshtechGps::processRecord() - $GPGGA,224638.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224637.89,3648.9613,N,-12151.1192,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224639.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224638.89,3648.9618,N,-12151.1187,W,1,03,00.5,100.0,M,-99.9,M,,*4e

: updating external sensors

: Kearfott::deltaTime is 1.079926

: NMEA Update: $GPGGA,224640.30,3648.9625,N,-12151.1180,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224640.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224641.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,224641.29,3648.9629,N,-12151.1176,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224642.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224642.30,3648.9634,N,-12151.1173,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224643.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,224643.29,3648.9638,N,-12151.1171,W,1,03,00.5,100.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224644.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224644.29,3648.9643,N,-12151.1168,W,1,03,00.5,100.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224645.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.45 16.30 3.84 3.91 0 12448.39 08:13:19 m

: NMEA Update: $GPGGA,224645.29,3648.9647,N,-12151.1164,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224646.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224646.29,3648.9651,N,-12151.1160,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224647.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,224647.29,3648.9656,N,-12151.1156,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: BluefinBatt Reply: $c0q0 d- 31.24  5.60 16.99 3.83 3.90 0   973.16 08:13:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224648.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224648.29,3648.9660,N,-12151.1152,W,1,03,00.5,100.0,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: AshtechGps::processRecord() - $GPGGA,224649.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224649.29,3648.9665,N,-12151.1148,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224650.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224650.29,3648.9670,N,-12151.1144,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224651.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,224651.29,3648.9676,N,-12151.1140,W,1,03,00.5,100.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224652.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224652.29,3648.9681,N,-12151.1135,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,224653.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224653.29,3648.9685,N,-12151.1130,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,224654.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224654.29,3648.9690,N,-12151.1125,W,1,03,00.5,100.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224655.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.56 16.40 3.85 3.91 0 12447.90 08:13:29 m

: NMEA Update: $GPGGA,224655.29,3648.9695,N,-12151.1121,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224656.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,224657.03,3648.9698,N,-12151.1117,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224657.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224658.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224657.89,3648.9706,N,-12151.1109,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: BluefinBatt Reply: $c0q0 d- 31.24  5.06 16.99 3.83 3.90 0   972.57 08:13:33 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224659.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224658.89,3648.9711,N,-12151.1104,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: updating external sensors

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224700.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224659.89,3648.9715,N,-12151.1098,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224701.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224700.89,3648.9719,N,-12151.1091,W,1,03,00.5,100.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224702.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.939935

: NMEA Update: $GPGGA,224702.95,3648.9723,N,-12151.1085,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,224703.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224704.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224703.89,3648.9732,N,-12151.1072,W,1,03,00.5,100.0,M,-99.9,M,,*45

: Kearfott::deltaTime is 1.019930

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224705.52,3648.9735,N,-12151.1068,W,1,03,00.5,100.0,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 31.03  4.30 16.40 3.85 3.91 0 12447.60 08:13:39 m

: AshtechGps::processRecord() - $GPGGA,224705.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224706.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224706.49,3648.9745,N,-12151.1057,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224707.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,224707.49,3648.9747,N,-12151.1053,W,1,03,00.5,099.8,M,-99.9,M,,*45

: BluefinBatt Reply: $c0q0 d- 31.35  3.05 16.99 3.83 3.90 0   972.16 08:13:42 m

: AshtechGps::processRecord() - $GPGGA,224708.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224708.49,3648.9752,N,-12151.1048,W,1,03,00.5,096.2,M,-99.9,M,,*41

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,224709.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,224709.49,3648.9757,N,-12151.1043,W,1,03,00.5,095.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224710.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224710.49,3648.9762,N,-12151.1038,W,1,03,00.5,094.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224711.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224711.49,3648.9767,N,-12151.1032,W,1,03,00.5,097.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224712.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.079926

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224713.28,3648.9771,N,-12151.1027,W,1,03,00.5,097.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224713.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224714.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224714.09,3648.9781,N,-12151.1016,W,1,03,00.5,096.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224715.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,224715.09,3648.9787,N,-12151.1010,W,1,03,00.5,095.1,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 30.99  5.67 16.40 3.85 3.91 0 12447.20 08:13:49 m

: AshtechGps::processRecord() - $GPGGA,224716.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224716.09,3648.9793,N,-12151.1004,W,1,03,00.5,094.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224717.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,224717.09,3648.9799,N,-12151.0999,W,1,03,00.5,094.7,M,-99.9,M,,*4f

: BluefinBatt Reply: $c0q0 d- 31.16  6.79 17.18 3.83 3.90 0   971.73 08:13:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224718.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224718.09,3648.9805,N,-12151.0993,W,1,03,00.5,094.7,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224719.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,224719.09,3648.9810,N,-12151.0988,W,1,03,00.5,094.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224720.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224720.09,3648.9817,N,-12151.0982,W,1,03,00.5,094.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224721.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,224721.09,3648.9822,N,-12151.0976,W,1,03,00.5,094.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224722.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224722.09,3648.9829,N,-12151.0970,W,1,03,00.5,093.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,224723.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224723.10,3648.9835,N,-12151.0964,W,1,03,00.5,093.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224724.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224724.10,3648.9841,N,-12151.0957,W,1,03,00.5,092.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224725.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.49 16.50 3.85 3.91 0 12446.88 08:13:59 m

: NMEA Update: $GPGGA,224725.10,3648.9847,N,-12151.0951,W,1,03,00.5,091.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224726.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224726.10,3648.9853,N,-12151.0944,W,1,03,00.5,091.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224727.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,224727.10,3648.9859,N,-12151.0938,W,1,03,00.5,091.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.24  4.99 17.18 3.83 3.90 0   971.36 08:14:02 m

: AshtechGps::processRecord() - $GPGGA,224728.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224728.10,3648.9866,N,-12151.0931,W,1,03,00.5,091.5,M,-99.9,M,,*41

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224729.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,224729.10,3648.9872,N,-12151.0924,W,1,03,00.5,090.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224730.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.939935

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224730.94,3648.9877,N,-12151.0918,W,1,03,00.5,090.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224731.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,224732.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224731.90,3648.9888,N,-12151.0906,W,1,03,00.5,090.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224733.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224732.90,3648.9894,N,-12151.0899,W,1,03,00.5,089.2,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224734.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224733.90,3648.9899,N,-12151.0893,W,1,03,00.5,090.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224735.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224734.90,3648.9904,N,-12151.0887,W,1,03,00.5,088.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.14  2.78 16.40 3.84 3.91 0 12446.51 08:14:09 m

: AshtechGps::processRecord() - $GPGGA,224736.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224735.90,3648.9910,N,-12151.0881,W,1,03,00.5,089.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224737.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224736.90,3648.9915,N,-12151.0875,W,1,03,00.5,088.6,M,-99.9,M,,*49

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.31  4.13 17.08 3.83 3.90 0   971.12 08:14:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224738.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224737.90,3648.9920,N,-12151.0868,W,1,03,00.5,088.9,M,-99.9,M,,*4d

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: AshtechGps::processRecord() - $GPGGA,224739.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224738.90,3648.9925,N,-12151.0862,W,1,03,00.5,088.5,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224740.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224739.89,3648.9930,N,-12151.0855,W,1,03,00.5,088.8,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224741.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224740.89,3648.9936,N,-12151.0848,W,1,03,00.5,088.4,M,-99.9,M,,*4d

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224742.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224741.89,3648.9941,N,-12151.0841,W,1,03,00.5,088.3,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224743.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224742.89,3648.9947,N,-12151.0834,W,1,03,00.5,087.3,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224744.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224743.89,3648.9952,N,-12151.0827,W,1,03,00.5,087.9,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224745.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224744.89,3648.9958,N,-12151.0821,W,1,03,00.5,087.4,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  5.30 16.40 3.84 3.91 0 12446.21 08:14:19 m

: AshtechGps::processRecord() - $GPGGA,224746.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224745.89,3648.9964,N,-12151.0814,W,1,03,00.5,087.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224747.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224746.89,3648.9969,N,-12151.0807,W,1,03,00.5,088.0,M,-99.9,M,,*4e

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.24  5.21 17.08 3.83 3.90 0   970.60 08:14:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224748.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224747.89,3648.9975,N,-12151.0801,W,1,03,00.5,087.3,M,-99.9,M,,*48

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: AshtechGps::processRecord() - $GPGGA,224749.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224748.89,3648.9981,N,-12151.0794,W,1,03,00.5,087.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224750.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224749.89,3648.9987,N,-12151.0788,W,1,03,00.5,087.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 0.309979

: updating external sensors

: NMEA Update: $GPGGA,224751.70,3648.9992,N,-12151.0783,W,1,03,00.5,086.4,M,-99.9,M,,*43

: Kearfott::deltaTime is 0.669954

: AshtechGps::processRecord() - $GPGGA,224751.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224752.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224752.69,3649.0004,N,-12151.0770,W,1,03,00.5,076.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224753.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,224753.69,3649.0010,N,-12151.0764,W,1,03,00.5,086.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224754.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224754.69,3649.0016,N,-12151.0758,W,1,03,00.5,076.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224755.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 31.18  2.30 16.40 3.84 3.91 0 12445.81 08:14:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224755.69,3649.0021,N,-12151.0752,W,1,03,00.5,076.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224756.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224756.69,3649.0027,N,-12151.0746,W,1,03,00.5,076.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224757.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $c0q0 d- 31.31  4.06 17.08 3.83 3.90 0   970.24 08:14:32 m

: NMEA Update: $GPGGA,224757.69,3649.0032,N,-12151.0740,W,1,03,00.5,075.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224758.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 0.959934

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,224759.33,3649.0035,N,-12151.0736,W,1,03,00.5,076.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224759.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224800.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224800.29,3649.0046,N,-12151.0723,W,1,03,00.5,075.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224801.00,,,,,0,00,,,M,,M,,*45

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

: Kearfott::deltaTime is 0.869941

: NMEA Update: $GPGGA,224802.35,3649.0051,N,-12151.0717,W,1,03,00.5,076.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224802.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224803.00,,,,,0,00,,,M,,M,,*47

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

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,224804.13,3649.0061,N,-12151.0706,W,1,03,00.5,076.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224804.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224805.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,224805.09,3649.0071,N,-12151.0695,W,1,03,00.5,075.7,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 31.14  3.52 16.40 3.84 3.91 0 12445.62 08:14:39 m

: AshtechGps::processRecord() - $GPGGA,224806.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224806.09,3649.0075,N,-12151.0689,W,1,03,00.5,076.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224807.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,224807.09,3649.0080,N,-12151.0684,W,1,03,00.5,075.6,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 31.31  2.83 16.99 3.84 3.91 0   970.04 08:14:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224808.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224808.09,3649.0085,N,-12151.0678,W,1,03,00.5,075.6,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,224809.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224809.09,3649.0089,N,-12151.0673,W,1,03,00.5,085.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224810.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224810.09,3649.0094,N,-12151.0667,W,1,03,00.5,084.6,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224811.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,224811.09,3649.0099,N,-12151.0662,W,1,03,00.5,084.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224812.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224812.09,3649.0104,N,-12151.0656,W,1,03,00.5,084.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224813.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,224813.09,3649.0109,N,-12151.0651,W,1,03,00.5,084.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224814.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224814.09,3649.0115,N,-12151.0646,W,1,03,00.5,083.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224815.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,224815.09,3649.0121,N,-12151.0640,W,1,03,00.5,083.3,M,-99.9,M,,*46

: BluefinBatt Reply: $aaq0 d- 31.03  4.49 16.40 3.87 3.93 0 12445.25 08:14:49 m

: AshtechGps::processRecord() - $GPGGA,224816.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224816.09,3649.0127,N,-12151.0634,W,1,03,00.5,083.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224817.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,224817.09,3649.0132,N,-12151.0627,W,1,03,00.5,082.8,M,-99.9,M,,*4d

: BluefinBatt Reply: $c0q0 d- 31.20  5.67 16.99 3.84 3.91 0   969.54 08:14:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224818.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224818.09,3649.0138,N,-12151.0621,W,1,03,00.5,082.7,M,-99.9,M,,*41

: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.855000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224819.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,224819.09,3649.0144,N,-12151.0614,W,1,03,00.5,081.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224820.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224820.09,3649.0150,N,-12151.0607,W,1,03,00.5,081.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224821.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,224821.09,3649.0155,N,-12151.0600,W,1,03,00.5,082.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224822.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224822.09,3649.0161,N,-12151.0593,W,1,03,00.5,081.5,M,-99.9,M,,*4f

: updating external sensors

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,224823.79,3649.0166,N,-12151.0589,W,1,03,00.5,081.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224823.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224824.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224824.69,3649.0177,N,-12151.0577,W,1,03,00.5,081.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224825.00,,,,,0,00,,,M,,M,,*43

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

: BluefinBatt Reply: $aaq0 d- 31.18  2.26 16.40 3.87 3.93 0 12444.94 08:14:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224825.69,3649.0182,N,-12151.0571,W,1,03,00.5,082.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224826.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224826.69,3649.0188,N,-12151.0564,W,1,03,00.5,082.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224827.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 31.35  2.83 17.08 3.85 3.92 0   969.30 08:15:02 m

: NMEA Update: $GPGGA,224827.69,3649.0193,N,-12151.0558,W,1,03,00.5,082.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224828.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.850000, mean min cell voltage 3.860000

: NMEA Update: $GPGGA,224828.69,3649.0198,N,-12151.0552,W,1,03,00.5,081.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224829.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224829.69,3649.0203,N,-12151.0546,W,1,03,00.5,081.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224830.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224830.69,3649.0209,N,-12151.0539,W,1,03,00.5,081.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224831.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224831.69,3649.0214,N,-12151.0533,W,1,03,00.5,081.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224832.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224832.69,3649.0219,N,-12151.0526,W,1,03,00.5,081.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224833.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,224833.69,3649.0224,N,-12151.0520,W,1,03,00.5,082.2,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224834.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224834.69,3649.0230,N,-12151.0514,W,1,03,00.5,081.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,224835.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.64 16.40 3.87 3.93 0 12444.63 08:15:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224835.69,3649.0236,N,-12151.0508,W,1,03,00.5,081.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224836.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224836.69,3649.0241,N,-12151.0501,W,1,03,00.5,081.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224837.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $c0q0 d- 31.24  5.21 16.99 3.85 3.92 0   968.99 08:15:12 m

: NMEA Update: $GPGGA,224837.69,3649.0247,N,-12151.0495,W,1,03,00.5,081.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224838.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.850000, mean min cell voltage 3.860000

: NMEA Update: $GPGGA,224838.69,3649.0253,N,-12151.0488,W,1,03,00.5,080.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224839.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224839.69,3649.0259,N,-12151.0481,W,1,03,00.5,080.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224840.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224840.69,3649.0265,N,-12151.0473,W,1,03,00.5,080.0,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224841.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,224841.69,3649.0271,N,-12151.0466,W,1,03,00.5,080.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224842.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224842.69,3649.0277,N,-12151.0459,W,1,03,00.5,079.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224843.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224843.69,3649.0283,N,-12151.0452,W,1,03,00.5,079.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224844.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224844.69,3649.0289,N,-12151.0445,W,1,03,00.5,079.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224845.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  4.34 16.40 3.87 3.93 0 12444.33 08:15:19 m

: NMEA Update: $GPGGA,224845.69,3649.0295,N,-12151.0439,W,1,03,00.5,079.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224846.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224846.69,3649.0301,N,-12151.0433,W,1,03,00.5,079.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224847.00,,,,,0,00,,,M,,M,,*47

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

: BluefinBatt Reply: $c0q0 d- 31.20  5.96 16.99 3.83 3.90 0   968.46 08:15:22 m

: NMEA Update: $GPGGA,224847.69,3649.0307,N,-12151.0426,W,1,03,00.5,079.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224848.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.850000

: NMEA Update: $GPGGA,224848.69,3649.0313,N,-12151.0420,W,1,03,00.5,079.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224849.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224849.69,3649.0318,N,-12151.0413,W,1,03,00.5,079.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224850.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224850.69,3649.0324,N,-12151.0407,W,1,03,00.5,079.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224851.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,224851.69,3649.0330,N,-12151.0400,W,1,03,00.5,079.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224852.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224852.69,3649.0336,N,-12151.0392,W,1,03,00.5,079.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224853.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224853.69,3649.0342,N,-12151.0385,W,1,03,00.5,079.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224854.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224854.69,3649.0348,N,-12151.0378,W,1,03,00.5,080.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224855.00,,,,,0,00,,,M,,M,,*44

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.12 16.40 3.85 3.91 0 12443.86 08:15:29 m

: NMEA Update: $GPGGA,224855.69,3649.0354,N,-12151.0371,W,1,03,00.5,078.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224856.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224856.69,3649.0360,N,-12151.0363,W,1,03,00.5,078.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224857.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 31.20  5.14 16.89 3.83 3.90 0   967.97 08:15:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224857.69,3649.0366,N,-12151.0356,W,1,03,00.5,078.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,224858.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,224858.69,3649.0372,N,-12151.0349,W,1,03,00.5,078.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224859.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224859.69,3649.0378,N,-12151.0343,W,1,03,00.5,078.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224900.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224900.69,3649.0384,N,-12151.0336,W,1,03,00.5,078.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224901.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,224901.69,3649.0390,N,-12151.0329,W,1,03,00.5,078.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224902.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224902.69,3649.0396,N,-12151.0322,W,1,03,00.5,078.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224903.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224903.69,3649.0402,N,-12151.0315,W,1,03,00.5,078.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224904.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224904.69,3649.0408,N,-12151.0308,W,1,03,00.5,078.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,224905.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.26 16.40 3.85 3.91 0 12443.58 08:15:39 m

: NMEA Update: $GPGGA,224905.69,3649.0413,N,-12151.0300,W,1,03,00.5,077.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224906.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224906.69,3649.0419,N,-12151.0293,W,1,03,00.5,077.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224907.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $c0q0 d- 31.24  4.96 16.99 3.83 3.90 0   967.65 08:15:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224907.69,3649.0425,N,-12151.0286,W,1,03,00.5,077.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224908.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,224908.69,3649.0431,N,-12151.0279,W,1,03,00.5,077.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224909.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,224909.69,3649.0437,N,-12151.0272,W,1,03,00.5,077.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224910.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224910.69,3649.0442,N,-12151.0265,W,1,03,00.5,076.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,224911.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224911.69,3649.0449,N,-12151.0258,W,1,03,00.5,076.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224912.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224912.69,3649.0455,N,-12151.0251,W,1,03,00.5,076.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,224913.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224913.69,3649.0461,N,-12151.0244,W,1,03,00.5,076.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224914.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224914.69,3649.0467,N,-12151.0237,W,1,03,00.5,076.4,M,-99.9,M,,*4e

: updating external sensors

: Kearfott::deltaTime is 1.039929

: BluefinBatt Reply: $aaq0 d- 31.03  4.30 16.40 3.85 3.91 0 12443.11 08:15:49 m

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,224915.90,3649.0468,N,-12151.0235,W,1,03,00.5,076.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - ,*41

: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,*41

: AshtechGps::processRecord() - $GPGGA,224916.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224917.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224916.89,3649.0480,N,-12151.0221,W,1,03,00.5,075.8,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,224918.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224917.89,3649.0486,N,-12151.0214,W,1,03,00.5,076.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.39  1.76 16.99 3.83 3.90 0   967.15 08:15:52 m

: AshtechGps::processRecord() - $GPGGA,224919.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224918.89,3649.0492,N,-12151.0207,W,1,03,00.5,076.1,M,-99.9,M,,*40

: updating external sensors

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224920.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224919.89,3649.0497,N,-12151.0201,W,1,03,00.5,076.2,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 1.069927

: NMEA Update: $GPGGA,224921.72,3649.0502,N,-12151.0196,W,1,03,00.5,075.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224921.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224922.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224922.69,3649.0513,N,-12151.0184,W,1,03,00.5,075.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,224923.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224923.69,3649.0518,N,-12151.0178,W,1,03,00.5,075.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224924.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.889939

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224925.35,3649.0521,N,-12151.0175,W,1,03,00.5,075.7,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 31.18  2.44 16.40 3.85 3.91 0 12442.94 08:15:59 m

: AshtechGps::processRecord() - $GPGGA,224925.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224926.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224926.29,3649.0531,N,-12151.0163,W,1,03,00.5,075.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224927.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,224927.29,3649.0536,N,-12151.0157,W,1,03,00.5,075.1,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 31.39  2.94 16.89 3.84 3.91 0   966.91 08:16:02 m

: AshtechGps::processRecord() - $GPGGA,224928.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224928.29,3649.0541,N,-12151.0152,W,1,03,00.5,074.6,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.845000

: AshtechGps::processRecord() - $GPGGA,224929.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,224929.29,3649.0545,N,-12151.0146,W,1,03,00.5,074.6,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224930.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224930.29,3649.0550,N,-12151.0140,W,1,03,00.5,073.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224931.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,224931.29,3649.0555,N,-12151.0135,W,1,03,00.5,074.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,224932.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224932.29,3649.0561,N,-12151.0129,W,1,03,00.5,073.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224933.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,224933.29,3649.0566,N,-12151.0123,W,1,03,00.5,073.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224934.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224934.29,3649.0571,N,-12151.0117,W,1,03,00.5,073.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,224935.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  4.60 16.40 3.86 3.92 0 12442.58 08:16:09 m

: NMEA Update: $GPGGA,224935.29,3649.0576,N,-12151.0111,W,1,03,00.5,072.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,224936.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224936.29,3649.0582,N,-12151.0105,W,1,03,00.5,072.9,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224937.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 31.24  4.78 16.89 3.84 3.91 0   966.62 08:16:12 m

: NMEA Update: $GPGGA,224937.29,3649.0587,N,-12151.0099,W,1,03,00.5,072.6,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224938.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.850000

: NMEA Update: $GPGGA,224938.29,3649.0593,N,-12151.0093,W,1,03,00.5,072.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,224939.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224939.29,3649.0598,N,-12151.0087,W,1,03,00.5,072.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224940.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224940.29,3649.0604,N,-12151.0081,W,1,03,00.5,072.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224941.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,224941.29,3649.0610,N,-12151.0075,W,1,03,00.5,072.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,224942.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224942.29,3649.0616,N,-12151.0068,W,1,03,00.5,072.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224943.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,224943.29,3649.0621,N,-12151.0062,W,1,03,00.5,072.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224944.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224944.29,3649.0627,N,-12151.0055,W,1,03,00.5,072.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224945.00,,,,,0,00,,,M,,M,,*44

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

: BluefinBatt Reply: $aaq0 d- 30.99  5.23 16.30 3.86 3.92 0 12442.26 08:16:19 m

: NMEA Update: $GPGGA,224945.29,3649.0633,N,-12151.0048,W,1,03,00.5,072.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,224946.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224946.29,3649.0639,N,-12151.0041,W,1,03,00.5,072.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,224947.00,,,,,0,00,,,M,,M,,*46

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

: BluefinBatt Reply: $c0q0 d- 31.20  5.67 16.89 3.83 3.90 0   966.12 08:16:22 m

: NMEA Update: $GPGGA,224947.29,3649.0645,N,-12151.0034,W,1,03,00.5,072.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224948.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.845000

: NMEA Update: $GPGGA,224948.29,3649.0650,N,-12151.0027,W,1,03,00.5,071.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,224949.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,224949.10,3649.0655,N,-12151.0021,W,1,03,00.5,071.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,224950.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224950.10,3649.0661,N,-12151.0014,W,1,03,00.5,072.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224951.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,224951.10,3649.0667,N,-12151.0007,W,1,03,00.5,071.7,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224952.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224952.10,3649.0672,N,-12151.0000,W,1,03,00.5,071.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,224953.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,224953.10,3649.0678,N,-12150.9993,W,1,03,00.5,071.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224954.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224954.10,3649.0684,N,-12150.9986,W,1,03,00.5,070.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224955.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,224955.10,3649.0690,N,-12150.9979,W,1,03,00.5,071.0,M,-99.9,M,,*45

: BluefinBatt Reply: $aaq0 d- 31.07  4.45 16.40 3.84 3.91 0 12441.77 08:16:29 m

: AshtechGps::processRecord() - $GPGGA,224956.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,224956.10,3649.0695,N,-12150.9971,W,1,03,00.5,070.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,224957.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,224957.10,3649.0701,N,-12150.9964,W,1,03,00.5,070.9,M,-99.9,M,,*4a

: BluefinBatt Reply: $c0q0 d- 31.20  5.17 16.89 3.83 3.90 0   965.57 08:16:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224958.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,224958.10,3649.0707,N,-12150.9957,W,1,03,00.5,070.7,M,-99.9,M,,*4d

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224959.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,224959.10,3649.0713,N,-12150.9950,W,1,03,00.5,071.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225000.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225000.10,3649.0719,N,-12150.9943,W,1,03,00.5,070.6,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225001.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225001.10,3649.0725,N,-12150.9936,W,1,03,00.5,070.5,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225002.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225002.10,3649.0731,N,-12150.9929,W,1,03,00.5,070.4,M,-99.9,M,,*45

: updating external sensors

: Kearfott::deltaTime is 0.839942

: NMEA Update: $GPGGA,225003.82,3649.0736,N,-12150.9924,W,1,03,00.5,070.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225003.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225004.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225004.70,3649.0747,N,-12150.9911,W,1,03,00.5,069.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225005.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 31.14  2.22 16.30 3.84 3.91 0 12441.48 08:16:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225005.69,3649.0753,N,-12150.9904,W,1,03,00.5,070.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225006.00,,,,,0,00,,,M,,M,,*4B

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

: Kearfott::deltaTime is 1.029929

: BluefinBatt Reply: $c0q0 d- 31.35  2.91 16.79 3.85 3.92 0   965.34 08:16:42 m

: NMEA Update: $GPGGA,225007.37,3649.0757,N,-12150.9899,W,1,03,00.5,070.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225007.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225008.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225008.29,3649.0767,N,-12150.9886,W,1,03,00.5,069.8,M,-99.9,M,,*46

: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.845000

: AshtechGps::processRecord() - $GPGGA,225009.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225009.29,3649.0773,N,-12150.9880,W,1,03,00.5,069.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225010.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225010.29,3649.0778,N,-12150.9874,W,1,03,00.5,069.2,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225011.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225011.29,3649.0783,N,-12150.9869,W,1,03,00.5,069.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225012.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225012.29,3649.0788,N,-12150.9863,W,1,03,00.5,069.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225013.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225013.29,3649.0794,N,-12150.9857,W,1,03,00.5,069.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225014.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225014.29,3649.0799,N,-12150.9852,W,1,03,00.5,068.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225015.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 31.07  4.19 16.30 3.87 3.92 0 12441.18 08:16:49 m

: NMEA Update: $GPGGA,225015.29,3649.0804,N,-12150.9846,W,1,03,00.5,068.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225016.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225016.29,3649.0809,N,-12150.9840,W,1,03,00.5,068.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225017.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225017.29,3649.0815,N,-12150.9834,W,1,03,00.5,068.9,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 31.24  4.96 16.89 3.85 3.92 0   964.93 08:16:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225018.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225018.29,3649.0821,N,-12150.9827,W,1,03,00.5,068.1,M,-99.9,M,,*49

: batts online 2, min cell voltage 3.850000, mean min cell voltage 3.860000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225019.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,225019.29,3649.0826,N,-12150.9820,W,1,03,00.5,068.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225020.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225020.29,3649.0832,N,-12150.9813,W,1,03,00.5,068.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225021.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225021.29,3649.0838,N,-12150.9806,W,1,03,00.5,067.6,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225022.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225022.29,3649.0844,N,-12150.9799,W,1,03,00.5,068.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225023.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225023.29,3649.0850,N,-12150.9792,W,1,03,00.5,068.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225024.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225024.29,3649.0855,N,-12150.9785,W,1,03,00.5,067.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225025.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.34 16.30 3.87 3.92 0 12440.89 08:16:59 m

: NMEA Update: $GPGGA,225025.29,3649.0861,N,-12150.9779,W,1,03,00.5,068.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225026.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225026.29,3649.0867,N,-12150.9772,W,1,03,00.5,067.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225027.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.20  5.32 16.89 3.83 3.89 0   964.57 08:17:02 m

: NMEA Update: $GPGGA,225027.29,3649.0873,N,-12150.9766,W,1,03,00.5,067.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225028.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.850000

: NMEA Update: $GPGGA,225028.29,3649.0879,N,-12150.9759,W,1,03,00.5,067.2,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225029.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,225029.29,3649.0885,N,-12150.9752,W,1,03,00.5,067.7,M,-99.9,M,,*41

: Kearfott::deltaTime is 1.049928

: NMEA Update: $GPGGA,225030.40,3649.0886,N,-12150.9751,W,1,03,00.5,067.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225030.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225031.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225031.29,3649.0896,N,-12150.9737,W,1,03,00.5,068.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225032.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225032.29,3649.0902,N,-12150.9730,W,1,03,00.5,067.9,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225033.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225033.29,3649.0907,N,-12150.9724,W,1,03,00.5,067.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225034.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225034.29,3649.0913,N,-12150.9717,W,1,03,00.5,067.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225035.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 31.07  3.48 16.30 3.84 3.91 0 12440.44 08:17:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225035.29,3649.0918,N,-12150.9711,W,1,03,00.5,067.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225036.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 0.889939

: NMEA Update: $GPGGA,225036.93,3649.0922,N,-12150.9705,W,1,03,00.5,067.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225037.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225038.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225037.89,3649.0932,N,-12150.9694,W,1,03,00.5,067.6,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 31.24  4.27 16.79 3.83 3.89 0   964.15 08:17:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225039.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225038.89,3649.0937,N,-12150.9687,W,1,03,00.5,067.2,M,-99.9,M,,*4f

: updating external sensors

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: AshtechGps::processRecord() - $GPGGA,225040.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225039.89,3649.0943,N,-12150.9680,W,1,03,00.5,067.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225041.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225040.89,3649.0948,N,-12150.9673,W,1,03,00.5,066.4,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225042.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225041.89,3649.0954,N,-12150.9667,W,1,03,00.5,066.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225043.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225042.89,3649.0960,N,-12150.9660,W,1,03,00.5,067.1,M,-99.9,M,,*4a

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225044.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225043.89,3649.0965,N,-12150.9652,W,1,03,00.5,067.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225045.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225044.89,3649.0971,N,-12150.9645,W,1,03,00.5,066.8,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  5.26 16.30 3.84 3.91 0 12440.10 08:17:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225046.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225045.89,3649.0977,N,-12150.9638,W,1,03,00.5,067.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225047.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225046.89,3649.0983,N,-12150.9631,W,1,03,00.5,066.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.24  4.88 16.79 3.83 3.90 0   963.80 08:17:22 m

: AshtechGps::processRecord() - $GPGGA,225048.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225047.89,3649.0989,N,-12150.9625,W,1,03,00.5,065.9,M,-99.9,M,,*43

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225049.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225048.89,3649.0995,N,-12150.9618,W,1,03,00.5,065.8,M,-99.9,M,,*4e

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225050.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225049.89,3649.1001,N,-12150.9612,W,1,03,00.5,065.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225051.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225050.89,3649.1007,N,-12150.9606,W,1,03,00.5,065.8,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225052.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225051.89,3649.1013,N,-12150.9599,W,1,03,00.5,065.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225053.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225052.89,3649.1019,N,-12150.9592,W,1,03,00.5,064.8,M,-99.9,M,,*49

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225054.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225053.89,3649.1025,N,-12150.9585,W,1,03,00.5,065.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225055.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225054.89,3649.1031,N,-12150.9577,W,1,03,00.5,065.9,M,-99.9,M,,*4e

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  4.41 16.30 3.84 3.91 0 12439.66 08:17:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 1.089925

: NMEA Update: $GPGGA,225056.84,3649.1037,N,-12150.9570,W,1,03,00.5,065.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225056.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225057.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225057.69,3649.1048,N,-12150.9556,W,1,03,00.5,065.8,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225058.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 31.24  4.78 16.79 3.83 3.90 0   963.33 08:17:32 m

: NMEA Update: $GPGGA,225058.69,3649.1054,N,-12150.9548,W,1,03,00.5,065.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225059.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225059.69,3649.1060,N,-12150.9542,W,1,03,00.5,065.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225100.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225100.69,3649.1066,N,-12150.9535,W,1,03,00.5,064.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225101.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225101.69,3649.1072,N,-12150.9528,W,1,03,00.5,064.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225102.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225102.69,3649.1078,N,-12150.9521,W,1,03,00.5,064.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225103.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225103.69,3649.1084,N,-12150.9515,W,1,03,00.5,064.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225104.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225104.69,3649.1090,N,-12150.9508,W,1,03,00.5,064.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225105.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.56 16.21 3.84 3.91 0 12439.36 08:17:39 m

: NMEA Update: $GPGGA,225105.69,3649.1096,N,-12150.9500,W,1,03,00.5,064.6,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225106.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225106.69,3649.1102,N,-12150.9493,W,1,03,00.5,064.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225107.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.20  5.06 16.79 3.83 3.89 0   962.99 08:17:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225107.69,3649.1108,N,-12150.9485,W,1,03,00.5,063.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225108.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225108.69,3649.1114,N,-12150.9478,W,1,03,00.5,063.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225109.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225109.69,3649.1120,N,-12150.9471,W,1,03,00.5,063.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225110.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225110.69,3649.1127,N,-12150.9463,W,1,03,00.5,064.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225111.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225111.69,3649.1133,N,-12150.9456,W,1,03,00.5,064.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225112.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225112.69,3649.1139,N,-12150.9449,W,1,03,00.5,064.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225113.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225113.69,3649.1145,N,-12150.9442,W,1,03,00.5,063.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225114.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225114.69,3649.1151,N,-12150.9435,W,1,03,00.5,062.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225115.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.45 16.21 3.84 3.91 0 12438.91 08:17:49 m

: NMEA Update: $GPGGA,225115.69,3649.1157,N,-12150.9428,W,1,03,00.5,063.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225116.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225116.69,3649.1163,N,-12150.9420,W,1,03,00.5,064.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225117.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 31.12  5.71 16.79 3.83 3.89 0   962.49 08:17:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225117.69,3649.1169,N,-12150.9413,W,1,03,00.5,063.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225118.00,,,,,0,00,,,M,,M,,*45

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

: Kearfott::deltaTime is 0.829943

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225119.30,3649.1174,N,-12150.9408,W,1,03,00.5,063.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225119.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225120.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225120.29,3649.1185,N,-12150.9395,W,1,03,00.5,062.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225121.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225121.29,3649.1191,N,-12150.9388,W,1,03,00.5,062.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225122.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225122.29,3649.1197,N,-12150.9381,W,1,03,00.5,062.6,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225123.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225123.29,3649.1202,N,-12150.9375,W,1,03,00.5,062.6,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225124.00,,,,,0,00,,,M,,M,,*4A

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

: Kearfott::deltaTime is 0.909938

: BluefinBatt Reply: $aaq0 d- 31.07  3.59 16.30 3.84 3.91 0 12438.70 08:17:59 m

: NMEA Update: $GPGGA,225125.33,3649.1208,N,-12150.9369,W,1,03,00.5,062.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225125.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225126.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225126.29,3649.1219,N,-12150.9356,W,1,03,00.5,062.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225127.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225127.29,3649.1225,N,-12150.9349,W,1,03,00.5,061.5,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.24  4.60 16.79 3.83 3.90 0   962.24 08:18:02 m

: AshtechGps::processRecord() - $GPGGA,225128.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225128.29,3649.1231,N,-12150.9343,W,1,03,00.5,061.8,M,-99.9,M,,*48

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: updating external sensors

: Kearfott::deltaTime is 0.999931

: NMEA Update: $GPGGA,225129.72,3649.1233,N,-12150.9340,W,1,03,00.5,061.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225129.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225130.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225130.69,3649.1244,N,-12150.9327,W,1,03,00.5,061.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225131.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225131.69,3649.1249,N,-12150.9321,W,1,03,00.5,061.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225132.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225132.69,3649.1254,N,-12150.9315,W,1,03,00.5,061.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225133.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225133.69,3649.1260,N,-12150.9309,W,1,03,00.5,061.2,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225134.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225134.69,3649.1265,N,-12150.9302,W,1,03,00.5,061.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225135.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 31.07  3.59 16.21 3.85 3.91 0 12438.34 08:18:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225135.69,3649.1270,N,-12150.9296,W,1,03,00.5,061.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225136.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225136.69,3649.1276,N,-12150.9289,W,1,03,00.5,061.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225137.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.24  4.92 16.79 3.83 3.90 0   961.79 08:18:12 m

: NMEA Update: $GPGGA,225137.69,3649.1281,N,-12150.9282,W,1,03,00.5,061.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225138.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,225138.69,3649.1287,N,-12150.9275,W,1,03,00.5,060.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225139.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225139.69,3649.1292,N,-12150.9269,W,1,03,00.5,061.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225140.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225140.69,3649.1298,N,-12150.9262,W,1,03,00.5,061.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225141.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225141.69,3649.1304,N,-12150.9256,W,1,03,00.5,060.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225142.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225142.69,3649.1309,N,-12150.9249,W,1,03,00.5,060.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225143.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225143.69,3649.1315,N,-12150.9243,W,1,03,00.5,059.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225144.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225144.69,3649.1321,N,-12150.9236,W,1,03,00.5,059.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225145.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.26 16.21 3.85 3.91 0 12438.00 08:18:19 m

: NMEA Update: $GPGGA,225145.69,3649.1327,N,-12150.9230,W,1,03,00.5,059.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225146.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225146.69,3649.1333,N,-12150.9223,W,1,03,00.5,060.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225147.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.70 16.69 3.83 3.89 0   961.40 08:18:22 m

: NMEA Update: $GPGGA,225147.69,3649.1339,N,-12150.9216,W,1,03,00.5,060.1,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225148.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,225148.69,3649.1345,N,-12150.9209,W,1,03,00.5,058.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225149.00,,,,,0,00,,,M,,M,,*41

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225149.69,3649.1351,N,-12150.9202,W,1,03,00.5,059.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225150.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225150.69,3649.1357,N,-12150.9195,W,1,03,00.5,060.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225151.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225151.69,3649.1363,N,-12150.9188,W,1,03,00.5,060.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225152.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225152.69,3649.1369,N,-12150.9181,W,1,03,00.5,058.5,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225153.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225153.69,3649.1374,N,-12150.9174,W,1,03,00.5,059.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225154.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225154.69,3649.1381,N,-12150.9167,W,1,03,00.5,058.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225155.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.45 16.11 3.84 3.91 0 12437.51 08:18:29 m

: NMEA Update: $GPGGA,225155.69,3649.1387,N,-12150.9160,W,1,03,00.5,058.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225156.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225156.69,3649.1393,N,-12150.9153,W,1,03,00.5,058.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225157.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.92 16.69 3.83 3.89 0   960.86 08:18:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225157.69,3649.1399,N,-12150.9146,W,1,03,00.5,058.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225158.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225158.69,3649.1405,N,-12150.9139,W,1,03,00.5,059.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225159.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225159.69,3649.1412,N,-12150.9132,W,1,03,00.5,058.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225200.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225200.69,3649.1418,N,-12150.9125,W,1,03,00.5,058.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225201.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225201.69,3649.1424,N,-12150.9117,W,1,03,00.5,058.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225202.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225202.69,3649.1430,N,-12150.9110,W,1,03,00.5,057.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225203.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225203.69,3649.1436,N,-12150.9103,W,1,03,00.5,058.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225204.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225204.69,3649.1442,N,-12150.9096,W,1,03,00.5,057.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225205.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.37 16.11 3.84 3.91 0 12437.21 08:18:39 m

: NMEA Update: $GPGGA,225205.69,3649.1448,N,-12150.9089,W,1,03,00.5,057.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225206.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225206.69,3649.1454,N,-12150.9082,W,1,03,00.5,058.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225207.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.20  5.10 16.69 3.83 3.89 0   960.52 08:18:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225207.69,3649.1460,N,-12150.9075,W,1,03,00.5,056.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225208.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225208.69,3649.1466,N,-12150.9067,W,1,03,00.5,056.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225209.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,225209.69,3649.1472,N,-12150.9060,W,1,03,00.5,056.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225210.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225210.69,3649.1478,N,-12150.9053,W,1,03,00.5,056.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225211.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225211.69,3649.1484,N,-12150.9046,W,1,03,00.5,056.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225212.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225212.69,3649.1491,N,-12150.9038,W,1,03,00.5,056.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225213.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225213.69,3649.1497,N,-12150.9031,W,1,03,00.5,056.7,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225214.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225214.69,3649.1503,N,-12150.9023,W,1,03,00.5,055.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225215.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 31.03  3.97 16.11 3.84 3.91 0 12436.79 08:18:49 m

: NMEA Update: $GPGGA,225215.50,3649.1508,N,-12150.9017,W,1,03,00.5,056.9,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225216.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225216.50,3649.1514,N,-12150.9010,W,1,03,00.5,056.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225217.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.20  4.85 16.69 3.83 3.89 0   960.20 08:18:52 m

: NMEA Update: $GPGGA,225217.50,3649.1520,N,-12150.9002,W,1,03,00.5,055.9,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225218.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225218.50,3649.1526,N,-12150.8995,W,1,03,00.5,056.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225219.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,225219.50,3649.1533,N,-12150.8988,W,1,03,00.5,055.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225220.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225220.50,3649.1539,N,-12150.8980,W,1,03,00.5,055.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225221.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225221.50,3649.1545,N,-12150.8973,W,1,03,00.5,055.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225222.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225222.50,3649.1551,N,-12150.8966,W,1,03,00.5,055.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225223.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225223.50,3649.1557,N,-12150.8959,W,1,03,00.5,055.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225224.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225224.50,3649.1563,N,-12150.8951,W,1,03,00.5,055.6,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225225.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.99  5.16 16.11 3.84 3.91 0 12436.47 08:18:59 m

: NMEA Update: $GPGGA,225225.50,3649.1569,N,-12150.8944,W,1,03,00.5,054.8,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225226.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225226.50,3649.1575,N,-12150.8937,W,1,03,00.5,055.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225227.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.20  4.96 16.69 3.83 3.89 0   959.70 08:19:02 m

: NMEA Update: $GPGGA,225227.50,3649.1581,N,-12150.8930,W,1,03,00.5,055.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225228.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225228.50,3649.1587,N,-12150.8922,W,1,03,00.5,055.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225229.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,225229.50,3649.1593,N,-12150.8915,W,1,03,00.5,055.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225230.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225230.50,3649.1599,N,-12150.8908,W,1,03,00.5,055.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225231.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225231.49,3649.1605,N,-12150.8901,W,1,03,00.5,054.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225232.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225232.49,3649.1612,N,-12150.8893,W,1,03,00.5,055.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225233.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225233.49,3649.1618,N,-12150.8886,W,1,03,00.5,054.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225234.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225234.49,3649.1624,N,-12150.8879,W,1,03,00.5,054.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225235.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.37 16.11 3.84 3.90 0 12436.04 08:19:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225235.49,3649.1631,N,-12150.8872,W,1,03,00.5,055.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225236.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225236.49,3649.1637,N,-12150.8865,W,1,03,00.5,054.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225237.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.99 16.60 3.83 3.89 0   959.18 08:19:12 m

: NMEA Update: $GPGGA,225237.49,3649.1643,N,-12150.8858,W,1,03,00.5,054.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225238.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: NMEA Update: $GPGGA,225238.49,3649.1650,N,-12150.8850,W,1,03,00.5,054.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225239.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,225239.49,3649.1656,N,-12150.8843,W,1,03,00.5,053.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225240.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225240.49,3649.1662,N,-12150.8836,W,1,03,00.5,054.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225241.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,225242.24,3649.1667,N,-12150.8830,W,1,03,00.5,054.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225242.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225243.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225243.09,3649.1679,N,-12150.8817,W,1,03,00.5,054.0,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225244.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225244.09,3649.1685,N,-12150.8810,W,1,03,00.5,053.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225245.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225245.09,3649.1691,N,-12150.8802,W,1,03,00.5,053.9,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 30.95  5.23 16.01 3.84 3.90 0 12435.75 08:19:19 m

: AshtechGps::processRecord() - $GPGGA,225246.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225246.09,3649.1698,N,-12150.8795,W,1,03,00.5,054.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225247.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225247.09,3649.1704,N,-12150.8787,W,1,03,00.5,053.0,M,-99.9,M,,*47

: BluefinBatt Reply: $c0q0 d- 31.20  4.56 16.69 3.83 3.89 0   958.84 08:19:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225248.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225248.09,3649.1710,N,-12150.8780,W,1,03,00.5,053.8,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225249.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,225249.09,3649.1716,N,-12150.8773,W,1,03,00.5,052.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225250.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225250.09,3649.1722,N,-12150.8766,W,1,03,00.5,052.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225251.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225251.09,3649.1728,N,-12150.8759,W,1,03,00.5,053.3,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225252.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225252.09,3649.1734,N,-12150.8752,W,1,03,00.5,053.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225253.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225253.09,3649.1740,N,-12150.8745,W,1,03,00.5,052.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225254.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225254.09,3649.1747,N,-12150.8737,W,1,03,00.5,053.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225255.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225255.09,3649.1753,N,-12150.8730,W,1,03,00.5,052.3,M,-99.9,M,,*48

: BluefinBatt Reply: $aaq0 d- 31.03  4.04 16.11 3.84 3.90 0 12435.31 08:19:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225256.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225256.09,3649.1759,N,-12150.8722,W,1,03,00.5,053.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225257.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225257.09,3649.1765,N,-12150.8714,W,1,03,00.5,052.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.20  5.03 16.60 3.83 3.89 0   958.31 08:19:32 m

: AshtechGps::processRecord() - $GPGGA,225258.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225258.09,3649.1771,N,-12150.8706,W,1,03,00.5,053.2,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225259.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225259.09,3649.1777,N,-12150.8698,W,1,03,00.5,052.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225300.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225300.09,3649.1783,N,-12150.8690,W,1,03,00.5,052.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225301.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225301.09,3649.1789,N,-12150.8683,W,1,03,00.5,052.0,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225302.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225302.09,3649.1796,N,-12150.8676,W,1,03,00.5,051.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225303.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225303.09,3649.1802,N,-12150.8669,W,1,03,00.5,052.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225304.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225304.09,3649.1808,N,-12150.8663,W,1,03,00.5,051.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225305.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225305.09,3649.1814,N,-12150.8656,W,1,03,00.5,052.3,M,-99.9,M,,*41

: BluefinBatt Reply: $aaq0 d- 30.99  4.37 16.11 3.84 3.90 0 12435.02 08:19:39 m

: Kearfott::deltaTime is 0.319978

: Kearfott::deltaTime is 0.739949

: NMEA Update: $GPGGA,225306.25,3649.1815,N,-12150.8654,W,1,03,00.5,051.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225306.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225307.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225307.09,3649.1827,N,-12150.8642,W,1,03,00.5,051.5,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 31.24  4.38 16.69 3.82 3.89 0   957.96 08:19:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225308.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225308.09,3649.1833,N,-12150.8635,W,1,03,00.5,051.8,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225309.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,225309.09,3649.1839,N,-12150.8627,W,1,03,00.5,050.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225310.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225310.09,3649.1845,N,-12150.8620,W,1,03,00.5,051.6,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225311.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225311.09,3649.1852,N,-12150.8613,W,1,03,00.5,050.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225312.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225312.09,3649.1858,N,-12150.8605,W,1,03,00.5,050.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225313.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225313.09,3649.1864,N,-12150.8598,W,1,03,00.5,050.6,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225314.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225314.09,3649.1870,N,-12150.8591,W,1,03,00.5,050.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225315.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225315.09,3649.1876,N,-12150.8584,W,1,03,00.5,050.2,M,-99.9,M,,*4b

: BluefinBatt Reply: $aaq0 d- 30.99  4.12 16.01 3.84 3.90 0 12434.60 08:19:49 m

: Kearfott::deltaTime is 1.089925

: NMEA Update: $GPGGA,225316.31,3649.1877,N,-12150.8582,W,1,03,00.5,050.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225316.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225317.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225317.29,3649.1890,N,-12150.8569,W,1,03,00.5,050.1,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 31.20  4.60 16.60 3.82 3.89 0   957.45 08:19:52 m

: AshtechGps::processRecord() - $GPGGA,225318.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225318.29,3649.1895,N,-12150.8562,W,1,03,00.5,050.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225319.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,225319.29,3649.1901,N,-12150.8555,W,1,03,00.5,050.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225320.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225320.29,3649.1906,N,-12150.8549,W,1,03,00.5,050.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225321.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225321.29,3649.1912,N,-12150.8542,W,1,03,00.5,050.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225322.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225322.29,3649.1918,N,-12150.8535,W,1,03,00.5,049.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225323.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225323.29,3649.1923,N,-12150.8529,W,1,03,00.5,049.2,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225324.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225324.29,3649.1929,N,-12150.8522,W,1,03,00.5,049.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225325.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.26 16.01 3.84 3.90 0 12434.40 08:19:59 m

: NMEA Update: $GPGGA,225325.29,3649.1934,N,-12150.8515,W,1,03,00.5,049.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225326.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225326.29,3649.1940,N,-12150.8509,W,1,03,00.5,048.9,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225327.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.16  5.10 16.60 3.82 3.89 0   957.15 08:20:02 m

: NMEA Update: $GPGGA,225327.29,3649.1946,N,-12150.8502,W,1,03,00.5,048.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225328.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225328.29,3649.1952,N,-12150.8495,W,1,03,00.5,048.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225329.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,225329.29,3649.1958,N,-12150.8488,W,1,03,00.5,048.6,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225330.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225330.29,3649.1964,N,-12150.8481,W,1,03,00.5,048.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225331.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225331.29,3649.1971,N,-12150.8474,W,1,03,00.5,048.5,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225332.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225332.29,3649.1977,N,-12150.8468,W,1,03,00.5,048.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225333.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225333.29,3649.1983,N,-12150.8462,W,1,03,00.5,047.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225334.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225334.29,3649.1989,N,-12150.8455,W,1,03,00.5,047.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225335.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.34 16.11 3.84 3.90 0 12433.92 08:20:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225335.29,3649.1996,N,-12150.8449,W,1,03,00.5,047.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225336.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225336.29,3649.2002,N,-12150.8442,W,1,03,00.5,047.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225337.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225337.29,3649.2009,N,-12150.8435,W,1,03,00.5,047.2,M,-99.9,M,,*47

: BluefinBatt Reply: $c0q0 d- 31.20  5.17 16.60 3.82 3.89 0   956.63 08:20:12 m

: AshtechGps::processRecord() - $GPGGA,225338.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225338.29,3649.2015,N,-12150.8428,W,1,03,00.5,047.0,M,-99.9,M,,*4b

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225339.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,225339.29,3649.2021,N,-12150.8420,W,1,03,00.5,046.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225340.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225340.29,3649.2028,N,-12150.8413,W,1,03,00.5,046.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 0.869941

: NMEA Update: $GPGGA,225341.85,3649.2031,N,-12150.8408,W,1,03,00.5,044.7,M,-99.9,M,,*43

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - ,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M
: AshtechGps::processRecord() - $GPGGA,225342.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225342.69,3649.2043,N,-12150.8396,W,1,03,00.5,044.9,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225343.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225343.69,3649.2049,N,-12150.8389,W,1,03,00.5,044.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225344.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225344.69,3649.2055,N,-12150.8382,W,1,03,00.5,044.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225345.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.19 15.91 3.84 3.90 0 12433.59 08:20:19 m

: NMEA Update: $GPGGA,225345.69,3649.2061,N,-12150.8375,W,1,03,00.5,044.9,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225346.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225346.69,3649.2067,N,-12150.8368,W,1,03,00.5,044.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225347.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.16  5.89 16.60 3.82 3.89 0   956.29 08:20:22 m

: NMEA Update: $GPGGA,225347.69,3649.2073,N,-12150.8360,W,1,03,00.5,044.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225348.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225348.69,3649.2079,N,-12150.8353,W,1,03,00.5,044.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225349.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225349.69,3649.2084,N,-12150.8345,W,1,03,00.5,040.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225350.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225350.69,3649.2091,N,-12150.8337,W,1,03,00.5,040.3,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225351.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225351.69,3649.2097,N,-12150.8330,W,1,03,00.5,039.5,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225352.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225352.69,3649.2103,N,-12150.8322,W,1,03,00.5,039.3,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225353.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225353.69,3649.2109,N,-12150.8315,W,1,03,00.5,039.0,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225354.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225354.69,3649.2115,N,-12150.8309,W,1,03,00.5,038.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225355.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.00 16.01 3.84 3.90 0 12433.13 08:20:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225355.69,3649.2122,N,-12150.8302,W,1,03,00.5,038.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225356.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225356.69,3649.2128,N,-12150.8295,W,1,03,00.5,037.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225357.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.20  4.67 16.50 3.82 3.89 0   955.80 08:20:32 m

: NMEA Update: $GPGGA,225357.69,3649.2134,N,-12150.8288,W,1,03,00.5,037.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225358.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225358.69,3649.2141,N,-12150.8281,W,1,03,00.5,037.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225359.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,225359.69,3649.2147,N,-12150.8274,W,1,03,00.5,035.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225400.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225400.69,3649.2153,N,-12150.8266,W,1,03,00.5,035.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225401.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225401.69,3649.2160,N,-12150.8259,W,1,03,00.5,035.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225402.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225402.69,3649.2166,N,-12150.8251,W,1,03,00.5,036.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225403.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225403.69,3649.2172,N,-12150.8244,W,1,03,00.5,036.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225404.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225404.69,3649.2179,N,-12150.8236,W,1,03,00.5,035.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225405.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.23 16.01 3.84 3.90 0 12432.79 08:20:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225405.69,3649.2185,N,-12150.8229,W,1,03,00.5,035.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225406.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225406.69,3649.2191,N,-12150.8222,W,1,03,00.5,034.7,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225407.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.85 16.50 3.82 3.89 0   955.44 08:20:42 m

: NMEA Update: $GPGGA,225407.69,3649.2197,N,-12150.8215,W,1,03,00.5,034.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225408.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225408.69,3649.2203,N,-12150.8207,W,1,03,00.5,034.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225409.00,,,,,0,00,,,M,,M,,*40

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225409.69,3649.2210,N,-12150.8200,W,1,03,00.5,034.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225410.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225410.69,3649.2216,N,-12150.8193,W,1,03,00.5,034.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225411.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225411.69,3649.2222,N,-12150.8186,W,1,03,00.5,032.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225412.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225412.69,3649.2228,N,-12150.8179,W,1,03,00.5,032.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225413.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225413.69,3649.2235,N,-12150.8172,W,1,03,00.5,032.6,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225414.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225414.69,3649.2241,N,-12150.8165,W,1,03,00.5,032.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225415.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.49 16.01 3.84 3.90 0 12432.33 08:20:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225415.69,3649.2247,N,-12150.8158,W,1,03,00.5,032.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225416.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225416.69,3649.2253,N,-12150.8150,W,1,03,00.5,032.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225417.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.74 16.60 3.82 3.89 0   954.95 08:20:52 m

: NMEA Update: $GPGGA,225417.69,3649.2260,N,-12150.8143,W,1,03,00.5,032.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225418.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225418.69,3649.2266,N,-12150.8135,W,1,03,00.5,032.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225419.00,,,,,0,00,,,M,,M,,*41

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225419.69,3649.2272,N,-12150.8128,W,1,03,00.5,030.1,M,-99.9,M,,*4c

: Kearfott::deltaTime is 0.869940

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,225420.91,3649.2274,N,-12150.8126,W,1,03,00.5,030.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - ,*4B

: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
,*4B

: AshtechGps::processRecord() - $GPGGA,225421.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225422.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225421.89,3649.2286,N,-12150.8112,W,1,03,00.5,030.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225423.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225422.89,3649.2292,N,-12150.8105,W,1,03,00.5,029.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225424.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225423.89,3649.2298,N,-12150.8098,W,1,03,00.5,029.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225425.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225424.89,3649.2304,N,-12150.8091,W,1,03,00.5,029.5,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  3.71 16.01 3.84 3.90 0 12432.05 08:20:59 m

: Kearfott::deltaTime is 0.959934

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225426.75,3649.2308,N,-12150.8086,W,1,03,00.5,029.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225426.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225427.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225427.69,3649.2319,N,-12150.8073,W,1,03,00.5,029.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225428.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 31.20  4.31 16.50 3.83 3.90 0   954.67 08:21:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225428.69,3649.2325,N,-12150.8066,W,1,03,00.5,028.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225429.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225429.69,3649.2331,N,-12150.8059,W,1,03,00.5,028.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225430.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225430.69,3649.2336,N,-12150.8052,W,1,03,00.5,028.2,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225431.00,,,,,0,00,,,M,,M,,*4B

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

: Kearfott::deltaTime is 0.799945

: NMEA Update: $GPGGA,225432.78,3649.2342,N,-12150.8045,W,1,03,00.5,028.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225432.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225433.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225433.69,3649.2354,N,-12150.8031,W,1,03,00.5,027.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225434.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225434.69,3649.2360,N,-12150.8024,W,1,03,00.5,027.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225435.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.56 15.91 3.85 3.91 0 12431.63 08:21:09 m

: NMEA Update: $GPGGA,225435.69,3649.2366,N,-12150.8018,W,1,03,00.5,027.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225436.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225436.69,3649.2372,N,-12150.8011,W,1,03,00.5,027.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225437.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.16  4.99 16.50 3.83 3.90 0   954.33 08:21:12 m

: NMEA Update: $GPGGA,225437.69,3649.2378,N,-12150.8004,W,1,03,00.5,027.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225438.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225438.69,3649.2384,N,-12150.7997,W,1,03,00.5,027.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225439.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225439.69,3649.2391,N,-12150.7989,W,1,03,00.5,027.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225440.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225440.69,3649.2397,N,-12150.7982,W,1,03,00.5,026.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225441.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225441.50,3649.2401,N,-12150.7976,W,1,03,00.5,026.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225442.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225442.50,3649.2408,N,-12150.7969,W,1,03,00.5,026.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225443.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225443.50,3649.2414,N,-12150.7962,W,1,03,00.5,026.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225444.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225444.50,3649.2420,N,-12150.7954,W,1,03,00.5,026.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225445.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.49 15.91 3.85 3.91 0 12431.33 08:21:19 m

: NMEA Update: $GPGGA,225445.50,3649.2426,N,-12150.7946,W,1,03,00.5,026.2,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225446.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225446.50,3649.2432,N,-12150.7939,W,1,03,00.5,026.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225447.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.20  4.74 16.60 3.82 3.89 0   953.82 08:21:22 m

: NMEA Update: $GPGGA,225447.50,3649.2438,N,-12150.7931,W,1,03,00.5,025.9,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225448.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225448.50,3649.2444,N,-12150.7923,W,1,03,00.5,025.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225449.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,225449.50,3649.2451,N,-12150.7916,W,1,03,00.5,025.9,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225450.00,,,,,0,00,,,M,,M,,*4C

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

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,225451.41,3649.2456,N,-12150.7909,W,1,03,00.5,025.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225451.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225452.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225452.30,3649.2467,N,-12150.7895,W,1,03,00.5,024.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225453.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225453.30,3649.2473,N,-12150.7888,W,1,03,00.5,025.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225454.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225454.30,3649.2479,N,-12150.7882,W,1,03,00.5,024.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225455.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  2.59 16.01 3.84 3.90 0 12430.96 08:21:29 m

: NMEA Update: $GPGGA,225455.30,3649.2484,N,-12150.7875,W,1,03,00.5,024.6,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225456.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225456.30,3649.2490,N,-12150.7869,W,1,03,00.5,024.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225457.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.24  4.27 16.40 3.82 3.89 0   953.58 08:21:32 m

: NMEA Update: $GPGGA,225457.29,3649.2496,N,-12150.7862,W,1,03,00.5,024.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225458.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225458.29,3649.2501,N,-12150.7855,W,1,03,00.5,024.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225459.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225459.29,3649.2507,N,-12150.7848,W,1,03,00.5,024.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225500.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225500.29,3649.2513,N,-12150.7841,W,1,03,00.5,023.9,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225501.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225501.29,3649.2519,N,-12150.7834,W,1,03,00.5,024.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225502.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225502.29,3649.2525,N,-12150.7827,W,1,03,00.5,023.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225503.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225503.29,3649.2532,N,-12150.7821,W,1,03,00.5,023.6,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225504.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225504.29,3649.2538,N,-12150.7814,W,1,03,00.5,023.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225505.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.41 15.82 3.84 3.90 0 12430.67 08:21:39 m

: Kearfott::deltaTime is 0.949935

: NMEA Update: $GPGGA,225506.33,3649.2545,N,-12150.7806,W,1,03,00.5,023.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225506.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225507.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225507.29,3649.2556,N,-12150.7793,W,1,03,00.5,023.1,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 31.16  4.60 16.50 3.82 3.89 0   953.07 08:21:42 m

: AshtechGps::processRecord() - $GPGGA,225508.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225508.29,3649.2562,N,-12150.7787,W,1,03,00.5,023.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225509.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,225509.29,3649.2568,N,-12150.7780,W,1,03,00.5,022.8,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225510.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225510.29,3649.2574,N,-12150.7773,W,1,03,00.5,023.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225511.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225511.29,3649.2580,N,-12150.7767,W,1,03,00.5,023.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225512.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225512.29,3649.2585,N,-12150.7761,W,1,03,00.5,022.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225513.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225513.29,3649.2591,N,-12150.7754,W,1,03,00.5,022.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225514.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225514.29,3649.2597,N,-12150.7748,W,1,03,00.5,022.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225515.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.08 15.91 3.84 3.90 0 12430.29 08:21:49 m

: NMEA Update: $GPGGA,225515.29,3649.2603,N,-12150.7741,W,1,03,00.5,022.7,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225516.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225516.29,3649.2609,N,-12150.7735,W,1,03,00.5,022.7,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225517.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 31.16  5.17 16.50 3.82 3.89 0   952.84 08:21:52 m

: NMEA Update: $GPGGA,225517.29,3649.2615,N,-12150.7728,W,1,03,00.5,022.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225518.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225518.29,3649.2621,N,-12150.7722,W,1,03,00.5,022.5,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225519.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,225519.29,3649.2627,N,-12150.7715,W,1,03,00.5,022.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225520.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225520.29,3649.2633,N,-12150.7708,W,1,03,00.5,022.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225521.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225521.29,3649.2639,N,-12150.7701,W,1,03,00.5,022.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225522.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225522.29,3649.2645,N,-12150.7693,W,1,03,00.5,022.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225523.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225523.29,3649.2652,N,-12150.7685,W,1,03,00.5,022.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225524.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225524.29,3649.2658,N,-12150.7678,W,1,03,00.5,022.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225525.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.19 15.91 3.84 3.90 0 12429.99 08:21:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225525.29,3649.2664,N,-12150.7670,W,1,03,00.5,022.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225526.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225526.29,3649.2670,N,-12150.7663,W,1,03,00.5,022.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225527.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225527.29,3649.2676,N,-12150.7656,W,1,03,00.5,022.1,M,-99.9,M,,*46

: BluefinBatt Reply: $c0q0 d- 31.16  5.06 16.50 3.82 3.89 0   952.28 08:22:02 m

: AshtechGps::processRecord() - $GPGGA,225528.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225528.29,3649.2682,N,-12150.7649,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225529.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225529.29,3649.2689,N,-12150.7642,W,1,03,00.5,022.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225530.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225530.29,3649.2695,N,-12150.7635,W,1,03,00.5,022.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225531.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225531.29,3649.2701,N,-12150.7628,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225532.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225532.29,3649.2707,N,-12150.7621,W,1,03,00.5,022.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225533.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225533.29,3649.2713,N,-12150.7613,W,1,03,00.5,022.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225534.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225534.29,3649.2719,N,-12150.7606,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225535.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  4.04 15.91 3.84 3.90 0 12429.52 08:22:09 m

: NMEA Update: $GPGGA,225535.29,3649.2725,N,-12150.7598,W,1,03,00.5,022.1,M,-99.9,M,,*43

: Kearfott::deltaTime is 1.099925

: NMEA Update: $GPGGA,225536.87,3649.2728,N,-12150.7594,W,1,03,00.5,022.1,M,-99.9,M,,*45

: gpsDriver::readRecord() - serial device timed out
: AshtechGps::processRecord() - A,225536.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225537.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225537.69,3649.2741,N,-12150.7579,W,1,03,00.5,022.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225538.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 31.20  4.31 16.40 3.82 3.89 0   951.79 08:22:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225538.69,3649.2747,N,-12150.7571,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225539.00,,,,,0,00,,,M,,M,,*42

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

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225539.69,3649.2753,N,-12150.7564,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225540.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225540.69,3649.2760,N,-12150.7556,W,1,03,00.5,022.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225541.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225541.69,3649.2766,N,-12150.7548,W,1,03,00.5,022.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225542.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225542.69,3649.2772,N,-12150.7541,W,1,03,00.5,022.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225543.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225543.69,3649.2779,N,-12150.7534,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225544.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225544.69,3649.2785,N,-12150.7527,W,1,03,00.5,022.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225545.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 31.03  4.45 15.91 3.84 3.90 0 12429.25 08:22:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225545.69,3649.2791,N,-12150.7520,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225546.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225546.69,3649.2797,N,-12150.7513,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225547.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.20  4.60 16.40 3.82 3.89 0   951.45 08:22:22 m

: NMEA Update: $GPGGA,225547.69,3649.2803,N,-12150.7506,W,1,03,00.5,022.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225548.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225548.69,3649.2809,N,-12150.7499,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225549.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,225549.69,3649.2814,N,-12150.7491,W,1,03,00.5,022.1,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225550.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225550.69,3649.2820,N,-12150.7484,W,1,03,00.5,022.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225551.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225551.69,3649.2826,N,-12150.7476,W,1,03,00.5,022.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225552.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225552.69,3649.2832,N,-12150.7468,W,1,03,00.5,022.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225553.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225553.69,3649.2839,N,-12150.7461,W,1,03,00.5,022.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225554.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225554.69,3649.2845,N,-12150.7453,W,1,03,00.5,022.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225555.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.15 15.91 3.84 3.90 0 12428.79 08:22:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225555.69,3649.2851,N,-12150.7445,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225556.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225556.69,3649.2857,N,-12150.7437,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225557.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.67 16.40 3.82 3.89 0   950.94 08:22:32 m

: NMEA Update: $GPGGA,225557.69,3649.2863,N,-12150.7429,W,1,03,00.5,022.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225558.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225558.69,3649.2870,N,-12150.7422,W,1,03,00.5,022.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225559.00,,,,,0,00,,,M,,M,,*44

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225559.69,3649.2876,N,-12150.7414,W,1,03,00.5,022.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225600.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225600.69,3649.2882,N,-12150.7407,W,1,03,00.5,022.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225601.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225601.69,3649.2888,N,-12150.7399,W,1,03,00.5,022.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225602.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225602.69,3649.2894,N,-12150.7392,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225603.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225603.69,3649.2900,N,-12150.7384,W,1,03,00.5,022.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225604.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225604.69,3649.2906,N,-12150.7378,W,1,03,00.5,022.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225605.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.12 15.91 3.84 3.90 0 12428.50 08:22:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225605.69,3649.2913,N,-12150.7371,W,1,03,00.5,022.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225606.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225606.69,3649.2919,N,-12150.7364,W,1,03,00.5,022.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225607.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $c0q0 d- 31.20  4.70 16.50 3.82 3.89 0   950.60 08:22:42 m

: NMEA Update: $GPGGA,225607.69,3649.2925,N,-12150.7358,W,1,03,00.5,022.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225608.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225608.69,3649.2932,N,-12150.7351,W,1,03,00.5,022.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225609.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225609.69,3649.2938,N,-12150.7344,W,1,03,00.5,021.9,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225610.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225610.69,3649.2944,N,-12150.7337,W,1,03,00.5,022.1,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225611.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,225611.69,3649.2951,N,-12150.7330,W,1,03,00.5,022.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225612.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225612.69,3649.2957,N,-12150.7323,W,1,03,00.5,021.9,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225613.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225613.69,3649.2964,N,-12150.7315,W,1,03,00.5,021.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225614.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225614.69,3649.2970,N,-12150.7307,W,1,03,00.5,022.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225615.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.12 15.82 3.84 3.90 0 12428.04 08:22:49 m

: NMEA Update: $GPGGA,225615.69,3649.2976,N,-12150.7299,W,1,03,00.5,022.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225616.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225616.69,3649.2983,N,-12150.7291,W,1,03,00.5,022.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225617.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.92 16.40 3.82 3.89 0   950.10 08:22:52 m

: NMEA Update: $GPGGA,225617.69,3649.2989,N,-12150.7284,W,1,03,00.5,021.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225618.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225618.69,3649.2995,N,-12150.7277,W,1,03,00.5,021.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225619.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225619.69,3649.3001,N,-12150.7270,W,1,03,00.5,021.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225620.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225620.69,3649.3007,N,-12150.7263,W,1,03,00.5,021.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225621.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,225621.69,3649.3013,N,-12150.7256,W,1,03,00.5,021.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225622.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225622.69,3649.3020,N,-12150.7249,W,1,03,00.5,021.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225623.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225623.69,3649.3026,N,-12150.7242,W,1,03,00.5,021.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225624.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225624.69,3649.3032,N,-12150.7235,W,1,03,00.5,021.8,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225625.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.45 15.91 3.84 3.90 0 12427.74 08:22:59 m

: NMEA Update: $GPGGA,225625.69,3649.3038,N,-12150.7228,W,1,03,00.5,021.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225626.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225626.69,3649.3044,N,-12150.7220,W,1,03,00.5,021.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225627.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.70 16.40 3.82 3.89 0   949.78 08:23:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225627.69,3649.3050,N,-12150.7213,W,1,03,00.5,021.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225628.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225628.69,3649.3057,N,-12150.7206,W,1,03,00.5,021.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225629.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225629.69,3649.3063,N,-12150.7198,W,1,03,00.5,021.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225630.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225630.69,3649.3070,N,-12150.7190,W,1,03,00.5,021.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225631.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225631.69,3649.3076,N,-12150.7183,W,1,03,00.5,021.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225632.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225632.69,3649.3083,N,-12150.7175,W,1,03,00.5,021.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225633.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225633.69,3649.3090,N,-12150.7167,W,1,03,00.5,021.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225634.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225635.07,3649.3092,N,-12150.7164,W,1,03,00.5,021.8,M,-99.9,M,,*4b

: updating external sensors

: Kearfott::deltaTime is 1.049928

: AshtechGps::processRecord() - $GPGGA,225635.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.99  4.30 15.82 3.84 3.90 0 12427.26 08:23:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225636.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225635.89,3649.3104,N,-12150.7152,W,1,03,00.5,021.5,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225637.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225636.89,3649.3110,N,-12150.7145,W,1,03,00.5,021.5,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.96 16.40 3.82 3.89 0   949.29 08:23:12 m

: AshtechGps::processRecord() - $GPGGA,225638.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225637.89,3649.3117,N,-12150.7138,W,1,03,00.5,021.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225639.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225638.89,3649.3123,N,-12150.7131,W,1,03,00.5,021.4,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225640.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225639.89,3649.3130,N,-12150.7124,W,1,03,00.5,021.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225641.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225640.89,3649.3136,N,-12150.7116,W,1,03,00.5,021.7,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225642.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225641.89,3649.3143,N,-12150.7108,W,1,03,00.5,021.8,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225643.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225642.89,3649.3149,N,-12150.7100,W,1,03,00.5,021.7,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225644.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225643.89,3649.3155,N,-12150.7091,W,1,03,00.5,021.6,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225645.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225644.89,3649.3162,N,-12150.7084,W,1,03,00.5,021.7,M,-99.9,M,,*45

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.23 15.82 3.84 3.90 0 12426.94 08:23:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225646.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225645.89,3649.3168,N,-12150.7076,W,1,03,00.5,021.4,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225647.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225646.89,3649.3174,N,-12150.7069,W,1,03,00.5,021.3,M,-99.9,M,,*47

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.63 16.40 3.82 3.89 0   948.96 08:23:22 m

: AshtechGps::processRecord() - $GPGGA,225648.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225647.89,3649.3181,N,-12150.7062,W,1,03,00.5,021.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225649.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225648.89,3649.3187,N,-12150.7055,W,1,03,00.5,021.3,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225650.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225649.89,3649.3193,N,-12150.7048,W,1,03,00.5,021.3,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225651.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225650.89,3649.3200,N,-12150.7041,W,1,03,00.5,021.4,M,-99.9,M,,*4d

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225652.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225651.89,3649.3206,N,-12150.7034,W,1,03,00.5,021.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225653.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225652.89,3649.3212,N,-12150.7026,W,1,03,00.5,021.6,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225654.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225653.89,3649.3219,N,-12150.7018,W,1,03,00.5,021.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225655.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225654.89,3649.3225,N,-12150.7010,W,1,03,00.5,021.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.15 15.82 3.84 3.90 0 12426.50 08:23:29 m

: AshtechGps::processRecord() - $GPGGA,225656.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225655.89,3649.3232,N,-12150.7002,W,1,03,00.5,021.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225657.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225656.89,3649.3238,N,-12150.6994,W,1,03,00.5,021.3,M,-99.9,M,,*47

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.70 16.40 3.82 3.89 0   948.48 08:23:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225658.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225657.89,3649.3245,N,-12150.6986,W,1,03,00.5,021.3,M,-99.9,M,,*4f

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,225659.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225658.89,3649.3251,N,-12150.6978,W,1,03,00.5,021.3,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225700.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225659.89,3649.3258,N,-12150.6971,W,1,03,00.5,021.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225701.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225700.89,3649.3264,N,-12150.6964,W,1,03,00.5,021.3,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225702.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225701.89,3649.3270,N,-12150.6956,W,1,03,00.5,021.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225703.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225702.89,3649.3277,N,-12150.6949,W,1,03,00.5,021.3,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225704.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225703.89,3649.3283,N,-12150.6941,W,1,03,00.5,021.3,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225705.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225704.89,3649.3289,N,-12150.6934,W,1,03,00.5,021.3,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.52 15.82 3.84 3.90 0 12426.17 08:23:39 m

: AshtechGps::processRecord() - $GPGGA,225706.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225705.89,3649.3296,N,-12150.6926,W,1,03,00.5,021.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225707.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225706.89,3649.3302,N,-12150.6918,W,1,03,00.5,021.4,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.78 16.40 3.82 3.89 0   948.15 08:23:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225707.70,3649.3307,N,-12150.6912,W,1,03,00.5,021.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225708.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225708.70,3649.3313,N,-12150.6904,W,1,03,00.5,021.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225709.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225709.70,3649.3320,N,-12150.6897,W,1,03,00.5,021.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225710.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225710.70,3649.3326,N,-12150.6889,W,1,03,00.5,021.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225711.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225711.70,3649.3332,N,-12150.6881,W,1,03,00.5,021.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225712.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225712.70,3649.3338,N,-12150.6873,W,1,03,00.5,020.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225713.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225713.70,3649.3344,N,-12150.6866,W,1,03,00.5,021.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225714.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225714.70,3649.3350,N,-12150.6858,W,1,03,00.5,020.9,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225715.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.99  3.89 15.82 3.84 3.90 0 12425.74 08:23:49 m

: NMEA Update: $GPGGA,225715.70,3649.3357,N,-12150.6851,W,1,03,00.5,020.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225716.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225716.70,3649.3363,N,-12150.6843,W,1,03,00.5,020.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225717.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.99 16.30 3.82 3.89 0   947.65 08:23:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225717.70,3649.3370,N,-12150.6836,W,1,03,00.5,020.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225718.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225718.70,3649.3376,N,-12150.6828,W,1,03,00.5,020.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225719.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,225719.70,3649.3382,N,-12150.6821,W,1,03,00.5,020.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225720.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225720.70,3649.3389,N,-12150.6813,W,1,03,00.5,020.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225721.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225721.70,3649.3395,N,-12150.6805,W,1,03,00.5,020.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225722.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225722.70,3649.3402,N,-12150.6798,W,1,03,00.5,020.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225723.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225723.69,3649.3408,N,-12150.6790,W,1,03,00.5,020.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225724.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225724.69,3649.3415,N,-12150.6783,W,1,03,00.5,020.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225725.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.52 15.82 3.84 3.90 0 12425.44 08:23:59 m

: NMEA Update: $GPGGA,225725.69,3649.3421,N,-12150.6776,W,1,03,00.5,020.9,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225726.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225726.69,3649.3427,N,-12150.6769,W,1,03,00.5,020.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225727.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.16  5.03 16.30 3.82 3.89 0   947.30 08:24:02 m

: NMEA Update: $GPGGA,225727.69,3649.3434,N,-12150.6762,W,1,03,00.5,020.6,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225728.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225728.69,3649.3440,N,-12150.6756,W,1,03,00.5,020.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225729.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,225729.69,3649.3447,N,-12150.6749,W,1,03,00.5,020.6,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225730.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225730.69,3649.3454,N,-12150.6741,W,1,03,00.5,020.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225731.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225731.69,3649.3460,N,-12150.6734,W,1,03,00.5,020.7,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225732.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225732.69,3649.3467,N,-12150.6726,W,1,03,00.5,020.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225733.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,225733.69,3649.3473,N,-12150.6718,W,1,03,00.5,020.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225734.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225734.69,3649.3479,N,-12150.6710,W,1,03,00.5,020.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225735.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.26 15.82 3.84 3.90 0 12424.97 08:24:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225735.69,3649.3486,N,-12150.6703,W,1,03,00.5,020.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225736.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225736.69,3649.3492,N,-12150.6696,W,1,03,00.5,020.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225737.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.85 16.30 3.82 3.89 0   946.78 08:24:12 m

: NMEA Update: $GPGGA,225737.69,3649.3499,N,-12150.6688,W,1,03,00.5,020.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225738.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225738.69,3649.3505,N,-12150.6681,W,1,03,00.5,020.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225739.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,225739.69,3649.3512,N,-12150.6674,W,1,03,00.5,020.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225740.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225740.69,3649.3518,N,-12150.6667,W,1,03,00.5,020.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225741.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225741.69,3649.3524,N,-12150.6660,W,1,03,00.5,020.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225742.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225742.69,3649.3531,N,-12150.6652,W,1,03,00.5,020.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225743.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225743.69,3649.3537,N,-12150.6645,W,1,03,00.5,020.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225744.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225744.69,3649.3543,N,-12150.6638,W,1,03,00.5,020.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225745.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.95  3.97 15.72 3.84 3.90 0 12424.67 08:24:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225745.69,3649.3549,N,-12150.6630,W,1,03,00.5,020.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225746.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225746.69,3649.3556,N,-12150.6623,W,1,03,00.5,020.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225747.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $c0q0 d- 31.12  4.88 16.40 3.82 3.89 0   946.45 08:24:22 m

: NMEA Update: $GPGGA,225747.69,3649.3562,N,-12150.6616,W,1,03,00.5,020.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225748.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225748.69,3649.3569,N,-12150.6609,W,1,03,00.5,020.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225749.00,,,,,0,00,,,M,,M,,*47

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225749.69,3649.3575,N,-12150.6601,W,1,03,00.5,020.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225750.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225750.69,3649.3581,N,-12150.6594,W,1,03,00.5,020.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225751.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225751.69,3649.3588,N,-12150.6586,W,1,03,00.5,020.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225752.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225752.69,3649.3594,N,-12150.6579,W,1,03,00.5,020.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225753.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,225753.69,3649.3600,N,-12150.6571,W,1,03,00.5,020.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225754.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225754.69,3649.3607,N,-12150.6564,W,1,03,00.5,020.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225755.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 30.99  4.04 15.82 3.84 3.90 0 12424.22 08:24:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225755.69,3649.3613,N,-12150.6556,W,1,03,00.5,020.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225756.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225756.69,3649.3619,N,-12150.6549,W,1,03,00.5,020.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225757.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.81 16.30 3.82 3.89 0   945.93 08:24:32 m

: NMEA Update: $GPGGA,225757.69,3649.3625,N,-12150.6541,W,1,03,00.5,019.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225758.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225758.69,3649.3632,N,-12150.6534,W,1,03,00.5,019.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225759.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225759.69,3649.3638,N,-12150.6527,W,1,03,00.5,019.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,225800.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225800.69,3649.3644,N,-12150.6519,W,1,03,00.5,019.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225801.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,225801.69,3649.3650,N,-12150.6512,W,1,03,00.5,019.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225802.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225802.69,3649.3657,N,-12150.6505,W,1,03,00.5,019.8,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225803.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225803.69,3649.3663,N,-12150.6497,W,1,03,00.5,019.9,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225804.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225804.69,3649.3670,N,-12150.6490,W,1,03,00.5,019.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225805.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  3.93 15.72 3.84 3.90 0 12423.91 08:24:39 m

: NMEA Update: $GPGGA,225805.69,3649.3676,N,-12150.6482,W,1,03,00.5,019.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225806.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225806.69,3649.3682,N,-12150.6475,W,1,03,00.5,019.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225807.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.56 16.30 3.82 3.89 0   945.59 08:24:42 m

: NMEA Update: $GPGGA,225807.69,3649.3689,N,-12150.6467,W,1,03,00.5,019.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225808.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,225808.69,3649.3695,N,-12150.6460,W,1,03,00.5,019.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225809.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225809.69,3649.3702,N,-12150.6452,W,1,03,00.5,019.7,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225810.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=40.00
	horzlMode=3 horz=0.74
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225810.69,3649.3708,N,-12150.6445,W,1,03,00.5,019.8,M,-99.9,M,,*42

:  Waypoint has set the state to finished.

: Waypoint (4075842.9, 603090.7), 
  reached at t = 779.60                                          (wplog)

: Vehicle Position is error is (-0.8, 0.9)

: LayeredControl::execute() -- (t = 779.596594) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 779.596594) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =          779.61; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 779.606593) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 779.61                            (wplog)
  The current location (N,E) = 4075843.8      , 603089.8         (wplog)
  The next waypoint          = 4075742.0      , 603091.9         (wplog)
  The bearing to the next w.p. is 178.8 Degrees.

: LayeredControl::execute() -- (t = 779.606593) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,225811.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::readData - Turning the camera on.
: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225812.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.71
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225813.00,,,,,0,00,,,M,,M,,*47

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

: Kearfott::deltaTime is 0.929936

: CameraDriver::Took a photo at Tue Nov 16 22:58:13 2010
.
: AshtechGps::processRecord() - $GPGGA,225814.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.60
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225814.09,3649.3730,N,-12150.6419,W,1,03,00.5,019.8,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225815.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,225815.09,3649.3736,N,-12150.6411,W,1,03,00.5,019.6,M,-99.9,M,,*43

: BluefinBatt Reply: $aaq0 d- 30.95  5.04 15.82 3.83 3.90 0 12423.42 08:24:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=56.71
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:58:15 2010
.
: AshtechGps::processRecord() - $GPGGA,225816.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225816.09,3649.3741,N,-12150.6403,W,1,03,00.5,019.8,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=56.65
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225817.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225817.09,3649.3746,N,-12150.6395,W,1,03,00.5,019.8,M,-99.9,M,,*43

: BluefinBatt Reply: $c0q0 d- 31.16  4.63 16.30 3.82 3.89 0   945.10 08:24:52 m

: CameraDriver::Took a photo at Tue Nov 16 22:58:17 2010
.
: AshtechGps::processRecord() - $GPGGA,225818.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225818.09,3649.3750,N,-12150.6386,W,1,03,00.5,020.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=56.61
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,225819.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,225819.09,3649.3753,N,-12150.6377,W,1,03,00.5,019.7,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 22:58:19 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=56.28
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225820.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225820.09,3649.3755,N,-12150.6369,W,1,03,00.5,019.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225821.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.50
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225821.09,3649.3756,N,-12150.6360,W,1,03,00.5,019.5,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 22:58:21 2010
.
: AshtechGps::processRecord() - $GPGGA,225822.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225822.09,3649.3756,N,-12150.6352,W,1,03,00.5,019.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=56.74
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225823.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:22 2010
.
: updating external sensors

: NMEA Update: $GPGGA,225823.09,3649.3755,N,-12150.6345,W,1,03,00.5,019.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=56.67
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225824.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225824.09,3649.3754,N,-12150.6337,W,1,03,00.5,019.0,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 22:58:24 2010
.
: AshtechGps::processRecord() - $GPGGA,225825.00,,,,,0,00,,,M,,M,,*42

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.45 15.72 3.83 3.90 0 12423.07 08:24:59 m

: NMEA Update: $GPGGA,225825.09,3649.3751,N,-12150.6330,W,1,03,00.5,018.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=56.71
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225826.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225826.09,3649.3749,N,-12150.6324,W,1,03,00.5,018.1,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 22:58:26 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=56.32
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225827.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,225827.09,3649.3746,N,-12150.6319,W,1,03,00.5,017.8,M,-99.9,M,,*4a

: BluefinBatt Reply: $c0q0 d- 31.12  5.42 16.30 3.82 3.89 0   944.74 08:25:02 m

: AshtechGps::processRecord() - $GPGGA,225828.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.28
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225828.09,3649.3742,N,-12150.6314,W,1,03,00.5,017.5,M,-99.9,M,,*41

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: CameraDriver::Took a photo at Tue Nov 16 22:58:28 2010
.
: AshtechGps::processRecord() - $GPGGA,225829.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,225829.09,3649.3738,N,-12150.6310,W,1,03,00.5,017.2,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=56.49
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225830.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225830.09,3649.3734,N,-12150.6307,W,1,03,00.5,016.8,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 22:58:30 2010
.
: Kearfott::deltaTime is 1.109924

: updating external sensors

: NMEA Update: $GPGGA,225831.43,3649.3732,N,-12150.6307,W,1,03,00.5,016.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225831.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.76
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225832.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225832.29,3649.3723,N,-12150.6305,W,1,03,00.5,016.0,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 22:58:32 2010
.
: AshtechGps::processRecord() - $GPGGA,225833.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.65
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225833.29,3649.3718,N,-12150.6305,W,1,03,00.5,015.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225834.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225834.29,3649.3714,N,-12150.6306,W,1,03,00.5,015.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=56.64
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:58:34 2010
.
: AshtechGps::processRecord() - $GPGGA,225835.00,,,,,0,00,,,M,,M,,*43

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

: BluefinBatt Reply: $aaq0 d- 30.91  5.49 15.72 3.83 3.89 0 12422.53 08:25:09 m

: NMEA Update: $GPGGA,225835.29,3649.3709,N,-12150.6309,W,1,03,00.5,015.0,M,-99.9,M,,*4b

: Kearfott::deltaTime is 1.029929

: LayeredControl _resolvedCommand - vertMode=2 vert=56.74
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225836.67,3649.3708,N,-12150.6310,W,1,03,00.5,014.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225836.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225837.00,,,,,0,00,,,M,,M,,*41

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

: CameraDriver::Took a photo at Tue Nov 16 22:58:37 2010
.
: NMEA Update: $GPGGA,225837.49,3649.3701,N,-12150.6316,W,1,03,00.5,013.9,M,-99.9,M,,*46

: BluefinBatt Reply: $c0q0 d- 31.12  5.17 16.30 3.82 3.89 0   944.18 08:25:12 m

: AshtechGps::processRecord() - $GPGGA,225838.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=56.95
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225838.49,3649.3697,N,-12150.6320,W,1,03,00.5,013.5,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,225839.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:38 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=57.08
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225839.49,3649.3694,N,-12150.6326,W,1,03,00.5,013.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225840.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225840.49,3649.3691,N,-12150.6331,W,1,03,00.5,012.8,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 22:58:40 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=57.34
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225841.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,225841.49,3649.3688,N,-12150.6336,W,1,03,00.5,012.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225842.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.42
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225842.49,3649.3685,N,-12150.6343,W,1,03,00.5,012.0,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 22:58:42 2010
.
: AshtechGps::processRecord() - $GPGGA,225843.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,225843.49,3649.3682,N,-12150.6349,W,1,03,00.5,011.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=57.44
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225844.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:44 2010
.
: updating external sensors

: Kearfott::deltaTime is 0.859941

: BluefinBatt Reply: $aaq0 d- 30.95  4.75 15.82 3.83 3.89 0 12422.18 08:25:19 m

: AshtechGps::processRecord() - $GPGGA,225845.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225845.49,3649.3675,N,-12150.6364,W,1,03,00.5,010.6,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=57.62
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225846.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225846.49,3649.3672,N,-12150.6371,W,1,03,00.5,010.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225847.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=57.95
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 22:58:47 2010
.
: NMEA Update: $GPGGA,225847.49,3649.3668,N,-12150.6379,W,1,03,00.5,009.9,M,-99.9,M,,*4d

: BluefinBatt Reply: $c0q0 d- 31.12  5.67 16.30 3.82 3.88 0   943.80 08:25:22 m

: AshtechGps::processRecord() - $GPGGA,225848.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.51
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225848.49,3649.3664,N,-12150.6385,W,1,03,00.5,009.7,M,-99.9,M,,*43

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,225849.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:48 2010
.
: updating external sensors

: NMEA Update: $GPGGA,225849.49,3649.3659,N,-12150.6392,W,1,03,00.5,009.3,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=58.43
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225850.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225850.49,3649.3655,N,-12150.6398,W,1,03,00.5,008.9,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 22:58:50 2010
.
: AshtechGps::processRecord() - $GPGGA,225851.00,,,,,0,00,,,M,,M,,*41

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

: LayeredControl _resolvedCommand - vertMode=2 vert=58.60
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225851.49,3649.3650,N,-12150.6404,W,1,03,00.5,008.8,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225852.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.069927

: LayeredControl _resolvedCommand - vertMode=2 vert=58.50
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225853.49,3649.3644,N,-12150.6410,W,1,03,00.5,008.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225853.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:53 2010
.
: AshtechGps::processRecord() - $GPGGA,225854.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225854.49,3649.3633,N,-12150.6421,W,1,03,00.5,007.9,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=58.70
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225855.00,,,,,0,00,,,M,,M,,*45

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

: BluefinBatt Reply: $aaq0 d- 31.10  1.96 15.82 3.83 3.89 0 12421.70 08:25:29 m

: CameraDriver::Took a photo at Tue Nov 16 22:58:55 2010
.
: NMEA Update: $GPGGA,225855.49,3649.3627,N,-12150.6425,W,1,03,00.5,007.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225856.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.75
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225856.49,3649.3621,N,-12150.6429,W,1,03,00.5,007.7,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,225857.00,,,,,0,00,,,M,,M,,*47

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

: CameraDriver::Took a photo at Tue Nov 16 22:58:57 2010
.
: BluefinBatt Reply: $c0q0 d- 31.20  3.77 16.30 3.82 3.88 0   943.30 08:25:32 m

: NMEA Update: $GPGGA,225857.49,3649.3616,N,-12150.6432,W,1,03,00.5,007.5,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=58.90
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 0.849942

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,225858.77,3649.3615,N,-12150.6433,W,1,03,00.5,007.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225858.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225859.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,225859.69,3649.3603,N,-12150.6439,W,1,03,00.5,007.1,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=58.87
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225900.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:58:59 2010
.
: NMEA Update: $GPGGA,225900.69,3649.3597,N,-12150.6441,W,1,03,00.5,007.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225901.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=58.97
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225901.69,3649.3592,N,-12150.6443,W,1,03,00.5,006.9,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 22:59:01 2010
.
: AshtechGps::processRecord() - $GPGGA,225902.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.83
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225902.69,3649.3586,N,-12150.6445,W,1,03,00.5,006.8,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225903.00,,,,,0,00,,,M,,M,,*47

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

: CameraDriver::Took a photo at Tue Nov 16 22:59:03 2010
.
: NMEA Update: $GPGGA,225903.69,3649.3580,N,-12150.6447,W,1,03,00.5,006.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,225904.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.94
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225904.69,3649.3575,N,-12150.6448,W,1,03,00.5,006.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225905.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.86 15.82 3.83 3.89 0 12421.47 08:25:39 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:05 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=58.83
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 1.069927

: NMEA Update: $GPGGA,225906.77,3649.3569,N,-12150.6449,W,1,03,00.5,006.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,225906.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225907.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,225907.69,3649.3556,N,-12150.6451,W,1,03,00.5,006.2,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.05
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225908.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 31.16  4.92 16.30 3.82 3.88 0   943.04 08:25:42 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:08 2010
.
: NMEA Update: $GPGGA,225908.69,3649.3551,N,-12150.6451,W,1,03,00.5,006.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,225909.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.32
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225909.69,3649.3545,N,-12150.6451,W,1,03,00.5,006.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225910.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:59:09 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.33
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225910.69,3649.3539,N,-12150.6451,W,1,03,00.5,005.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225911.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,225911.69,3649.3534,N,-12150.6450,W,1,03,00.5,005.7,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 22:59:11 2010
.
: AshtechGps::processRecord() - $GPGGA,225912.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.54
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225912.69,3649.3528,N,-12150.6450,W,1,03,00.5,005.5,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,225913.00,,,,,0,00,,,M,,M,,*46

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:59:13 2010
.
: NMEA Update: $GPGGA,225913.69,3649.3522,N,-12150.6450,W,1,03,00.5,005.4,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,225914.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225914.69,3649.3516,N,-12150.6450,W,1,03,00.5,005.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225915.00,,,,,0,00,,,M,,M,,*40

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

: BluefinBatt Reply: $aaq0 d- 30.91  5.04 15.82 3.83 3.90 0 12421.04 08:25:49 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:15 2010
.
: NMEA Update: $GPGGA,225915.69,3649.3509,N,-12150.6450,W,1,03,00.5,005.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,225916.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.39
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225916.69,3649.3502,N,-12150.6450,W,1,03,00.5,005.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225917.00,,,,,0,00,,,M,,M,,*42

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

: CameraDriver::Took a photo at Tue Nov 16 22:59:17 2010
.
: BluefinBatt Reply: $c0q0 d- 31.08  5.89 16.30 3.82 3.88 0   942.55 08:25:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225917.69,3649.3496,N,-12150.6451,W,1,03,00.5,004.9,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225918.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,225918.69,3649.3489,N,-12150.6451,W,1,03,00.5,004.8,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225919.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:59:18 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,225919.69,3649.3481,N,-12150.6452,W,1,03,00.5,004.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225920.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.55
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225920.69,3649.3474,N,-12150.6453,W,1,03,00.5,004.7,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 22:59:20 2010
.
: AshtechGps::processRecord() - $GPGGA,225921.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,225921.69,3649.3467,N,-12150.6454,W,1,03,00.5,004.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225922.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:59:22 2010
.
: NMEA Update: $GPGGA,225922.69,3649.3460,N,-12150.6454,W,1,03,00.5,004.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,225923.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225923.69,3649.3452,N,-12150.6455,W,1,03,00.5,004.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225924.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:59:24 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225924.69,3649.3445,N,-12150.6455,W,1,03,00.5,004.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225925.00,,,,,0,00,,,M,,M,,*43

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.23 15.72 3.83 3.90 0 12420.69 08:25:59 m

: NMEA Update: $GPGGA,225925.69,3649.3437,N,-12150.6455,W,1,03,00.5,004.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225926.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:59:26 2010
.
: NMEA Update: $GPGGA,225926.69,3649.3429,N,-12150.6455,W,1,03,00.5,004.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,225927.00,,,,,0,00,,,M,,M,,*41

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

: BluefinBatt Reply: $c0q0 d- 31.12  5.71 16.30 3.82 3.89 0   942.18 08:26:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225927.69,3649.3422,N,-12150.6455,W,1,03,00.5,004.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,225928.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 22:59:27 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,225928.69,3649.3414,N,-12150.6455,W,1,03,00.5,004.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225929.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,225929.69,3649.3406,N,-12150.6456,W,1,03,00.5,004.0,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 22:59:29 2010
.
: AshtechGps::processRecord() - $GPGGA,225930.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.88
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225930.69,3649.3398,N,-12150.6456,W,1,03,00.5,004.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225931.00,,,,,0,00,,,M,,M,,*46

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

: CameraDriver::Took a photo at Tue Nov 16 22:59:31 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.80
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,225931.69,3649.3390,N,-12150.6456,W,1,03,00.5,003.9,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,225932.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225932.69,3649.3382,N,-12150.6457,W,1,03,00.5,003.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225933.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.65
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 22:59:33 2010
.
: NMEA Update: $GPGGA,225933.50,3649.3376,N,-12150.6457,W,1,03,00.5,003.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,225934.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Kearfott::deltaTime is 1.089925

: updating external sensors

: NMEA Update: $GPGGA,225935.01,3649.3372,N,-12150.6457,W,1,03,00.5,003.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,225935.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.95  4.64 15.72 3.83 3.89 0 12420.20 08:26:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225936.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225935.90,3649.3356,N,-12150.6458,W,1,03,00.5,003.8,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 22:59:35 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.79
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225937.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225936.90,3649.3348,N,-12150.6459,W,1,03,00.5,003.7,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.24  2.55 16.21 3.82 3.89 0   941.79 08:26:12 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:37 2010
.
: AshtechGps::processRecord() - $GPGGA,225938.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225937.90,3649.3341,N,-12150.6459,W,1,03,00.5,003.7,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,225939.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225938.90,3649.3334,N,-12150.6459,W,1,03,00.5,003.7,M,-99.9,M,,*4d

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 22:59:39 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.84
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225940.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225939.90,3649.3327,N,-12150.6459,W,1,03,00.5,003.7,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,225941.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225940.90,3649.3319,N,-12150.6459,W,1,03,00.5,003.6,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 22:59:41 2010
.
: AshtechGps::processRecord() - $GPGGA,225942.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225941.90,3649.3312,N,-12150.6459,W,1,03,00.5,003.5,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.95
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225943.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225942.90,3649.3305,N,-12150.6459,W,1,03,00.5,003.6,M,-99.9,M,,*43

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 22:59:43 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225944.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225943.90,3649.3297,N,-12150.6459,W,1,03,00.5,003.5,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,225945.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225944.90,3649.3290,N,-12150.6458,W,1,03,00.5,003.5,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 22:59:44 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  5.01 15.62 3.83 3.89 0 12419.97 08:26:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.90
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225946.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225945.90,3649.3281,N,-12150.6458,W,1,03,00.5,003.5,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.87
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:59:46 2010
.
: AshtechGps::processRecord() - $GPGGA,225947.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225946.90,3649.3273,N,-12150.6457,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.12  4.99 16.30 3.81 3.88 0   941.33 08:26:22 m

: AshtechGps::processRecord() - $GPGGA,225948.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225947.90,3649.3266,N,-12150.6457,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: CameraDriver::Took a photo at Tue Nov 16 22:59:48 2010
.
: AshtechGps::processRecord() - $GPGGA,225949.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225948.90,3649.3258,N,-12150.6457,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.81
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225950.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225949.89,3649.3250,N,-12150.6457,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 22:59:50 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.96
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225951.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225950.89,3649.3242,N,-12150.6456,W,1,03,00.5,003.4,M,-99.9,M,,*47

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,225952.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225951.89,3649.3235,N,-12150.6456,W,1,03,00.5,003.4,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 22:59:52 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225953.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225952.89,3649.3227,N,-12150.6456,W,1,03,00.5,003.4,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.35
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225954.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225953.89,3649.3219,N,-12150.6455,W,1,03,00.5,003.5,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 22:59:53 2010
.
: AshtechGps::processRecord() - $GPGGA,225955.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225954.89,3649.3210,N,-12150.6455,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=60.10
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.67 15.72 3.83 3.89 0 12419.47 08:26:29 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:55 2010
.
: AshtechGps::processRecord() - $GPGGA,225956.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225955.89,3649.3202,N,-12150.6454,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225957.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225956.89,3649.3194,N,-12150.6454,W,1,03,00.5,003.5,M,-99.9,M,,*4a

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.24 16.30 3.81 3.88 0   940.80 08:26:32 m

: CameraDriver::Took a photo at Tue Nov 16 22:59:57 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=60.13
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225958.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225957.89,3649.3186,N,-12150.6454,W,1,03,00.5,003.5,M,-99.9,M,,*48

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: AshtechGps::processRecord() - $GPGGA,225959.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225958.89,3649.3178,N,-12150.6454,W,1,03,00.5,003.4,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.98
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 22:59:59 2010
.
: AshtechGps::processRecord() - $GPGGA,230000.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,225959.89,3649.3170,N,-12150.6454,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=60.10
	horzlMode=3 horz=3.12
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230001.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230000.89,3649.3162,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:00:01 2010
.
:  Waypoint has set the state to finished.

: Waypoint (4075742.0, 603091.9), 
  reached at t = 890.40                                          (wplog)

: Vehicle Position is error is (0.1, 2.2)

: LayeredControl::execute() -- (t = 890.399004) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 890.409003) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 890.409003) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 890.41                            (wplog)
  The current location (N,E) = 4075741.9      , 603089.7         (wplog)
  The next waypoint          = 4075742.2      , 603111.9         (wplog)
  The bearing to the next w.p. is 89.2 Degrees.

: LayeredControl::execute() -- (t = 890.409003) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230002.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230001.89,3649.3154,N,-12150.6454,W,1,03,00.5,003.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=60.10
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230003.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230002.89,3649.3146,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:00:02 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.23
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230004.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230003.89,3649.3138,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:00:04 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=60.10
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230005.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230004.89,3649.3130,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  5.19 15.72 3.83 3.89 0 12419.15 08:26:39 m

: AshtechGps::processRecord() - $GPGGA,230006.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230005.89,3649.3121,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=60.19
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230007.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230006.89,3649.3113,N,-12150.6452,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.12  4.85 16.30 3.82 3.88 0   940.40 08:26:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=60.03
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230008.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230007.89,3649.3106,N,-12150.6450,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,230009.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230008.89,3649.3098,N,-12150.6448,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230010.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230009.89,3649.3092,N,-12150.6445,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230011.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230010.89,3649.3086,N,-12150.6441,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.99
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230012.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230011.89,3649.3081,N,-12150.6436,W,1,03,00.5,003.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230013.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230012.89,3649.3076,N,-12150.6431,W,1,03,00.5,003.5,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230014.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230013.89,3649.3073,N,-12150.6425,W,1,03,00.5,003.5,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230015.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230014.89,3649.3070,N,-12150.6419,W,1,03,00.5,003.5,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.04 15.72 3.83 3.89 0 12418.72 08:26:49 m

: AshtechGps::processRecord() - $GPGGA,230016.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230015.89,3649.3069,N,-12150.6412,W,1,03,00.5,003.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=60.05
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230017.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230016.89,3649.3068,N,-12150.6406,W,1,03,00.5,003.5,M,-99.9,M,,*46

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.42 16.30 3.82 3.88 0   939.94 08:26:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=60.03
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230018.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230017.89,3649.3068,N,-12150.6399,W,1,03,00.5,003.5,M,-99.9,M,,*46

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=60.03
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230019.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230018.89,3649.3068,N,-12150.6393,W,1,03,00.5,003.5,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230020.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230019.89,3649.3070,N,-12150.6387,W,1,03,00.5,003.5,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.93
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230021.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230020.89,3649.3072,N,-12150.6381,W,1,03,00.5,003.5,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.81
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230022.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230021.89,3649.3074,N,-12150.6376,W,1,03,00.5,003.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230023.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230022.89,3649.3078,N,-12150.6371,W,1,03,00.5,003.5,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.93
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230024.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230023.89,3649.3082,N,-12150.6365,W,1,03,00.5,003.5,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230025.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230024.89,3649.3086,N,-12150.6360,W,1,03,00.5,003.5,M,-99.9,M,,*40

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.41 15.62 3.83 3.89 0 12418.43 08:26:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.84
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230026.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230025.89,3649.3090,N,-12150.6355,W,1,03,00.5,003.5,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230027.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230026.89,3649.3095,N,-12150.6351,W,1,03,00.5,003.5,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.07
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.08  5.32 16.30 3.82 3.88 0   939.57 08:27:02 m

: AshtechGps::processRecord() - $GPGGA,230028.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230027.89,3649.3101,N,-12150.6346,W,1,03,00.5,003.5,M,-99.9,M,,*49

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230029.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230028.89,3649.3106,N,-12150.6341,W,1,03,00.5,003.5,M,-99.9,M,,*46

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230030.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230029.89,3649.3111,N,-12150.6336,W,1,03,00.5,003.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.95
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230031.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230030.89,3649.3117,N,-12150.6331,W,1,03,00.5,003.5,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.73
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230032.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230031.89,3649.3122,N,-12150.6325,W,1,03,00.5,003.5,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230033.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230032.89,3649.3127,N,-12150.6319,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230034.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230033.89,3649.3132,N,-12150.6313,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.98
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230035.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230034.89,3649.3136,N,-12150.6307,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.45 15.62 3.83 3.89 0 12417.95 08:27:09 m

:  Waypoint has set the state to finished.

: Waypoint (4075742.2, 603111.9), 
  reached at t = 924.20                                          (wplog)

: Vehicle Position is error is (3.6, -0.2)

: LayeredControl::execute() -- (t = 924.196688) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 924.206688) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =          924.21; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 924.206688) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 924.21                            (wplog)
  The current location (N,E) = 4075738.6      , 603112.0         (wplog)
  The next waypoint          = 4075843.2      , 603110.6         (wplog)
  The bearing to the next w.p. is 359.2 Degrees.

: LayeredControl::execute() -- (t = 924.216687) Behavior waypoint:-1 has changed to state Active

: CameraDriver::readData - Turning the camera on.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.71
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230036.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230037.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.84
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.53 16.21 3.82 3.88 0   939.01 08:27:12 m

: NMEA Update: $GPGGA,230037.69,3649.3147,N,-12150.6287,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,230038.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230038.69,3649.3150,N,-12150.6279,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230039.00,,,,,0,00,,,M,,M,,*43

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

: CameraDriver::Took a photo at Tue Nov 16 23:00:39 2010
.
: NMEA Update: $GPGGA,230039.69,3649.3152,N,-12150.6271,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230040.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230040.69,3649.3155,N,-12150.6263,W,1,03,00.5,003.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230041.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:00:40 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.93
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230041.69,3649.3158,N,-12150.6255,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230042.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.79
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230042.69,3649.3161,N,-12150.6247,W,1,03,00.5,003.1,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:00:42 2010
.
: AshtechGps::processRecord() - $GPGGA,230043.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,230043.69,3649.3165,N,-12150.6239,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230044.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:00:44 2010
.
: NMEA Update: $GPGGA,230044.69,3649.3168,N,-12150.6232,W,1,03,00.5,003.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230045.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.30 15.72 3.83 3.89 0 12417.63 08:27:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.71
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230045.69,3649.3173,N,-12150.6225,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230046.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:00:46 2010
.
: NMEA Update: $GPGGA,230046.69,3649.3178,N,-12150.6219,W,1,03,00.5,002.8,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.77
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230047.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.60 16.21 3.82 3.89 0   938.66 08:27:22 m

: NMEA Update: $GPGGA,230047.69,3649.3183,N,-12150.6214,W,1,03,00.5,002.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230048.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:00:48 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230048.69,3649.3189,N,-12150.6210,W,1,03,00.5,002.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230049.00,,,,,0,00,,,M,,M,,*44

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230049.69,3649.3195,N,-12150.6207,W,1,03,00.5,002.9,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230050.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:00:49 2010
.
: NMEA Update: $GPGGA,230050.69,3649.3201,N,-12150.6205,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230051.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230051.69,3649.3207,N,-12150.6204,W,1,03,00.5,003.0,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:00:51 2010
.
: AshtechGps::processRecord() - $GPGGA,230052.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230052.69,3649.3213,N,-12150.6204,W,1,03,00.5,003.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230053.00,,,,,0,00,,,M,,M,,*4F

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

: CameraDriver::Took a photo at Tue Nov 16 23:00:53 2010
.
: NMEA Update: $GPGGA,230053.69,3649.3220,N,-12150.6205,W,1,03,00.5,003.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.54
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230054.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230054.69,3649.3226,N,-12150.6207,W,1,03,00.5,003.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230055.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.91  5.01 15.62 3.83 3.89 0 12417.15 08:27:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:00:55 2010
.
: NMEA Update: $GPGGA,230055.69,3649.3232,N,-12150.6210,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230056.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230056.69,3649.3238,N,-12150.6214,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230057.00,,,,,0,00,,,M,,M,,*4B

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

: CameraDriver::Took a photo at Tue Nov 16 23:00:57 2010
.
: BluefinBatt Reply: $c0q0 d- 31.08  5.67 16.21 3.82 3.89 0   938.11 08:27:32 m

: NMEA Update: $GPGGA,230057.69,3649.3243,N,-12150.6219,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230058.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230058.69,3649.3249,N,-12150.6224,W,1,03,00.5,003.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230059.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:00:58 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230059.69,3649.3252,N,-12150.6229,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230100.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230100.69,3649.3257,N,-12150.6235,W,1,03,00.5,003.1,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 23:01:00 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230101.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,230101.69,3649.3262,N,-12150.6242,W,1,03,00.5,003.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230102.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:01:02 2010
.
: NMEA Update: $GPGGA,230102.69,3649.3267,N,-12150.6249,W,1,03,00.5,003.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230103.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.47
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230103.69,3649.3272,N,-12150.6257,W,1,03,00.5,003.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230104.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:04 2010
.
: NMEA Update: $GPGGA,230104.69,3649.3277,N,-12150.6264,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230105.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.56 15.72 3.83 3.89 0 12416.80 08:27:39 m

: NMEA Update: $GPGGA,230105.69,3649.3284,N,-12150.6272,W,1,03,00.5,003.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230106.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:06 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230106.69,3649.3289,N,-12150.6279,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230107.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $c0q0 d- 31.05  6.21 16.21 3.82 3.88 0   937.71 08:27:42 m

: NMEA Update: $GPGGA,230107.69,3649.3295,N,-12150.6287,W,1,03,00.5,003.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230108.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:07 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230108.69,3649.3301,N,-12150.6293,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230109.00,,,,,0,00,,,M,,M,,*41

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230109.69,3649.3308,N,-12150.6299,W,1,03,00.5,003.4,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:01:09 2010
.
: AshtechGps::processRecord() - $GPGGA,230110.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230110.69,3649.3315,N,-12150.6305,W,1,03,00.5,003.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230111.00,,,,,0,00,,,M,,M,,*48

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:11 2010
.
: NMEA Update: $GPGGA,230111.69,3649.3322,N,-12150.6309,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230112.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230112.69,3649.3329,N,-12150.6314,W,1,03,00.5,003.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230113.00,,,,,0,00,,,M,,M,,*4A

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:13 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230113.69,3649.3337,N,-12150.6317,W,1,03,00.5,003.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230114.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230114.69,3649.3344,N,-12150.6321,W,1,03,00.5,003.3,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.58
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230115.00,,,,,0,00,,,M,,M,,*4C

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:15 2010
.
: BluefinBatt Reply: $aaq0 d- 30.91  4.97 15.72 3.82 3.89 0 12416.30 08:27:49 m

: NMEA Update: $GPGGA,230115.69,3649.3351,N,-12150.6323,W,1,03,00.5,003.2,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230116.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.55
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230116.69,3649.3359,N,-12150.6326,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230117.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:16 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.60 16.21 3.82 3.88 0   937.12 08:27:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230117.69,3649.3367,N,-12150.6328,W,1,03,00.5,003.2,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230118.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230118.69,3649.3374,N,-12150.6330,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:01:18 2010
.
: AshtechGps::processRecord() - $GPGGA,230119.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230119.69,3649.3382,N,-12150.6331,W,1,03,00.5,003.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230120.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.71
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:01:20 2010
.
: NMEA Update: $GPGGA,230120.69,3649.3389,N,-12150.6331,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230121.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,230121.69,3649.3397,N,-12150.6332,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230122.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:22 2010
.
: NMEA Update: $GPGGA,230122.69,3649.3405,N,-12150.6332,W,1,03,00.5,003.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230123.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230123.69,3649.3413,N,-12150.6332,W,1,03,00.5,003.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230124.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:24 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230124.69,3649.3420,N,-12150.6332,W,1,03,00.5,003.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230125.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.12 15.72 3.82 3.89 0 12416.00 08:27:59 m

: NMEA Update: $GPGGA,230125.69,3649.3428,N,-12150.6332,W,1,03,00.5,002.9,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230126.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:25 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230126.69,3649.3436,N,-12150.6331,W,1,03,00.5,003.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230127.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $c0q0 d- 31.08  5.60 16.21 3.82 3.88 0   936.77 08:28:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230127.69,3649.3444,N,-12150.6331,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:01:27 2010
.
: AshtechGps::processRecord() - $GPGGA,230128.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230128.69,3649.3452,N,-12150.6330,W,1,03,00.5,002.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230129.00,,,,,0,00,,,M,,M,,*43

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:29 2010
.
: NMEA Update: $GPGGA,230129.69,3649.3461,N,-12150.6330,W,1,03,00.5,002.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230130.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230130.69,3649.3469,N,-12150.6329,W,1,03,00.5,002.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,230131.00,,,,,0,00,,,M,,M,,*4A

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:31 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230131.69,3649.3477,N,-12150.6328,W,1,03,00.5,002.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230132.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230132.69,3649.3485,N,-12150.6327,W,1,03,00.5,002.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230133.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:01:33 2010
.
: NMEA Update: $GPGGA,230133.69,3649.3494,N,-12150.6327,W,1,03,00.5,002.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230134.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230134.69,3649.3502,N,-12150.6326,W,1,03,00.5,002.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230135.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:34 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.86 15.62 3.83 3.89 0 12415.50 08:28:09 m

: NMEA Update: $GPGGA,230135.69,3649.3510,N,-12150.6326,W,1,03,00.5,002.8,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230136.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230136.69,3649.3518,N,-12150.6326,W,1,03,00.5,002.8,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:01:36 2010
.
: AshtechGps::processRecord() - $GPGGA,230137.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.12  4.99 16.21 3.82 3.88 0   936.21 08:28:12 m

: NMEA Update: $GPGGA,230137.69,3649.3527,N,-12150.6326,W,1,03,00.5,002.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230138.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: CameraDriver::Took a photo at Tue Nov 16 23:01:38 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230138.69,3649.3535,N,-12150.6326,W,1,03,00.5,002.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230139.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,230139.69,3649.3543,N,-12150.6327,W,1,03,00.5,002.9,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230140.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:01:40 2010
.
: NMEA Update: $GPGGA,230140.69,3649.3552,N,-12150.6327,W,1,03,00.5,003.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230141.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230141.69,3649.3560,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230142.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:42 2010
.
: NMEA Update: $GPGGA,230142.69,3649.3569,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230143.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,230143.69,3649.3577,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230144.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:43 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230144.69,3649.3585,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230145.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.86 15.62 3.83 3.89 0 12415.18 08:28:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230145.69,3649.3594,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:01:45 2010
.
: AshtechGps::processRecord() - $GPGGA,230146.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230146.69,3649.3602,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230147.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.28 16.21 3.82 3.88 0   935.85 08:28:22 m

: CameraDriver::Took a photo at Tue Nov 16 23:01:47 2010
.
: NMEA Update: $GPGGA,230147.69,3649.3611,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230148.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230148.69,3649.3620,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230149.00,,,,,0,00,,,M,,M,,*45

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:49 2010
.
: NMEA Update: $GPGGA,230149.69,3649.3628,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230150.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230150.69,3649.3637,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230151.00,,,,,0,00,,,M,,M,,*4C

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

: CameraDriver::Took a photo at Tue Nov 16 23:01:51 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.33
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230151.69,3649.3646,N,-12150.6327,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230152.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230152.69,3649.3654,N,-12150.6327,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230153.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:52 2010
.
: updating external sensors

: NMEA Update: $GPGGA,230153.69,3649.3662,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230154.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230154.69,3649.3671,N,-12150.6328,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:01:54 2010
.
: AshtechGps::processRecord() - $GPGGA,230155.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.95  4.86 15.62 3.83 3.89 0 12414.71 08:28:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230155.69,3649.3679,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230156.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:01:56 2010
.
: NMEA Update: $GPGGA,230156.69,3649.3688,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230157.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 31.12  5.06 16.21 3.82 3.88 0   935.46 08:28:32 m

: NMEA Update: $GPGGA,230157.69,3649.3696,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230158.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: CameraDriver::Took a photo at Tue Nov 16 23:01:58 2010
.
: NMEA Update: $GPGGA,230158.69,3649.3705,N,-12150.6328,W,1,03,00.5,003.0,M,-99.9,M,,*41

:  Waypoint has set the state to finished.

: Waypoint (4075843.2, 603110.6), 
  reached at t = 1007.59                                         (wplog)

: Vehicle Position is error is (-0.2, 3.4)

: LayeredControl::execute() -- (t = 1007.590975) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1007.600975) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1007.600975) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1007.60                           (wplog)
  The current location (N,E) = 4075843.4      , 603107.2         (wplog)
  The next waypoint          = 4075843.5      , 603092.6         (wplog)
  The bearing to the next w.p. is 270.5 Degrees.

: LayeredControl::execute() -- (t = 1007.610974) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230159.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,230159.50,3649.3712,N,-12150.6327,W,1,03,00.5,003.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230200.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:02:00 2010
.
: NMEA Update: $GPGGA,230200.50,3649.3720,N,-12150.6327,W,1,03,00.5,003.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230201.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230201.50,3649.3729,N,-12150.6326,W,1,03,00.5,003.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230202.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:02:01 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230202.50,3649.3737,N,-12150.6326,W,1,03,00.5,003.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230203.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,230203.50,3649.3746,N,-12150.6326,W,1,03,00.5,003.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230204.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230204.50,3649.3754,N,-12150.6327,W,1,03,00.5,003.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230205.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.95  3.85 15.62 3.83 3.89 0 12414.38 08:28:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.10
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230205.50,3649.3762,N,-12150.6329,W,1,03,00.5,003.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230206.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230206.50,3649.3770,N,-12150.6332,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.05
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230207.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $c0q0 d- 31.16  4.24 16.21 3.82 3.89 0   934.95 08:28:42 m

: NMEA Update: $GPGGA,230207.50,3649.3777,N,-12150.6336,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230208.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230208.50,3649.3784,N,-12150.6341,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230209.00,,,,,0,00,,,M,,M,,*42

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230209.50,3649.3791,N,-12150.6347,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230210.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230210.50,3649.3796,N,-12150.6353,W,1,03,00.5,003.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230211.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,230211.50,3649.3801,N,-12150.6360,W,1,03,00.5,003.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230212.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230212.50,3649.3805,N,-12150.6368,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230213.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,230213.50,3649.3808,N,-12150.6376,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=58.95
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230214.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230214.50,3649.3810,N,-12150.6385,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,230215.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.99
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  4.00 15.62 3.83 3.90 0 12413.97 08:28:49 m

: NMEA Update: $GPGGA,230215.49,3649.3812,N,-12150.6394,W,1,03,00.5,003.3,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230216.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.06
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230216.49,3649.3813,N,-12150.6402,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,230217.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $c0q0 d- 31.12  4.88 16.21 3.82 3.89 0   934.47 08:28:52 m

: NMEA Update: $GPGGA,230217.49,3649.3813,N,-12150.6411,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=58.97
	horzlMode=3 horz=4.72
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230218.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230218.49,3649.3813,N,-12150.6420,W,1,03,00.5,003.4,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230219.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075843.5, 603092.6), 
  reached at t = 1027.80                                         (wplog)

: Vehicle Position is error is (-19.6, -0.1)

: LayeredControl::execute() -- (t = 1027.799591) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1027.799591) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1027.81; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1027.809590) Behavior startCamera:-1 has changed to state Finished

: updating external sensors

: Waypoint Initialization: 
  Begin waypoint control at t= 1027.82                           (wplog)
  The current location (N,E) = 4075863.1      , 603092.7         (wplog)
  The next waypoint          = 4075741.5      , 603093.9         (wplog)
  The bearing to the next w.p. is 179.5 Degrees.

: LayeredControl::execute() -- (t = 1027.819590) Behavior waypoint:-1 has changed to state Active

: CameraDriver::readData - Turning the camera on.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230220.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230221.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,230221.29,3649.3808,N,-12150.6443,W,1,03,00.5,003.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230222.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230222.29,3649.3805,N,-12150.6450,W,1,03,00.5,003.4,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:02:22 2010
.
: AshtechGps::processRecord() - $GPGGA,230223.00,,,,,0,00,,,M,,M,,*4A

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

: Kearfott::deltaTime is 1.039929

: NMEA Update: $GPGGA,230223.99,3649.3802,N,-12150.6454,W,1,03,00.5,003.4,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230224.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230225.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230224.89,3649.3795,N,-12150.6466,W,1,03,00.5,003.4,M,-99.9,M,,*47

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.15 15.62 3.83 3.90 0 12413.65 08:28:59 m

: CameraDriver::Took a photo at Tue Nov 16 23:02:25 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230226.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230225.89,3649.3791,N,-12150.6470,W,1,03,00.5,003.5,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230227.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230226.89,3649.3786,N,-12150.6475,W,1,03,00.5,003.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:02:27 2010
.
: BluefinBatt Reply: $c0q0 d- 31.20  3.44 16.11 3.84 3.90 0   934.11 08:29:02 m

: AshtechGps::processRecord() - $GPGGA,230228.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230227.89,3649.3782,N,-12150.6479,W,1,03,00.5,003.5,M,-99.9,M,,*4d

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230229.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230228.89,3649.3778,N,-12150.6482,W,1,03,00.5,003.5,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:02:28 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.08
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230230.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230229.89,3649.3772,N,-12150.6487,W,1,03,00.5,003.5,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:02:30 2010
.
: AshtechGps::processRecord() - $GPGGA,230231.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230230.89,3649.3767,N,-12150.6489,W,1,03,00.5,003.6,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230232.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230231.89,3649.3762,N,-12150.6489,W,1,03,00.5,003.6,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:02:32 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230233.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230232.89,3649.3757,N,-12150.6490,W,1,03,00.5,003.6,M,-99.9,M,,*45

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230234.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230233.89,3649.3751,N,-12150.6490,W,1,03,00.5,003.6,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:02:34 2010
.
: AshtechGps::processRecord() - $GPGGA,230235.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230234.89,3649.3745,N,-12150.6489,W,1,03,00.5,003.7,M,-99.9,M,,*49

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.56 15.62 3.85 3.91 0 12413.29 08:29:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230236.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230235.89,3649.3740,N,-12150.6488,W,1,03,00.5,003.8,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:02:36 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230237.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230236.89,3649.3735,N,-12150.6486,W,1,03,00.5,003.7,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  6.36 16.21 3.84 3.90 0   933.57 08:29:12 m

: AshtechGps::processRecord() - $GPGGA,230238.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230237.89,3649.3730,N,-12150.6482,W,1,03,00.5,003.7,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:02:37 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.845000

: AshtechGps::processRecord() - $GPGGA,230239.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230238.89,3649.3725,N,-12150.6479,W,1,03,00.5,003.7,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:02:39 2010
.
: AshtechGps::processRecord() - $GPGGA,230240.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230239.89,3649.3719,N,-12150.6476,W,1,03,00.5,003.7,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230241.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230240.89,3649.3713,N,-12150.6473,W,1,03,00.5,003.6,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:02:41 2010
.
: AshtechGps::processRecord() - $GPGGA,230242.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230241.89,3649.3708,N,-12150.6468,W,1,03,00.5,003.6,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230243.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230242.89,3649.3702,N,-12150.6465,W,1,03,00.5,003.6,M,-99.9,M,,*48

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:02:43 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230244.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230243.89,3649.3696,N,-12150.6461,W,1,03,00.5,003.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230245.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230244.89,3649.3690,N,-12150.6457,W,1,03,00.5,003.5,M,-99.9,M,,*46

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:02:45 2010
.
: BluefinBatt Reply: $aaq0 d- 30.87  5.67 15.52 3.85 3.91 0 12412.91 08:29:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230246.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230245.89,3649.3683,N,-12150.6453,W,1,03,00.5,003.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230247.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230246.89,3649.3676,N,-12150.6450,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:02:46 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  6.32 16.11 3.81 3.87 0   933.15 08:29:22 m

: AshtechGps::processRecord() - $GPGGA,230248.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230247.89,3649.3670,N,-12150.6448,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.830000

: CameraDriver::Took a photo at Tue Nov 16 23:02:48 2010
.
: AshtechGps::processRecord() - $GPGGA,230249.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230248.89,3649.3663,N,-12150.6446,W,1,03,00.5,003.4,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.10
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230250.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230249.89,3649.3655,N,-12150.6444,W,1,03,00.5,003.4,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:02:50 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230251.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230250.89,3649.3648,N,-12150.6442,W,1,03,00.5,003.4,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230252.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230251.89,3649.3641,N,-12150.6441,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:02:52 2010
.
: AshtechGps::processRecord() - $GPGGA,230253.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230252.89,3649.3633,N,-12150.6440,W,1,03,00.5,003.3,M,-99.9,M,,*48

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230254.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230253.89,3649.3625,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:02:54 2010
.
: AshtechGps::processRecord() - $GPGGA,230255.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230254.89,3649.3618,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.26 15.62 3.83 3.89 0 12412.38 08:29:29 m

: AshtechGps::processRecord() - $GPGGA,230256.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230255.89,3649.3610,N,-12150.6437,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:02:55 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230257.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230256.89,3649.3602,N,-12150.6436,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.53 16.11 3.81 3.87 0   932.61 08:29:32 m

: CameraDriver::Took a photo at Tue Nov 16 23:02:57 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230258.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230257.89,3649.3594,N,-12150.6436,W,1,03,00.5,003.1,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: AshtechGps::processRecord() - $GPGGA,230259.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230258.89,3649.3587,N,-12150.6436,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.62
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:02:59 2010
.
: AshtechGps::processRecord() - $GPGGA,230300.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230259.89,3649.3579,N,-12150.6436,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230301.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230300.89,3649.3571,N,-12150.6436,W,1,03,00.5,003.1,M,-99.9,M,,*48

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:01 2010
.
: AshtechGps::processRecord() - $GPGGA,230302.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230301.89,3649.3563,N,-12150.6436,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230303.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230302.89,3649.3555,N,-12150.6437,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:03 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230304.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230303.89,3649.3546,N,-12150.6437,W,1,03,00.5,003.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230305.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230304.89,3649.3538,N,-12150.6438,W,1,03,00.5,003.0,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:03:04 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  5.41 15.52 3.83 3.89 0 12412.06 08:29:39 m

: AshtechGps::processRecord() - $GPGGA,230306.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230305.89,3649.3530,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.77
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:06 2010
.
: AshtechGps::processRecord() - $GPGGA,230307.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230306.89,3649.3522,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.12  4.78 16.11 3.81 3.88 0   932.22 08:29:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230308.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230307.89,3649.3513,N,-12150.6439,W,1,03,00.5,003.1,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: CameraDriver::Took a photo at Tue Nov 16 23:03:08 2010
.
: AshtechGps::processRecord() - $GPGGA,230309.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230308.89,3649.3505,N,-12150.6440,W,1,03,00.5,003.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230310.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230309.89,3649.3497,N,-12150.6440,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:03:10 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.77
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230311.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230310.89,3649.3488,N,-12150.6440,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230312.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230311.89,3649.3480,N,-12150.6440,W,1,03,00.5,003.2,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:03:12 2010
.
: AshtechGps::processRecord() - $GPGGA,230313.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230312.89,3649.3472,N,-12150.6440,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230314.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230313.89,3649.3464,N,-12150.6440,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:03:13 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230315.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230314.89,3649.3456,N,-12150.6439,W,1,03,00.5,003.2,M,-99.9,M,,*45

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  4.97 15.62 3.83 3.89 0 12411.60 08:29:49 m

: CameraDriver::Took a photo at Tue Nov 16 23:03:15 2010
.
: AshtechGps::processRecord() - $GPGGA,230316.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230315.89,3649.3447,N,-12150.6439,W,1,03,00.5,003.2,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=60.00
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230317.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230316.89,3649.3439,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.32 16.11 3.81 3.88 0   931.68 08:29:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:17 2010
.
: AshtechGps::processRecord() - $GPGGA,230318.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230317.89,3649.3431,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*46

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230319.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230318.89,3649.3423,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:19 2010
.
: AshtechGps::processRecord() - $GPGGA,230320.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230319.89,3649.3414,N,-12150.6438,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.68
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230321.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230320.89,3649.3406,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*47

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:21 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.80
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230322.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230321.89,3649.3398,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230323.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230322.89,3649.3389,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:03:22 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230324.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230323.89,3649.3381,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.62
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:24 2010
.
: AshtechGps::processRecord() - $GPGGA,230325.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230324.89,3649.3373,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  5.01 15.52 3.83 3.89 0 12411.29 08:29:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230326.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230325.89,3649.3364,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:03:26 2010
.
: AshtechGps::processRecord() - $GPGGA,230327.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230326.89,3649.3356,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*44

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.87
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.08  4.92 16.11 3.82 3.88 0   931.30 08:30:02 m

: AshtechGps::processRecord() - $GPGGA,230328.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230327.89,3649.3347,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 23:03:28 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230329.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230328.89,3649.3339,N,-12150.6439,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230330.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230329.89,3649.3331,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:30 2010
.
: AshtechGps::processRecord() - $GPGGA,230331.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230330.89,3649.3322,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230332.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230331.89,3649.3314,N,-12150.6439,W,1,03,00.5,003.4,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:03:31 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=60.08
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230333.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230332.89,3649.3305,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*41

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:33 2010
.
: AshtechGps::processRecord() - $GPGGA,230334.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230333.89,3649.3297,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.99
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230335.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230334.89,3649.3289,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  5.19 15.62 3.83 3.89 0 12410.77 08:30:09 m

: CameraDriver::Took a photo at Tue Nov 16 23:03:35 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.86
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230336.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230335.89,3649.3280,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230337.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230336.89,3649.3272,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.35 16.11 3.82 3.88 0   930.73 08:30:12 m

: CameraDriver::Took a photo at Tue Nov 16 23:03:37 2010
.
: AshtechGps::processRecord() - $GPGGA,230338.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230337.89,3649.3263,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*45

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.99
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230339.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230338.89,3649.3255,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:39 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230340.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230339.89,3649.3246,N,-12150.6439,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230341.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230340.89,3649.3238,N,-12150.6439,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:03:40 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230342.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230341.89,3649.3230,N,-12150.6439,W,1,03,00.5,003.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.90
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:42 2010
.
: AshtechGps::processRecord() - $GPGGA,230343.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230342.89,3649.3221,N,-12150.6439,W,1,03,00.5,003.4,M,-99.9,M,,*46

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230344.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230343.89,3649.3213,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:44 2010
.
: AshtechGps::processRecord() - $GPGGA,230345.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230344.89,3649.3204,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.52 15.52 3.83 3.89 0 12410.48 08:30:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230346.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230345.89,3649.3195,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:03:46 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.79
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230347.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230346.89,3649.3187,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.06 16.11 3.82 3.88 0   930.38 08:30:22 m

: AshtechGps::processRecord() - $GPGGA,230348.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230347.89,3649.3179,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:03:48 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.98
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,230349.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230348.89,3649.3170,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230350.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230349.89,3649.3162,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:03:49 2010
.
: AshtechGps::processRecord() - $GPGGA,230351.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230350.89,3649.3154,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*45

:  Waypoint has set the state to finished.

: Waypoint (4075741.5, 603093.9), 
  reached at t = 1119.79                                         (wplog)

: Vehicle Position is error is (0.2, 1.8)

: LayeredControl::execute() -- (t = 1119.793289) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1119.803288) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1119.803288) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1119.80                           (wplog)
  The current location (N,E) = 4075741.3      , 603092.0         (wplog)
  The next waypoint          = 4075741.7      , 603113.8         (wplog)
  The bearing to the next w.p. is 88.9 Degrees.

: LayeredControl::execute() -- (t = 1119.813287) Behavior waypoint:-1 has changed to state Active

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.81
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:03:51 2010
.
: AshtechGps::processRecord() - $GPGGA,230352.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230351.89,3649.3145,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230353.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230352.89,3649.3137,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:03:53 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.93
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230354.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230353.89,3649.3128,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230355.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230354.89,3649.3120,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.23 15.52 3.82 3.89 0 12409.97 08:30:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=60.04
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230356.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230355.89,3649.3112,N,-12150.6437,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=60.13
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230357.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230356.89,3649.3104,N,-12150.6435,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  4.42 16.11 3.82 3.88 0   930.00 08:30:32 m

: Kearfott::deltaTime is 1.089925

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230358.44,3649.3100,N,-12150.6435,W,1,03,00.5,003.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230358.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.14
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230359.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,230359.29,3649.3087,N,-12150.6430,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230400.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.26
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230400.29,3649.3081,N,-12150.6426,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230401.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230401.29,3649.3076,N,-12150.6421,W,1,03,00.5,003.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.94
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230402.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230402.29,3649.3071,N,-12150.6415,W,1,03,00.5,003.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230403.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230403.29,3649.3068,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230404.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230404.29,3649.3065,N,-12150.6403,W,1,03,00.5,003.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230405.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.91  3.82 15.52 3.82 3.89 0 12409.70 08:30:39 m

: NMEA Update: $GPGGA,230405.29,3649.3063,N,-12150.6396,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=60.11
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230406.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230406.29,3649.3062,N,-12150.6390,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230407.00,,,,,0,00,,,M,,M,,*4A

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.08  4.99 16.11 3.82 3.88 0   929.54 08:30:42 m

: NMEA Update: $GPGGA,230407.29,3649.3061,N,-12150.6384,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230408.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230408.29,3649.3062,N,-12150.6378,W,1,03,00.5,003.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.83
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230409.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,230409.29,3649.3063,N,-12150.6372,W,1,03,00.5,003.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230410.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.96
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230410.29,3649.3065,N,-12150.6366,W,1,03,00.5,003.4,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230411.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,230411.29,3649.3068,N,-12150.6361,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230412.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230412.29,3649.3071,N,-12150.6356,W,1,03,00.5,003.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=60.01
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230413.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,230413.29,3649.3075,N,-12150.6352,W,1,03,00.5,003.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230414.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230414.29,3649.3079,N,-12150.6347,W,1,03,00.5,003.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230415.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.49 15.62 3.83 3.89 0 12409.26 08:30:49 m

: NMEA Update: $GPGGA,230415.29,3649.3084,N,-12150.6343,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.79
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230416.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230416.29,3649.3089,N,-12150.6338,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230417.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.05
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.24 16.11 3.82 3.88 0   929.01 08:30:52 m

: NMEA Update: $GPGGA,230417.29,3649.3094,N,-12150.6334,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230418.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230418.29,3649.3099,N,-12150.6330,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.81
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230419.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,230419.29,3649.3104,N,-12150.6325,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230420.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230420.29,3649.3110,N,-12150.6321,W,1,03,00.5,003.4,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230421.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230421.29,3649.3115,N,-12150.6316,W,1,03,00.5,003.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230422.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230422.29,3649.3121,N,-12150.6311,W,1,03,00.5,003.5,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230423.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230423.29,3649.3126,N,-12150.6305,W,1,03,00.5,003.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230424.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230424.29,3649.3131,N,-12150.6299,W,1,03,00.5,003.4,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230425.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.60 15.52 3.83 3.89 0 12408.94 08:30:59 m

: NMEA Update: $GPGGA,230425.10,3649.3134,N,-12150.6294,W,1,03,00.5,003.4,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

:  Waypoint has set the state to finished.

: Waypoint (4075741.7, 603113.8), 
  reached at t = 1154.39                                         (wplog)

: Vehicle Position is error is (3.4, -0.1)

: LayeredControl::execute() -- (t = 1154.390919) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1154.390919) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1154.40; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1154.400918) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1154.40                           (wplog)
  The current location (N,E) = 4075738.3      , 603113.9         (wplog)
  The next waypoint          = 4075843.8      , 603112.6         (wplog)
  The bearing to the next w.p. is 359.3 Degrees.

: LayeredControl::execute() -- (t = 1154.410918) Behavior waypoint:-1 has changed to state Active

: CameraDriver::readData - Turning the camera on.
: AshtechGps::processRecord() - $GPGGA,230426.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230427.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.05  5.71 16.01 3.82 3.88 0   928.65 08:31:02 m

: AshtechGps::processRecord() - $GPGGA,230428.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230427.90,3649.3145,N,-12150.6274,W,1,03,00.5,003.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,230429.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230428.90,3649.3148,N,-12150.6266,W,1,03,00.5,003.2,M,-99.9,M,,*43

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:04:29 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230430.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230429.90,3649.3150,N,-12150.6258,W,1,03,00.5,003.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230431.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230430.90,3649.3153,N,-12150.6250,W,1,03,00.5,003.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:04:31 2010
.
: AshtechGps::processRecord() - $GPGGA,230432.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230431.90,3649.3155,N,-12150.6242,W,1,03,00.5,003.1,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 0.949935

: NMEA Update: $GPGGA,230433.77,3649.3158,N,-12150.6235,W,1,03,00.5,003.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230433.00,,,,,0,00,,,M,,M,,*4D

: CameraDriver::Took a photo at Tue Nov 16 23:04:33 2010
.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230434.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230434.70,3649.3164,N,-12150.6221,W,1,03,00.5,002.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230435.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.52 15.52 3.83 3.89 0 12408.49 08:31:09 m

: CameraDriver::Took a photo at Tue Nov 16 23:04:35 2010
.
: NMEA Update: $GPGGA,230435.70,3649.3168,N,-12150.6215,W,1,03,00.5,002.7,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230436.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230436.70,3649.3173,N,-12150.6208,W,1,03,00.5,002.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230437.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.05  5.39 16.01 3.82 3.88 0   928.26 08:31:12 m

: CameraDriver::Took a photo at Tue Nov 16 23:04:37 2010
.
: NMEA Update: $GPGGA,230437.70,3649.3177,N,-12150.6203,W,1,03,00.5,002.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230438.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.39
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230438.70,3649.3182,N,-12150.6198,W,1,03,00.5,002.7,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230439.00,,,,,0,00,,,M,,M,,*47

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

: CameraDriver::Took a photo at Tue Nov 16 23:04:39 2010
.
: NMEA Update: $GPGGA,230439.70,3649.3188,N,-12150.6194,W,1,03,00.5,002.7,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230440.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230440.70,3649.3194,N,-12150.6192,W,1,03,00.5,002.8,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230441.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:04:40 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.54
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230441.69,3649.3201,N,-12150.6190,W,1,03,00.5,002.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230442.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230442.69,3649.3207,N,-12150.6190,W,1,03,00.5,003.0,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 23:04:42 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.55
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230443.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,230443.69,3649.3213,N,-12150.6190,W,1,03,00.5,003.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230444.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.58
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:04:44 2010
.
: NMEA Update: $GPGGA,230444.69,3649.3220,N,-12150.6192,W,1,03,00.5,003.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230445.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.75 15.42 3.83 3.89 0 12408.21 08:31:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230445.69,3649.3226,N,-12150.6195,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230446.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:04:46 2010
.
: NMEA Update: $GPGGA,230446.69,3649.3232,N,-12150.6198,W,1,03,00.5,003.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230447.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  5.46 16.11 3.82 3.88 0   927.71 08:31:22 m

: NMEA Update: $GPGGA,230447.69,3649.3237,N,-12150.6202,W,1,03,00.5,003.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230448.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:04:48 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230448.69,3649.3243,N,-12150.6207,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230449.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,230449.69,3649.3248,N,-12150.6212,W,1,03,00.5,003.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230450.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:04:49 2010
.
: NMEA Update: $GPGGA,230450.69,3649.3253,N,-12150.6218,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230451.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230451.69,3649.3258,N,-12150.6225,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:04:51 2010
.
: AshtechGps::processRecord() - $GPGGA,230452.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230452.69,3649.3262,N,-12150.6232,W,1,03,00.5,003.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230453.00,,,,,0,00,,,M,,M,,*4B

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

: CameraDriver::Took a photo at Tue Nov 16 23:04:53 2010
.
: NMEA Update: $GPGGA,230453.69,3649.3267,N,-12150.6241,W,1,03,00.5,003.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230454.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230454.69,3649.3272,N,-12150.6249,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230455.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.83  5.26 15.52 3.82 3.89 0 12407.65 08:31:29 m

: CameraDriver::Took a photo at Tue Nov 16 23:04:55 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230455.69,3649.3278,N,-12150.6257,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230456.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230456.69,3649.3284,N,-12150.6264,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230457.00,,,,,0,00,,,M,,M,,*4F

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

: CameraDriver::Took a photo at Tue Nov 16 23:04:57 2010
.
: BluefinBatt Reply: $c0q0 d- 31.05  5.64 16.11 3.82 3.88 0   927.13 08:31:32 m

: NMEA Update: $GPGGA,230457.69,3649.3289,N,-12150.6272,W,1,03,00.5,003.2,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230458.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230458.69,3649.3296,N,-12150.6278,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230459.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:04:58 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.79
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230459.69,3649.3302,N,-12150.6284,W,1,03,00.5,003.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230500.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230500.69,3649.3309,N,-12150.6290,W,1,03,00.5,003.2,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:05:00 2010
.
: AshtechGps::processRecord() - $GPGGA,230501.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230501.69,3649.3316,N,-12150.6295,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230502.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:05:02 2010
.
: NMEA Update: $GPGGA,230502.69,3649.3323,N,-12150.6299,W,1,03,00.5,003.2,M,-99.9,M,,*43

: updating external sensors

: Kearfott::deltaTime is 0.839942

: NMEA Update: $GPGGA,230503.79,3649.3324,N,-12150.6300,W,1,03,00.5,003.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230503.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230504.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230504.69,3649.3338,N,-12150.6307,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230505.00,,,,,0,00,,,M,,M,,*49

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

: CameraDriver::Took a photo at Tue Nov 16 23:05:05 2010
.
: BluefinBatt Reply: $aaq0 d- 31.03  2.52 15.52 3.82 3.89 0 12407.29 08:31:39 m

: NMEA Update: $GPGGA,230505.69,3649.3345,N,-12150.6310,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230506.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230506.69,3649.3351,N,-12150.6312,W,1,03,00.5,003.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230507.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:06 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  3.59 16.01 3.84 3.90 0   926.89 08:31:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.68
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230507.69,3649.3358,N,-12150.6314,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230508.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,230508.69,3649.3365,N,-12150.6315,W,1,03,00.5,003.0,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:05:08 2010
.
: AshtechGps::processRecord() - $GPGGA,230509.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230509.69,3649.3371,N,-12150.6317,W,1,03,00.5,003.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230510.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:05:10 2010
.
: NMEA Update: $GPGGA,230510.69,3649.3378,N,-12150.6318,W,1,03,00.5,002.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230511.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230511.69,3649.3385,N,-12150.6319,W,1,03,00.5,002.9,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230512.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:12 2010
.
: NMEA Update: $GPGGA,230512.69,3649.3392,N,-12150.6319,W,1,03,00.5,002.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230513.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230513.69,3649.3399,N,-12150.6320,W,1,03,00.5,002.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230514.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:14 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.47
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230514.69,3649.3406,N,-12150.6320,W,1,03,00.5,002.6,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230515.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.34 15.42 3.85 3.91 0 12406.90 08:31:49 m

: NMEA Update: $GPGGA,230515.69,3649.3414,N,-12150.6320,W,1,03,00.5,002.6,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230516.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:15 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230516.69,3649.3421,N,-12150.6319,W,1,03,00.5,002.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230517.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $c0q0 d- 31.05  5.64 16.01 3.84 3.90 0   926.38 08:31:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230517.69,3649.3429,N,-12150.6318,W,1,03,00.5,002.5,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:05:17 2010
.
: AshtechGps::processRecord() - $GPGGA,230518.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.840000, mean min cell voltage 3.845000

: NMEA Update: $GPGGA,230518.69,3649.3437,N,-12150.6318,W,1,03,00.5,002.5,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230519.00,,,,,0,00,,,M,,M,,*44

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

: CameraDriver::Took a photo at Tue Nov 16 23:05:19 2010
.
: NMEA Update: $GPGGA,230519.69,3649.3445,N,-12150.6317,W,1,03,00.5,002.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230520.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230520.69,3649.3453,N,-12150.6316,W,1,03,00.5,002.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230521.00,,,,,0,00,,,M,,M,,*4F

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

: CameraDriver::Took a photo at Tue Nov 16 23:05:21 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230521.69,3649.3461,N,-12150.6314,W,1,03,00.5,002.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230522.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230522.69,3649.3469,N,-12150.6314,W,1,03,00.5,002.5,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230523.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:05:23 2010
.
: NMEA Update: $GPGGA,230523.69,3649.3477,N,-12150.6313,W,1,03,00.5,002.5,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230524.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.29
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230524.69,3649.3485,N,-12150.6313,W,1,03,00.5,002.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230525.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:24 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  5.08 15.42 3.85 3.91 0 12406.57 08:31:59 m

: NMEA Update: $GPGGA,230525.69,3649.3493,N,-12150.6313,W,1,03,00.5,002.7,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230526.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230526.69,3649.3501,N,-12150.6313,W,1,03,00.5,002.7,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:05:26 2010
.
: AshtechGps::processRecord() - $GPGGA,230527.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.08  5.21 16.01 3.81 3.87 0   925.97 08:32:02 m

: NMEA Update: $GPGGA,230527.69,3649.3509,N,-12150.6314,W,1,03,00.5,002.7,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230528.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.830000

: CameraDriver::Took a photo at Tue Nov 16 23:05:28 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230528.69,3649.3517,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230529.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,230529.69,3649.3526,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230530.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.04
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:05:30 2010
.
: NMEA Update: $GPGGA,230530.69,3649.3534,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230531.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230531.69,3649.3542,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230532.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:32 2010
.
: NMEA Update: $GPGGA,230532.69,3649.3551,N,-12150.6315,W,1,03,00.5,002.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230533.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230533.69,3649.3559,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230534.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:33 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 0.869941

: BluefinBatt Reply: $aaq0 d- 30.87  5.12 15.52 3.82 3.89 0 12406.07 08:32:09 m

: NMEA Update: $GPGGA,230535.09,3649.3564,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230535.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230536.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230536.09,3649.3580,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:05:36 2010
.
: AshtechGps::processRecord() - $GPGGA,230537.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,230537.09,3649.3589,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 31.08  4.70 16.11 3.81 3.87 0   925.45 08:32:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230538.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230538.09,3649.3597,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: CameraDriver::Took a photo at Tue Nov 16 23:05:38 2010
.
: AshtechGps::processRecord() - $GPGGA,230539.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,230539.09,3649.3606,N,-12150.6313,W,1,03,00.5,002.9,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.42
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: Kearfott::deltaTime is 1.029929

: NMEA Update: $GPGGA,230540.34,3649.3608,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230540.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230541.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,230541.29,3649.3624,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:05:41 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230542.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230542.29,3649.3632,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.33
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230543.00,,,,,0,00,,,M,,M,,*4B

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

: CameraDriver::Took a photo at Tue Nov 16 23:05:43 2010
.
: NMEA Update: $GPGGA,230543.29,3649.3640,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230544.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230544.29,3649.3648,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230545.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:44 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  3.56 15.52 3.82 3.89 0 12405.85 08:32:19 m

: NMEA Update: $GPGGA,230545.29,3649.3655,N,-12150.6313,W,1,03,00.5,003.0,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230546.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230546.29,3649.3663,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:05:46 2010
.
: AshtechGps::processRecord() - $GPGGA,230547.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.20
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  4.60 16.01 3.82 3.88 0   925.15 08:32:22 m

: NMEA Update: $GPGGA,230547.29,3649.3671,N,-12150.6314,W,1,03,00.5,002.9,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230548.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230548.29,3649.3678,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:05:48 2010
.
: AshtechGps::processRecord() - $GPGGA,230549.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,230549.29,3649.3686,N,-12150.6314,W,1,03,00.5,002.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.15
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230550.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230550.29,3649.3694,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:05:50 2010
.
: Kearfott::deltaTime is 1.019930

: updating external sensors

: NMEA Update: $GPGGA,230551.52,3649.3696,N,-12150.6314,W,1,03,00.5,002.8,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230551.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230552.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075843.8, 603112.6), 
  reached at t = 1240.79                                         (wplog)

: Vehicle Position is error is (0.0, 3.3)

: LayeredControl::execute() -- (t = 1240.795000) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1240.804999) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1240.804999) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1240.81                           (wplog)
  The current location (N,E) = 4075843.8      , 603109.3         (wplog)
  The next waypoint          = 4075844.0      , 603094.7         (wplog)
  The bearing to the next w.p. is 270.7 Degrees.

: LayeredControl::execute() -- (t = 1240.814998) Behavior waypoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230552.49,3649.3712,N,-12150.6313,W,1,03,00.5,002.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230553.00,,,,,0,00,,,M,,M,,*4A

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

: CameraDriver::Took a photo at Tue Nov 16 23:05:53 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230553.49,3649.3719,N,-12150.6313,W,1,03,00.5,002.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230554.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230554.49,3649.3726,N,-12150.6312,W,1,03,00.5,002.7,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.20
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230555.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:05:54 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.99  2.96 15.42 3.83 3.89 0 12405.51 08:32:29 m

: NMEA Update: $GPGGA,230555.49,3649.3734,N,-12150.6312,W,1,03,00.5,002.7,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230556.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230556.49,3649.3741,N,-12150.6312,W,1,03,00.5,002.7,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230557.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $c0q0 d- 31.12  4.02 16.01 3.82 3.88 0   924.93 08:32:32 m

: NMEA Update: $GPGGA,230557.49,3649.3749,N,-12150.6312,W,1,03,00.5,002.7,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.06
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230558.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230558.49,3649.3756,N,-12150.6313,W,1,03,00.5,002.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230559.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.06
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230559.49,3649.3763,N,-12150.6314,W,1,03,00.5,002.7,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230600.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.94
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230600.49,3649.3770,N,-12150.6317,W,1,03,00.5,002.7,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230601.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,230601.49,3649.3777,N,-12150.6320,W,1,03,00.5,002.7,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=58.84
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230602.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230602.49,3649.3784,N,-12150.6324,W,1,03,00.5,002.8,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230603.00,,,,,0,00,,,M,,M,,*4C

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.03
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230603.49,3649.3790,N,-12150.6329,W,1,03,00.5,002.8,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,230604.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230604.49,3649.3796,N,-12150.6335,W,1,03,00.5,002.8,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=58.92
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230605.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 30.91  3.93 15.33 3.83 3.89 0 12405.24 08:32:39 m

: NMEA Update: $GPGGA,230605.49,3649.3801,N,-12150.6341,W,1,03,00.5,002.9,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230606.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.86
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230606.49,3649.3805,N,-12150.6348,W,1,03,00.5,003.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230607.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.12  4.56 16.01 3.82 3.88 0   924.46 08:32:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230607.49,3649.3809,N,-12150.6356,W,1,03,00.5,003.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230608.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230608.49,3649.3812,N,-12150.6364,W,1,03,00.5,003.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230609.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,230609.49,3649.3814,N,-12150.6372,W,1,03,00.5,003.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230610.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.12
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230610.49,3649.3816,N,-12150.6381,W,1,03,00.5,003.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,230611.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,230611.49,3649.3817,N,-12150.6389,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230612.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230612.49,3649.3817,N,-12150.6397,W,1,03,00.5,003.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230613.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230613.49,3649.3816,N,-12150.6406,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230614.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075844.0, 603094.7), 
  reached at t = 1262.79                                         (wplog)

: Vehicle Position is error is (-19.8, -0.2)

: LayeredControl::execute() -- (t = 1262.793493) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1262.803492) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1262.80; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1262.813491) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1262.81                           (wplog)
  The current location (N,E) = 4075863.7      , 603094.9         (wplog)
  The next waypoint          = 4075741.0      , 603095.9         (wplog)
  The bearing to the next w.p. is 179.5 Degrees.

: LayeredControl::execute() -- (t = 1262.813491) Behavior waypoint:-1 has changed to state Active

: CameraDriver::readData - Turning the camera on.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230615.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.26 15.42 3.83 3.89 0 12404.80 08:32:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230616.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230616.29,3649.3810,N,-12150.6427,W,1,03,00.5,003.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230617.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.01  6.21 16.01 3.82 3.88 0   923.92 08:32:52 m

: NMEA Update: $GPGGA,230617.29,3649.3807,N,-12150.6434,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:06:17 2010
.
: AshtechGps::processRecord() - $GPGGA,230618.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: NMEA Update: $GPGGA,230618.29,3649.3804,N,-12150.6441,W,1,03,00.5,003.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230619.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,230619.29,3649.3800,N,-12150.6447,W,1,03,00.5,003.3,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:06:19 2010
.
: AshtechGps::processRecord() - $GPGGA,230620.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.05
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230620.29,3649.3795,N,-12150.6453,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230621.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230621.29,3649.3790,N,-12150.6458,W,1,03,00.5,003.3,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:06:21 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=58.96
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230622.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230622.29,3649.3785,N,-12150.6463,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230623.00,,,,,0,00,,,M,,M,,*4E

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

: CameraDriver::Took a photo at Tue Nov 16 23:06:23 2010
.
: NMEA Update: $GPGGA,230623.29,3649.3779,N,-12150.6467,W,1,03,00.5,003.5,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230624.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230624.29,3649.3774,N,-12150.6469,W,1,03,00.5,003.4,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,230625.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:24 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  5.34 15.42 3.83 3.89 0 12404.47 08:32:59 m

: NMEA Update: $GPGGA,230625.29,3649.3768,N,-12150.6471,W,1,03,00.5,003.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.22
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230626.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230626.29,3649.3762,N,-12150.6471,W,1,03,00.5,003.5,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:06:26 2010
.
: AshtechGps::processRecord() - $GPGGA,230627.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.24 16.01 3.81 3.87 0   923.51 08:33:02 m

: NMEA Update: $GPGGA,230627.29,3649.3754,N,-12150.6473,W,1,03,00.5,003.5,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230628.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.820000

: NMEA Update: $GPGGA,230628.29,3649.3748,N,-12150.6472,W,1,03,00.5,003.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:06:28 2010
.
: AshtechGps::processRecord() - $GPGGA,230629.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,230629.29,3649.3743,N,-12150.6470,W,1,03,00.5,003.5,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230630.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230630.29,3649.3737,N,-12150.6468,W,1,03,00.5,003.5,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:06:30 2010
.
: AshtechGps::processRecord() - $GPGGA,230631.00,,,,,0,00,,,M,,M,,*4D

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230631.29,3649.3731,N,-12150.6465,W,1,03,00.5,003.4,M,-99.9,M,,*40

: Kearfott::deltaTime is 0.859941

: NMEA Update: $GPGGA,230632.62,3649.3729,N,-12150.6464,W,1,03,00.5,003.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230632.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230633.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:32 2010
.
: updating external sensors

: NMEA Update: $GPGGA,230633.49,3649.3719,N,-12150.6458,W,1,03,00.5,003.4,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230634.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230634.49,3649.3714,N,-12150.6455,W,1,03,00.5,003.3,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:06:34 2010
.
: AshtechGps::processRecord() - $GPGGA,230635.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.29
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  2.63 15.42 3.82 3.89 0 12404.06 08:33:09 m

: NMEA Update: $GPGGA,230635.49,3649.3709,N,-12150.6452,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230636.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.11
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230636.49,3649.3704,N,-12150.6449,W,1,03,00.5,003.4,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 23:06:36 2010
.
: AshtechGps::processRecord() - $GPGGA,230637.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.12  3.77 16.01 3.81 3.87 0   923.03 08:33:12 m

: NMEA Update: $GPGGA,230637.49,3649.3699,N,-12150.6446,W,1,03,00.5,003.4,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230638.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: CameraDriver::Took a photo at Tue Nov 16 23:06:38 2010
.
: NMEA Update: $GPGGA,230638.49,3649.3693,N,-12150.6443,W,1,03,00.5,003.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230639.00,,,,,0,00,,,M,,M,,*45

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

: LayeredControl _resolvedCommand - vertMode=2 vert=58.98
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230639.49,3649.3688,N,-12150.6441,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230640.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:40 2010
.
: NMEA Update: $GPGGA,230640.49,3649.3682,N,-12150.6438,W,1,03,00.5,003.4,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230641.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,230641.49,3649.3676,N,-12150.6435,W,1,03,00.5,003.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230642.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:41 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230642.49,3649.3669,N,-12150.6432,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230643.00,,,,,0,00,,,M,,M,,*48

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230643.49,3649.3663,N,-12150.6430,W,1,03,00.5,003.3,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 23:06:43 2010
.
: AshtechGps::processRecord() - $GPGGA,230644.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230644.49,3649.3656,N,-12150.6428,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230645.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.87  5.23 15.42 3.82 3.89 0 12403.73 08:33:19 m

: NMEA Update: $GPGGA,230645.49,3649.3649,N,-12150.6426,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:06:45 2010
.
: AshtechGps::processRecord() - $GPGGA,230646.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.58
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230646.49,3649.3642,N,-12150.6424,W,1,03,00.5,003.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,230647.00,,,,,0,00,,,M,,M,,*4C

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

: CameraDriver::Took a photo at Tue Nov 16 23:06:47 2010
.
: BluefinBatt Reply: $c0q0 d- 31.01  5.89 15.91 3.81 3.87 0   922.66 08:33:22 m

: NMEA Update: $GPGGA,230647.49,3649.3634,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230648.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: NMEA Update: $GPGGA,230648.49,3649.3627,N,-12150.6421,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230649.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:06:49 2010
.
: NMEA Update: $GPGGA,230649.49,3649.3620,N,-12150.6420,W,1,03,00.5,003.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,230650.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230650.49,3649.3612,N,-12150.6419,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230651.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:50 2010
.
: updating external sensors

: NMEA Update: $GPGGA,230651.30,3649.3606,N,-12150.6418,W,1,03,00.5,003.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.69
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230652.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230652.30,3649.3598,N,-12150.6418,W,1,03,00.5,003.1,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:06:52 2010
.
: AshtechGps::processRecord() - $GPGGA,230653.00,,,,,0,00,,,M,,M,,*49

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230653.30,3649.3591,N,-12150.6418,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230654.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230654.30,3649.3583,N,-12150.6418,W,1,03,00.5,003.0,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:06:54 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230655.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.34 15.42 3.82 3.89 0 12403.21 08:33:29 m

: NMEA Update: $GPGGA,230655.30,3649.3575,N,-12150.6418,W,1,03,00.5,003.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230656.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230656.30,3649.3567,N,-12150.6419,W,1,03,00.5,003.0,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:06:56 2010
.
: AshtechGps::processRecord() - $GPGGA,230657.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $c0q0 d- 31.05  4.78 15.91 3.81 3.87 0   922.25 08:33:32 m

: NMEA Update: $GPGGA,230657.30,3649.3558,N,-12150.6420,W,1,03,00.5,003.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230658.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:06:58 2010
.
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: NMEA Update: $GPGGA,230658.30,3649.3550,N,-12150.6421,W,1,03,00.5,003.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230659.00,,,,,0,00,,,M,,M,,*43

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

: Kearfott::deltaTime is 1.029930

: NMEA Update: $GPGGA,230659.92,3649.3545,N,-12150.6421,W,1,03,00.5,003.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230700.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230701.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230700.90,3649.3529,N,-12150.6423,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:07:00 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230702.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230701.90,3649.3521,N,-12150.6423,W,1,03,00.5,003.1,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:02 2010
.
: AshtechGps::processRecord() - $GPGGA,230703.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230702.90,3649.3514,N,-12150.6423,W,1,03,00.5,003.1,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230704.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230703.90,3649.3506,N,-12150.6423,W,1,03,00.5,003.1,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:07:04 2010
.
: AshtechGps::processRecord() - $GPGGA,230705.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230704.90,3649.3499,N,-12150.6422,W,1,03,00.5,003.1,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  3.75 15.33 3.82 3.89 0 12402.98 08:33:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230706.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230705.90,3649.3492,N,-12150.6422,W,1,03,00.5,003.1,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:07:06 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.93
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230707.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230706.90,3649.3485,N,-12150.6422,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  4.56 16.01 3.82 3.89 0   921.78 08:33:42 m

: AshtechGps::processRecord() - $GPGGA,230708.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230707.89,3649.3477,N,-12150.6421,W,1,03,00.5,003.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.80
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:08 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: AshtechGps::processRecord() - $GPGGA,230709.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230708.89,3649.3470,N,-12150.6421,W,1,03,00.5,003.2,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230710.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230709.89,3649.3462,N,-12150.6421,W,1,03,00.5,003.2,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:07:09 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230711.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230710.89,3649.3454,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:11 2010
.
: AshtechGps::processRecord() - $GPGGA,230712.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230711.89,3649.3446,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230713.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230712.89,3649.3438,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*44

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:13 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.84
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230714.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230713.89,3649.3430,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230715.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230714.89,3649.3422,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  5.08 15.42 3.83 3.89 0 12402.51 08:33:49 m

: CameraDriver::Took a photo at Tue Nov 16 23:07:15 2010
.
: AshtechGps::processRecord() - $GPGGA,230716.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230715.89,3649.3414,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230717.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230716.89,3649.3406,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:17 2010
.
: BluefinBatt Reply: $c0q0 d- 31.01  5.53 15.91 3.82 3.89 0   921.22 08:33:52 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230718.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230717.89,3649.3398,N,-12150.6423,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,230719.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230718.89,3649.3390,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:07:18 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.01
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230720.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230719.89,3649.3382,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:20 2010
.
: AshtechGps::processRecord() - $GPGGA,230721.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230720.89,3649.3374,N,-12150.6422,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230722.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230721.89,3649.3366,N,-12150.6421,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.88
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:22 2010
.
: AshtechGps::processRecord() - $GPGGA,230723.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230722.89,3649.3358,N,-12150.6420,W,1,03,00.5,003.2,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230724.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230723.89,3649.3350,N,-12150.6420,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:07:24 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230725.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230724.89,3649.3342,N,-12150.6420,W,1,03,00.5,003.2,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.60 15.42 3.83 3.89 0 12402.20 08:33:59 m

: AshtechGps::processRecord() - $GPGGA,230726.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230725.89,3649.3333,N,-12150.6420,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:07:26 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.76
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230727.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230726.89,3649.3325,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.96 16.01 3.82 3.88 0   920.87 08:34:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.65
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230728.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230727.89,3649.3317,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:07:27 2010
.
: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,230729.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230728.89,3649.3309,N,-12150.6422,W,1,03,00.5,003.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:29 2010
.
: AshtechGps::processRecord() - $GPGGA,230730.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230729.89,3649.3300,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230731.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230730.89,3649.3292,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*43

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:31 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230732.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230731.89,3649.3284,N,-12150.6424,W,1,03,00.5,003.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230733.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230732.89,3649.3275,N,-12150.6424,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:33 2010
.
: AshtechGps::processRecord() - $GPGGA,230734.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230733.89,3649.3267,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230735.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230734.89,3649.3259,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*40

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  4.71 15.42 3.82 3.89 0 12401.71 08:34:09 m

: CameraDriver::Took a photo at Tue Nov 16 23:07:35 2010
.
: AshtechGps::processRecord() - $GPGGA,230736.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230735.89,3649.3251,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.85
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230737.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230736.89,3649.3243,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 23:07:36 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.21 15.91 3.82 3.88 0   920.49 08:34:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.86
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230738.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230737.89,3649.3234,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*48

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.820000

: CameraDriver::Took a photo at Tue Nov 16 23:07:38 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230739.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230738.89,3649.3226,N,-12150.6422,W,1,03,00.5,003.3,M,-99.9,M,,*45

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230740.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230739.89,3649.3218,N,-12150.6422,W,1,03,00.5,003.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:07:40 2010
.
: AshtechGps::processRecord() - $GPGGA,230741.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230740.89,3649.3210,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.88
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230742.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230741.89,3649.3202,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:07:42 2010
.
: AshtechGps::processRecord() - $GPGGA,230743.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230742.89,3649.3194,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.72
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230744.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230743.89,3649.3185,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:07:44 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230745.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230744.89,3649.3177,N,-12150.6421,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.15 15.33 3.82 3.89 0 12401.40 08:34:19 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230746.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230745.89,3649.3169,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:07:45 2010
.
: AshtechGps::processRecord() - $GPGGA,230747.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230746.89,3649.3160,N,-12150.6422,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.01  5.53 15.91 3.81 3.87 0   919.97 08:34:22 m

: CameraDriver::Took a photo at Tue Nov 16 23:07:47 2010
.
: AshtechGps::processRecord() - $GPGGA,230748.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230747.89,3649.3152,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*4c

:  Waypoint has set the state to finished.

: Waypoint (4075741.0, 603095.9), 
  reached at t = 1356.80                                         (wplog)

: Vehicle Position is error is (0.0, 1.6)

: LayeredControl::execute() -- (t = 1356.797053) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1356.807052) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1356.807052) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1356.81                           (wplog)
  The current location (N,E) = 4075741.0      , 603094.3         (wplog)
  The next waypoint          = 4075741.3      , 603115.9         (wplog)
  The bearing to the next w.p. is 89.3 Degrees.

: LayeredControl::execute() -- (t = 1356.817052) Behavior waypoint:-1 has changed to state Active

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230749.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230748.89,3649.3144,N,-12150.6424,W,1,03,00.5,003.4,M,-99.9,M,,*44

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:49 2010
.
: AshtechGps::processRecord() - $GPGGA,230750.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230749.89,3649.3136,N,-12150.6424,W,1,03,00.5,003.3,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.74
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230751.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230750.89,3649.3127,N,-12150.6424,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:07:51 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.99
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230752.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230751.89,3649.3119,N,-12150.6424,W,1,03,00.5,003.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.96
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230753.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230752.89,3649.3111,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230754.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230753.89,3649.3103,N,-12150.6421,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=60.08
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230755.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230754.89,3649.3096,N,-12150.6419,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.95  4.12 15.33 3.82 3.89 0 12400.94 08:34:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=60.16
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230756.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230755.89,3649.3089,N,-12150.6415,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230757.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230756.89,3649.3083,N,-12150.6412,W,1,03,00.5,003.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.83
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  4.42 16.01 3.81 3.87 0   919.47 08:34:32 m

: AshtechGps::processRecord() - $GPGGA,230758.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230757.89,3649.3077,N,-12150.6407,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.68
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230759.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230758.89,3649.3072,N,-12150.6402,W,1,03,00.5,003.4,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230800.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230759.89,3649.3069,N,-12150.6397,W,1,03,00.5,003.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,230801.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230800.89,3649.3065,N,-12150.6391,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.68
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230802.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230801.89,3649.3063,N,-12150.6385,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230803.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230802.89,3649.3061,N,-12150.6379,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230804.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230803.89,3649.3061,N,-12150.6373,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230805.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230804.89,3649.3061,N,-12150.6367,W,1,03,00.5,003.4,M,-99.9,M,,*45

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  4.26 15.33 3.82 3.89 0 12400.67 08:34:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.77
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230806.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230805.89,3649.3062,N,-12150.6361,W,1,03,00.5,003.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230807.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230806.89,3649.3063,N,-12150.6355,W,1,03,00.5,003.3,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.64 15.91 3.81 3.87 0   919.16 08:34:42 m

: AshtechGps::processRecord() - $GPGGA,230808.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230807.89,3649.3066,N,-12150.6349,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.98
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: AshtechGps::processRecord() - $GPGGA,230809.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230808.89,3649.3069,N,-12150.6343,W,1,03,00.5,003.1,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.88
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230810.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230809.89,3649.3069,N,-12150.6342,W,1,03,00.5,003.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,230811.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230810.89,3649.3073,N,-12150.6337,W,1,03,00.5,003.2,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=60.13
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230812.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230811.89,3649.3077,N,-12150.6332,W,1,03,00.5,003.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230813.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230812.89,3649.3082,N,-12150.6327,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.82
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230814.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230813.89,3649.3087,N,-12150.6323,W,1,03,00.5,003.4,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,230815.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230814.89,3649.3092,N,-12150.6318,W,1,03,00.5,003.4,M,-99.9,M,,*40

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  5.04 15.42 3.82 3.89 0 12400.20 08:34:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.65
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230816.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230815.89,3649.3098,N,-12150.6314,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230817.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230816.89,3649.3103,N,-12150.6310,W,1,03,00.5,003.4,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  5.39 15.91 3.81 3.87 0   918.61 08:34:52 m

: AshtechGps::processRecord() - $GPGGA,230818.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230817.89,3649.3109,N,-12150.6305,W,1,03,00.5,003.5,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: AshtechGps::processRecord() - $GPGGA,230819.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230818.89,3649.3114,N,-12150.6300,W,1,03,00.5,003.5,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.68
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230820.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230819.89,3649.3120,N,-12150.6294,W,1,03,00.5,003.5,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230821.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230820.89,3649.3125,N,-12150.6289,W,1,03,00.5,003.5,M,-99.9,M,,*42

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230822.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230821.89,3649.3129,N,-12150.6282,W,1,03,00.5,003.4,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=1.56
	speedMode=1 speed=1.50

:  Waypoint has set the state to finished.

: Waypoint (4075741.3, 603115.9), 
  reached at t = 1391.59                                         (wplog)

: Vehicle Position is error is (3.6, -0.1)

: LayeredControl::execute() -- (t = 1391.594669) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1391.594669) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1391.60; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1391.604669) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1391.60                           (wplog)
  The current location (N,E) = 4075737.7      , 603116.0         (wplog)
  The next waypoint          = 4075844.2      , 603114.6         (wplog)
  The bearing to the next w.p. is 359.3 Degrees.

: LayeredControl::execute() -- (t = 1391.614668) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230823.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230822.89,3649.3134,N,-12150.6276,W,1,03,00.5,003.4,M,-99.9,M,,*41

: CameraDriver::readData - Turning the camera on.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230824.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230825.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230825.09,3649.3141,N,-12150.6260,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: BluefinBatt Reply: $aaq0 d- 30.87  5.19 15.33 3.82 3.89 0 12399.89 08:34:59 m

: AshtechGps::processRecord() - $GPGGA,230826.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230826.09,3649.3144,N,-12150.6253,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:08:26 2010
.
: AshtechGps::processRecord() - $GPGGA,230827.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,230827.09,3649.3147,N,-12150.6245,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: BluefinBatt Reply: $c0q0 d- 31.08  4.70 15.91 3.80 3.87 0   918.23 08:35:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230828.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230828.09,3649.3149,N,-12150.6238,W,1,03,00.5,003.2,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:08:28 2010
.
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,230829.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,230829.09,3649.3152,N,-12150.6229,W,1,03,00.5,003.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230830.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230830.09,3649.3155,N,-12150.6221,W,1,03,00.5,003.0,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:08:30 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230831.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,230831.09,3649.3159,N,-12150.6213,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,230832.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:08:31 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230832.09,3649.3162,N,-12150.6204,W,1,03,00.5,002.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230833.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,230833.09,3649.3167,N,-12150.6197,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:08:33 2010
.
: AshtechGps::processRecord() - $GPGGA,230834.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230834.09,3649.3172,N,-12150.6190,W,1,03,00.5,002.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230835.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,230835.09,3649.3177,N,-12150.6185,W,1,03,00.5,002.8,M,-99.9,M,,*4a

: BluefinBatt Reply: $aaq0 d- 30.87  4.78 15.33 3.82 3.88 0 12399.38 08:35:09 m

: CameraDriver::Took a photo at Tue Nov 16 23:08:35 2010
.
: AshtechGps::processRecord() - $GPGGA,230836.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230836.09,3649.3183,N,-12150.6181,W,1,03,00.5,002.8,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.47
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230837.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,230837.09,3649.3189,N,-12150.6178,W,1,03,00.5,002.8,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:08:37 2010
.
: BluefinBatt Reply: $c0q0 d- 31.01  5.21 15.91 3.80 3.87 0   917.70 08:35:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230838.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230838.09,3649.3195,N,-12150.6176,W,1,03,00.5,002.9,M,-99.9,M,,*46

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,230839.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230839.09,3649.3201,N,-12150.6175,W,1,03,00.5,003.0,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 23:08:39 2010
.
: AshtechGps::processRecord() - $GPGGA,230840.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230840.09,3649.3208,N,-12150.6176,W,1,03,00.5,003.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230841.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:08:40 2010
.
: updating external sensors

: NMEA Update: $GPGGA,230841.09,3649.3214,N,-12150.6177,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.22
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230842.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230842.09,3649.3220,N,-12150.6179,W,1,03,00.5,003.1,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:08:42 2010
.
: AshtechGps::processRecord() - $GPGGA,230843.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,230843.09,3649.3226,N,-12150.6182,W,1,03,00.5,003.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230844.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230844.09,3649.3232,N,-12150.6186,W,1,03,00.5,003.1,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:08:44 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230845.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,230845.09,3649.3238,N,-12150.6191,W,1,03,00.5,003.1,M,-99.9,M,,*48

: BluefinBatt Reply: $aaq0 d- 30.87  4.56 15.33 3.82 3.88 0 12399.07 08:35:19 m

: AshtechGps::processRecord() - $GPGGA,230846.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.29
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230846.09,3649.3244,N,-12150.6197,W,1,03,00.5,003.1,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:08:46 2010
.
: AshtechGps::processRecord() - $GPGGA,230847.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,230847.09,3649.3248,N,-12150.6202,W,1,03,00.5,003.1,M,-99.9,M,,*44

: BluefinBatt Reply: $c0q0 d- 31.05  5.39 15.91 3.81 3.87 0   917.32 08:35:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230848.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230848.09,3649.3253,N,-12150.6209,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:08:48 2010
.
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.47
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230849.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,230849.09,3649.3258,N,-12150.6216,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230850.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:08:49 2010
.
: NMEA Update: $GPGGA,230850.09,3649.3263,N,-12150.6223,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230851.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,230851.09,3649.3268,N,-12150.6231,W,1,03,00.5,003.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.40
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:08:51 2010
.
: AshtechGps::processRecord() - $GPGGA,230852.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230852.09,3649.3273,N,-12150.6238,W,1,03,00.5,003.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,230853.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.26
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230853.09,3649.3278,N,-12150.6245,W,1,03,00.5,003.3,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:08:53 2010
.
: AshtechGps::processRecord() - $GPGGA,230854.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230854.09,3649.3284,N,-12150.6252,W,1,03,00.5,003.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230855.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,230855.09,3649.3290,N,-12150.6259,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: BluefinBatt Reply: $aaq0 d- 30.83  5.04 15.33 3.82 3.88 0 12398.50 08:35:29 m

: CameraDriver::Took a photo at Tue Nov 16 23:08:55 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230856.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230856.09,3649.3297,N,-12150.6265,W,1,03,00.5,003.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230857.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,230857.09,3649.3303,N,-12150.6271,W,1,03,00.5,003.3,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:08:57 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.01  5.64 15.91 3.81 3.87 0   916.73 08:35:32 m

: AshtechGps::processRecord() - $GPGGA,230858.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230858.09,3649.3310,N,-12150.6276,W,1,03,00.5,003.3,M,-99.9,M,,*47

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230859.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:08:58 2010
.
: updating external sensors

: NMEA Update: $GPGGA,230859.09,3649.3317,N,-12150.6282,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,230900.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230900.09,3649.3324,N,-12150.6286,W,1,03,00.5,003.3,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:09:00 2010
.
: AshtechGps::processRecord() - $GPGGA,230901.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,230901.09,3649.3331,N,-12150.6290,W,1,03,00.5,003.3,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.30
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230902.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230902.09,3649.3338,N,-12150.6294,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:09:02 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230903.00,,,,,0,00,,,M,,M,,*43

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

: NMEA Update: $GPGGA,230903.09,3649.3346,N,-12150.6297,W,1,03,00.5,003.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,230904.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230904.09,3649.3353,N,-12150.6299,W,1,03,00.5,003.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:09:04 2010
.
: AshtechGps::processRecord() - $GPGGA,230905.00,,,,,0,00,,,M,,M,,*45

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

: BluefinBatt Reply: $aaq0 d- 30.91  4.23 15.33 3.82 3.88 0 12398.17 08:35:39 m

: NMEA Update: $GPGGA,230905.09,3649.3361,N,-12150.6301,W,1,03,00.5,003.2,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230906.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230906.09,3649.3369,N,-12150.6302,W,1,03,00.5,003.1,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:09:06 2010
.
: AshtechGps::processRecord() - $GPGGA,230907.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,230907.09,3649.3377,N,-12150.6303,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: BluefinBatt Reply: $c0q0 d- 31.05  4.74 15.91 3.81 3.87 0   916.37 08:35:42 m

: AshtechGps::processRecord() - $GPGGA,230908.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:09:07 2010
.
: NMEA Update: $GPGGA,230908.09,3649.3385,N,-12150.6303,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230909.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,230909.09,3649.3393,N,-12150.6303,W,1,03,00.5,003.1,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:09:09 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230910.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230910.09,3649.3401,N,-12150.6303,W,1,03,00.5,003.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,230911.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,230911.09,3649.3409,N,-12150.6303,W,1,03,00.5,003.0,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:09:11 2010
.
: AshtechGps::processRecord() - $GPGGA,230912.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230912.09,3649.3417,N,-12150.6303,W,1,03,00.5,003.0,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.32
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230913.00,,,,,0,00,,,M,,M,,*42

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

: NMEA Update: $GPGGA,230913.09,3649.3424,N,-12150.6302,W,1,03,00.5,003.0,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:09:13 2010
.
: AshtechGps::processRecord() - $GPGGA,230914.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.29
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,230914.09,3649.3432,N,-12150.6302,W,1,03,00.5,003.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,230915.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,230915.09,3649.3440,N,-12150.6301,W,1,03,00.5,002.9,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:09:15 2010
.
: BluefinBatt Reply: $aaq0 d- 30.83  4.78 15.33 3.82 3.88 0 12397.68 08:35:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230916.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230916.09,3649.3448,N,-12150.6301,W,1,03,00.5,002.9,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230917.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230916.90,3649.3455,N,-12150.6300,W,1,03,00.5,002.9,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:09:16 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.39 15.91 3.81 3.87 0   915.80 08:35:52 m

: AshtechGps::processRecord() - $GPGGA,230918.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230917.90,3649.3463,N,-12150.6300,W,1,03,00.5,002.8,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: CameraDriver::Took a photo at Tue Nov 16 23:09:18 2010
.
: AshtechGps::processRecord() - $GPGGA,230919.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230918.90,3649.3471,N,-12150.6299,W,1,03,00.5,002.8,M,-99.9,M,,*49

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230920.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230919.90,3649.3479,N,-12150.6300,W,1,03,00.5,002.8,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:09:20 2010
.
: AshtechGps::processRecord() - $GPGGA,230921.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230920.90,3649.3487,N,-12150.6300,W,1,03,00.5,002.8,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.11
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230922.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230921.90,3649.3496,N,-12150.6300,W,1,03,00.5,002.8,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:09:22 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230923.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230922.90,3649.3505,N,-12150.6300,W,1,03,00.5,002.8,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.15
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230924.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230923.90,3649.3513,N,-12150.6300,W,1,03,00.5,002.9,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:09:24 2010
.
: AshtechGps::processRecord() - $GPGGA,230925.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230924.90,3649.3522,N,-12150.6300,W,1,03,00.5,002.9,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.19 15.33 3.82 3.88 0 12397.36 08:35:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230926.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230925.90,3649.3530,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:09:25 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230927.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230926.90,3649.3539,N,-12150.6301,W,1,03,00.5,003.1,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.53 15.82 3.81 3.87 0   915.46 08:36:02 m

: CameraDriver::Took a photo at Tue Nov 16 23:09:27 2010
.
: AshtechGps::processRecord() - $GPGGA,230928.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230927.90,3649.3548,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.36
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: AshtechGps::processRecord() - $GPGGA,230929.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230928.90,3649.3556,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:09:29 2010
.
: AshtechGps::processRecord() - $GPGGA,230930.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230929.90,3649.3565,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230931.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230930.90,3649.3573,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*49

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:09:31 2010
.
: AshtechGps::processRecord() - $GPGGA,230932.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230931.90,3649.3582,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230933.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230932.90,3649.3590,N,-12150.6300,W,1,03,00.5,003.1,M,-99.9,M,,*46

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:09:33 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.03
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230934.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230933.89,3649.3598,N,-12150.6301,W,1,03,00.5,003.1,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,230935.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230934.89,3649.3607,N,-12150.6301,W,1,03,00.5,003.1,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:09:34 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=58.91
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  5.04 15.33 3.82 3.88 0 12396.87 08:36:09 m

: AshtechGps::processRecord() - $GPGGA,230936.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230935.89,3649.3615,N,-12150.6301,W,1,03,00.5,003.1,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:09:36 2010
.
: AshtechGps::processRecord() - $GPGGA,230937.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230936.89,3649.3624,N,-12150.6302,W,1,03,00.5,003.1,M,-99.9,M,,*44

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  4.85 15.82 3.81 3.87 0   915.09 08:36:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230938.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230937.89,3649.3632,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: CameraDriver::Took a photo at Tue Nov 16 23:09:38 2010
.
: AshtechGps::processRecord() - $GPGGA,230939.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230938.89,3649.3640,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.22
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230940.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230939.89,3649.3649,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*42

: CameraDriver::Took a photo at Tue Nov 16 23:09:40 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.09
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230941.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230940.89,3649.3657,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,230942.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230941.89,3649.3665,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.05
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:09:42 2010
.
: AshtechGps::processRecord() - $GPGGA,230943.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230942.89,3649.3674,N,-12150.6300,W,1,03,00.5,003.0,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230944.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230943.89,3649.3684,N,-12150.6301,W,1,03,00.5,003.0,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:09:43 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230945.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230944.89,3649.3692,N,-12150.6300,W,1,03,00.5,003.0,M,-99.9,M,,*4f

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.89 15.23 3.82 3.88 0 12396.53 08:36:19 m

: CameraDriver::Took a photo at Tue Nov 16 23:09:45 2010
.
: AshtechGps::processRecord() - $GPGGA,230946.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230945.89,3649.3701,N,-12150.6300,W,1,03,00.5,003.0,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230947.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230946.89,3649.3709,N,-12150.6300,W,1,03,00.5,003.0,M,-99.9,M,,*4e

:  Waypoint has set the state to finished.

: Waypoint (4075844.2, 603114.6), 
  reached at t = 1475.80                                         (wplog)

: Vehicle Position is error is (-0.1, 3.3)

: LayeredControl::execute() -- (t = 1475.798901) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1475.808900) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1475.808900) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1475.82                           (wplog)
  The current location (N,E) = 4075844.3      , 603111.3         (wplog)
  The next waypoint          = 4075844.6      , 603096.6         (wplog)
  The bearing to the next w.p. is 271.0 Degrees.

: LayeredControl::execute() -- (t = 1475.818900) Behavior waypoint:-1 has changed to state Active

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.57 15.91 3.80 3.87 0   914.56 08:36:22 m

: CameraDriver::Took a photo at Tue Nov 16 23:09:47 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230948.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230947.89,3649.3718,N,-12150.6299,W,1,03,00.5,003.0,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,230949.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230948.89,3649.3726,N,-12150.6299,W,1,03,00.5,003.0,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=58.91
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:09:49 2010
.
: AshtechGps::processRecord() - $GPGGA,230950.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230949.89,3649.3734,N,-12150.6298,W,1,03,00.5,003.0,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=58.79
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230951.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230950.89,3649.3743,N,-12150.6298,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=58.78
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230952.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230951.89,3649.3751,N,-12150.6299,W,1,03,00.5,003.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,230953.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230952.89,3649.3759,N,-12150.6300,W,1,03,00.5,002.9,M,-99.9,M,,*46

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=58.82
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230954.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230953.89,3649.3767,N,-12150.6302,W,1,03,00.5,003.0,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=58.75
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230955.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230954.89,3649.3775,N,-12150.6305,W,1,03,00.5,002.9,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.91  3.97 15.23 3.82 3.88 0 12396.09 08:36:29 m

: AshtechGps::processRecord() - $GPGGA,230956.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230955.89,3649.3782,N,-12150.6309,W,1,03,00.5,003.0,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=58.82
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230957.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230956.89,3649.3789,N,-12150.6314,W,1,03,00.5,003.0,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.08  4.31 15.82 3.80 3.87 0   914.06 08:36:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.13
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230958.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230957.89,3649.3796,N,-12150.6319,W,1,03,00.5,003.1,M,-99.9,M,,*41

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.14
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230959.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230958.89,3649.3801,N,-12150.6326,W,1,03,00.5,003.1,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231000.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,230959.89,3649.3806,N,-12150.6333,W,1,03,00.5,003.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=58.83
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231001.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231000.89,3649.3810,N,-12150.6340,W,1,03,00.5,003.2,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231001.70,3649.3813,N,-12150.6346,W,1,03,00.5,003.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231002.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231002.69,3649.3816,N,-12150.6355,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,231003.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.92
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231003.69,3649.3817,N,-12150.6363,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231004.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=58.79
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231004.69,3649.3818,N,-12150.6372,W,1,03,00.5,003.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231005.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.45 15.23 3.82 3.88 0 12395.81 08:36:39 m

: NMEA Update: $GPGGA,231005.69,3649.3819,N,-12150.6381,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=58.85
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231006.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231006.69,3649.3818,N,-12150.6389,W,1,03,00.5,003.2,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,231007.00,,,,,0,00,,,M,,M,,*4F

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

: LayeredControl _resolvedCommand - vertMode=2 vert=58.67
	horzlMode=3 horz=4.73
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.01  5.06 15.91 3.81 3.87 0   913.73 08:36:42 m

:  Waypoint has set the state to finished.

: Waypoint (4075844.6, 603096.6), 
  reached at t = 1496.40                                         (wplog)

: Vehicle Position is error is (-19.4, -0.1)

: LayeredControl::execute() -- (t = 1496.397490) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1496.407489) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1496.41; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1496.407489) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1496.42                           (wplog)
  The current location (N,E) = 4075864.0      , 603096.8         (wplog)
  The next waypoint          = 4075740.5      , 603097.9         (wplog)
  The bearing to the next w.p. is 179.5 Degrees.

: LayeredControl::execute() -- (t = 1496.417488) Behavior waypoint:-1 has changed to state Active

: NMEA Update: $GPGGA,231007.69,3649.3817,N,-12150.6398,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: CameraDriver::readData - Turning the camera on.
: AshtechGps::processRecord() - $GPGGA,231008.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=58.78
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231009.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,231010.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231009.89,3649.3812,N,-12150.6416,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.00
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231011.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231010.89,3649.3809,N,-12150.6424,W,1,03,00.5,003.2,M,-99.9,M,,*49

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:11 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.12
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231012.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231011.89,3649.3805,N,-12150.6430,W,1,03,00.5,003.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.24
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231013.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231012.89,3649.3801,N,-12150.6436,W,1,03,00.5,003.2,M,-99.9,M,,*40

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:13 2010
.
: AshtechGps::processRecord() - $GPGGA,231014.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231013.89,3649.3797,N,-12150.6441,W,1,03,00.5,003.2,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231015.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231014.89,3649.3792,N,-12150.6446,W,1,03,00.5,003.2,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:10:14 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  5.08 15.33 3.82 3.89 0 12395.32 08:36:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.39
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231016.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231015.89,3649.3787,N,-12150.6449,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:10:16 2010
.
: AshtechGps::processRecord() - $GPGGA,231017.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231016.89,3649.3781,N,-12150.6452,W,1,03,00.5,003.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.46 15.91 3.81 3.87 0   913.13 08:36:52 m

: AshtechGps::processRecord() - $GPGGA,231018.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231017.89,3649.3776,N,-12150.6454,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=58.98
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:10:18 2010
.
: AshtechGps::processRecord() - $GPGGA,231019.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231018.89,3649.3770,N,-12150.6456,W,1,03,00.5,003.4,M,-99.9,M,,*43

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.09
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231020.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231019.89,3649.3764,N,-12150.6457,W,1,03,00.5,003.4,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:10:20 2010
.
: AshtechGps::processRecord() - $GPGGA,231021.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231020.89,3649.3758,N,-12150.6458,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.26
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231022.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231021.90,3649.3753,N,-12150.6458,W,1,03,00.5,003.5,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:10:22 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231023.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231022.89,3649.3747,N,-12150.6457,W,1,03,00.5,003.5,M,-99.9,M,,*4e

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231024.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231023.89,3649.3741,N,-12150.6455,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:10:23 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231025.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231024.89,3649.3735,N,-12150.6453,W,1,03,00.5,003.4,M,-99.9,M,,*48

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.80  5.60 15.33 3.82 3.89 0 12394.95 08:36:59 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.13
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:10:25 2010
.
: AshtechGps::processRecord() - $GPGGA,231026.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231025.89,3649.3729,N,-12150.6449,W,1,03,00.5,003.4,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231027.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231026.89,3649.3723,N,-12150.6446,W,1,03,00.5,003.4,M,-99.9,M,,*49

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.85 15.82 3.80 3.87 0   912.75 08:37:02 m

: CameraDriver::Took a photo at Tue Nov 16 23:10:27 2010
.
: AshtechGps::processRecord() - $GPGGA,231028.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231027.89,3649.3717,N,-12150.6442,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.27
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,231029.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231028.89,3649.3711,N,-12150.6438,W,1,03,00.5,003.3,M,-99.9,M,,*48

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:29 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.26
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231030.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231029.89,3649.3706,N,-12150.6434,W,1,03,00.5,003.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231031.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231030.89,3649.3700,N,-12150.6430,W,1,03,00.5,003.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:31 2010
.
: AshtechGps::processRecord() - $GPGGA,231032.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231031.89,3649.3694,N,-12150.6426,W,1,03,00.5,003.3,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231033.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231032.89,3649.3687,N,-12150.6423,W,1,03,00.5,003.3,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:10:32 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231034.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231033.89,3649.3681,N,-12150.6420,W,1,03,00.5,003.3,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:10:34 2010
.
: AshtechGps::processRecord() - $GPGGA,231035.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231034.89,3649.3674,N,-12150.6417,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  5.16 15.33 3.82 3.88 0 12394.47 08:37:09 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.13
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231036.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231035.89,3649.3667,N,-12150.6414,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:10:36 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.33
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231037.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231036.89,3649.3659,N,-12150.6413,W,1,03,00.5,003.3,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.28 15.82 3.80 3.87 0   912.18 08:37:12 m

: AshtechGps::processRecord() - $GPGGA,231038.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231037.89,3649.3652,N,-12150.6411,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: CameraDriver::Took a photo at Tue Nov 16 23:10:38 2010
.
: AshtechGps::processRecord() - $GPGGA,231039.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231038.89,3649.3644,N,-12150.6410,W,1,03,00.5,003.3,M,-99.9,M,,*42

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.20
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231040.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231039.89,3649.3637,N,-12150.6409,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:10:40 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231041.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231040.89,3649.3629,N,-12150.6409,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231042.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231041.89,3649.3621,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:10:41 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231043.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231042.89,3649.3614,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:10:43 2010
.
: AshtechGps::processRecord() - $GPGGA,231044.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231043.89,3649.3606,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231045.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231044.89,3649.3598,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.86 15.33 3.82 3.88 0 12394.12 08:37:19 m

: CameraDriver::Took a photo at Tue Nov 16 23:10:45 2010
.
: AshtechGps::processRecord() - $GPGGA,231046.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231045.89,3649.3590,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231047.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231046.89,3649.3583,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*48

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:47 2010
.
: BluefinBatt Reply: $c0q0 d- 30.97  5.60 15.82 3.80 3.87 0   911.81 08:37:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231048.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231047.89,3649.3575,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,231049.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231048.89,3649.3567,N,-12150.6408,W,1,03,00.5,003.0,M,-99.9,M,,*4d

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:10:49 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231050.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231049.89,3649.3559,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231051.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231050.89,3649.3551,N,-12150.6408,W,1,03,00.5,003.1,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:10:50 2010
.
: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231052.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231051.89,3649.3543,N,-12150.6409,W,1,03,00.5,003.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.59
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:10:52 2010
.
: AshtechGps::processRecord() - $GPGGA,231053.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231052.89,3649.3535,N,-12150.6409,W,1,03,00.5,003.1,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231054.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231053.89,3649.3526,N,-12150.6410,W,1,03,00.5,003.2,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 23:10:54 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.14
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231055.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231054.89,3649.3518,N,-12150.6411,W,1,03,00.5,003.2,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.30 15.33 3.82 3.88 0 12393.62 08:37:29 m

: AshtechGps::processRecord() - $GPGGA,231056.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231055.89,3649.3510,N,-12150.6411,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.04
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:10:56 2010
.
: AshtechGps::processRecord() - $GPGGA,231057.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231056.89,3649.3501,N,-12150.6412,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  4.88 15.91 3.80 3.87 0   911.24 08:37:32 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231058.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231057.89,3649.3493,N,-12150.6413,W,1,03,00.5,003.3,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:10:58 2010
.
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,231059.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231058.89,3649.3485,N,-12150.6413,W,1,03,00.5,003.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231100.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231059.89,3649.3476,N,-12150.6412,W,1,03,00.5,003.3,M,-99.9,M,,*44

: CameraDriver::Took a photo at Tue Nov 16 23:10:59 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.55
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231101.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231100.89,3649.3468,N,-12150.6412,W,1,03,00.5,003.3,M,-99.9,M,,*46

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:01 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231102.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231101.89,3649.3460,N,-12150.6411,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231103.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231102.89,3649.3452,N,-12150.6410,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.73
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:11:03 2010
.
: AshtechGps::processRecord() - $GPGGA,231104.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231103.89,3649.3444,N,-12150.6408,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.42
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231105.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231104.89,3649.3436,N,-12150.6408,W,1,03,00.5,003.4,M,-99.9,M,,*45

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  5.12 15.23 3.82 3.88 0 12393.28 08:37:39 m

: CameraDriver::Took a photo at Tue Nov 16 23:11:05 2010
.
: AshtechGps::processRecord() - $GPGGA,231106.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231105.89,3649.3428,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.47
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231107.04,3649.3426,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: updating external sensors

: Kearfott::deltaTime is 1.049928

: AshtechGps::processRecord() - $GPGGA,231107.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,231108.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231107.89,3649.3411,N,-12150.6406,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:11:07 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.08  4.16 15.82 3.81 3.87 0   910.86 08:37:43 m

: AshtechGps::processRecord() - $GPGGA,231109.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231108.89,3649.3403,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*40

: updating external sensors

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:11:09 2010
.
: AshtechGps::processRecord() - $GPGGA,231110.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231109.89,3649.3394,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231111.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231110.89,3649.3386,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:11 2010
.
: AshtechGps::processRecord() - $GPGGA,231112.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231111.89,3649.3378,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231113.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231112.89,3649.3370,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*40

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:13 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.32
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231114.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231113.89,3649.3361,N,-12150.6408,W,1,03,00.5,003.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231115.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231114.89,3649.3353,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*47

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:15 2010
.
: BluefinBatt Reply: $aaq0 d- 30.83  4.97 15.23 3.82 3.89 0 12392.81 08:37:49 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231116.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231115.89,3649.3344,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231117.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231116.89,3649.3336,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:11:16 2010
.
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.53 15.82 3.81 3.87 0   910.31 08:37:52 m

: AshtechGps::processRecord() - $GPGGA,231118.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231117.89,3649.3328,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.77
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: CameraDriver::Took a photo at Tue Nov 16 23:11:18 2010
.
: AshtechGps::processRecord() - $GPGGA,231119.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231118.89,3649.3320,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*4f

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231120.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231119.89,3649.3311,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*4c

: CameraDriver::Took a photo at Tue Nov 16 23:11:20 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.61
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231121.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231120.89,3649.3303,N,-12150.6408,W,1,03,00.5,003.3,M,-99.9,M,,*45

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231122.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231121.89,3649.3295,N,-12150.6409,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:11:22 2010
.
: AshtechGps::processRecord() - $GPGGA,231123.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231122.89,3649.3287,N,-12150.6409,W,1,03,00.5,003.3,M,-99.9,M,,*4b

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.56
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231124.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231123.89,3649.3278,N,-12150.6409,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:11:24 2010
.
: AshtechGps::processRecord() - $GPGGA,231125.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231124.89,3649.3270,N,-12150.6409,W,1,03,00.5,003.3,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.80
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  4.67 15.23 3.82 3.89 0 12392.49 08:37:59 m

: AshtechGps::processRecord() - $GPGGA,231126.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231125.89,3649.3262,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:11:25 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231127.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231126.89,3649.3253,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*41

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.01  5.60 15.82 3.80 3.87 0   909.96 08:38:02 m

: CameraDriver::Took a photo at Tue Nov 16 23:11:27 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.50
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231128.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231127.89,3649.3245,N,-12150.6410,W,1,03,00.5,003.5,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: AshtechGps::processRecord() - $GPGGA,231129.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231128.89,3649.3236,N,-12150.6410,W,1,03,00.5,003.5,M,-99.9,M,,*45

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.51
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:11:29 2010
.
: AshtechGps::processRecord() - $GPGGA,231130.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231129.89,3649.3228,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.66
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231131.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231130.89,3649.3220,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:31 2010
.
: AshtechGps::processRecord() - $GPGGA,231132.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231131.89,3649.3212,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.65
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231133.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231132.89,3649.3203,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*49

: updating external sensors

: CameraDriver::Took a photo at Tue Nov 16 23:11:33 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.91
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231134.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231133.89,3649.3195,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231135.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231134.89,3649.3187,N,-12150.6410,W,1,03,00.5,003.4,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:11:34 2010
.
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.82 15.23 3.82 3.88 0 12392.00 08:38:09 m

: AshtechGps::processRecord() - $GPGGA,231136.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231135.89,3649.3179,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=60.00
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:11:36 2010
.
: AshtechGps::processRecord() - $GPGGA,231137.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231136.89,3649.3171,N,-12150.6408,W,1,03,00.5,003.4,M,-99.9,M,,*42

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  4.88 15.91 3.80 3.87 0   909.39 08:38:12 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.90
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231138.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231137.89,3649.3163,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*4f

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: CameraDriver::Took a photo at Tue Nov 16 23:11:38 2010
.
: AshtechGps::processRecord() - $GPGGA,231139.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231138.89,3649.3154,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.83
	horzlMode=3 horz=3.13
	speedMode=1 speed=1.50

: updating external sensors

:  Waypoint has set the state to finished.

: Waypoint (4075740.5, 603097.9), 
  reached at t = 1588.59                                         (wplog)

: Vehicle Position is error is (0.2, 1.3)

: LayeredControl::execute() -- (t = 1588.591174) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1588.601173) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1588.601173) Behavior acousticUpdate:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1588.60                           (wplog)
  The current location (N,E) = 4075740.3      , 603096.6         (wplog)
  The next waypoint          = 4075740.7      , 603117.9         (wplog)
  The bearing to the next w.p. is 88.7 Degrees.

: LayeredControl::execute() -- (t = 1588.611173) Behavior waypoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,231140.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231139.89,3649.3146,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:11:40 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.78
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231141.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231140.89,3649.3138,N,-12150.6407,W,1,03,00.5,003.4,M,-99.9,M,,*41

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231142.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231141.89,3649.3130,N,-12150.6408,W,1,03,00.5,003.4,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:11:42 2010
.
: AshtechGps::processRecord() - $GPGGA,231143.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231142.90,3649.3121,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231144.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231143.90,3649.3113,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.75
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231145.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231144.90,3649.3104,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*4c

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  4.12 15.33 3.82 3.88 0 12391.66 08:38:19 m

: AshtechGps::processRecord() - $GPGGA,231146.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231145.90,3649.3096,N,-12150.6409,W,1,03,00.5,003.4,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.58
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231147.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231146.90,3649.3089,N,-12150.6407,W,1,03,00.5,003.3,M,-99.9,M,,*43

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.05  4.49 15.82 3.81 3.87 0   909.06 08:38:22 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.73
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231148.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231147.90,3649.3082,N,-12150.6404,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.90
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231149.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231148.90,3649.3075,N,-12150.6400,W,1,03,00.5,003.4,M,-99.9,M,,*4e

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231150.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231149.90,3649.3070,N,-12150.6395,W,1,03,00.5,003.3,M,-99.9,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=60.01
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231151.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231150.90,3649.3065,N,-12150.6389,W,1,03,00.5,003.3,M,-99.9,M,,*47

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=60.15
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231152.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231151.90,3649.3061,N,-12150.6383,W,1,03,00.5,003.3,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231153.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231152.90,3649.3058,N,-12150.6377,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.81
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231154.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231153.90,3649.3056,N,-12150.6371,W,1,03,00.5,003.4,M,-99.9,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=59.88
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231155.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231154.90,3649.3055,N,-12150.6364,W,1,03,00.5,003.4,M,-99.9,M,,*44

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.87  4.08 15.23 3.82 3.89 0 12391.26 08:38:29 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.65
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231156.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231155.90,3649.3054,N,-12150.6357,W,1,03,00.5,003.4,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231157.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231156.90,3649.3054,N,-12150.6351,W,1,03,00.5,003.5,M,-99.9,M,,*40

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.55
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 31.05  4.88 15.82 3.81 3.87 0   908.59 08:38:32 m

: AshtechGps::processRecord() - $GPGGA,231158.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231157.90,3649.3055,N,-12150.6344,W,1,03,00.5,003.4,M,-99.9,M,,*45

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.63
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231159.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231158.90,3649.3057,N,-12150.6338,W,1,03,00.5,003.4,M,-99.9,M,,*43

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231200.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231159.89,3649.3059,N,-12150.6332,W,1,03,00.5,003.3,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.70
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231201.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231200.89,3649.3062,N,-12150.6327,W,1,03,00.5,003.3,M,-99.9,M,,*4a

: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.42
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231202.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231201.89,3649.3066,N,-12150.6320,W,1,03,00.5,003.3,M,-99.9,M,,*48

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231203.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231202.89,3649.3070,N,-12150.6315,W,1,03,00.5,003.2,M,-99.9,M,,*4b

: updating external sensors

: AshtechGps::processRecord() - $GPGGA,231204.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231203.89,3649.3074,N,-12150.6311,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.67
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: updating external sensors

: Kearfott::deltaTime is 1.079926

: BluefinBatt Reply: $aaq0 d- 30.83  4.82 15.13 3.82 3.89 0 12390.95 08:38:39 m

: NMEA Update: $GPGGA,231205.29,3649.3076,N,-12150.6309,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231205.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,231206.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231206.29,3649.3086,N,-12150.6301,W,1,03,00.5,003.2,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231207.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231207.29,3649.3092,N,-12150.6296,W,1,03,00.5,003.2,M,-99.9,M,,*42

: BluefinBatt Reply: $c0q0 d- 31.01  5.24 15.82 3.81 3.87 0   908.23 08:38:42 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.80
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231208.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231208.29,3649.3097,N,-12150.6291,W,1,03,00.5,003.2,M,-99.9,M,,*4f

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: AshtechGps::processRecord() - $GPGGA,231209.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.73
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231209.29,3649.3103,N,-12150.6286,W,1,03,00.5,003.3,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231210.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231210.29,3649.3109,N,-12150.6281,W,1,03,00.5,003.3,M,-99.9,M,,*40

: LayeredControl _resolvedCommand - vertMode=2 vert=59.91
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231211.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231211.29,3649.3114,N,-12150.6275,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231212.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=1.55
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231212.29,3649.3120,N,-12150.6268,W,1,03,00.5,003.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231213.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4075740.7, 603117.9), 
  reached at t = 1621.80                                         (wplog)

: Vehicle Position is error is (4.8, -0.1)

: LayeredControl::execute() -- (t = 1621.798899) Behavior waypoint:-1 has changed to state Finished

: sending status via acoustic modem

: updating external sensors

: LayeredControl::execute() -- (t = 1621.808898) Behavior acousticUpdate:-1 has changed to state Finished

: CameraServer::onContinuously - starting!
: The StartCamera Behavior has executed at t =         1621.82; The camera will run until commanded to stop.
: LayeredControl::execute() -- (t = 1621.818898) Behavior startCamera:-1 has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1621.82                           (wplog)
  The current location (N,E) = 4075735.9      , 603118.0         (wplog)
  The next waypoint          = 4075844.8      , 603116.6         (wplog)
  The bearing to the next w.p. is 359.3 Degrees.

: LayeredControl::execute() -- (t = 1621.818898) Behavior waypoint:-1 has changed to state Active

: CameraDriver::readData - Turning the camera on.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231214.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231215.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.89 15.13 3.82 3.89 0 12390.49 08:38:49 m

: NMEA Update: $GPGGA,231215.29,3649.3133,N,-12150.6247,W,1,03,00.5,003.3,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231216.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231216.29,3649.3137,N,-12150.6240,W,1,03,00.5,003.2,M,-99.9,M,,*47

: CameraDriver::Took a photo at Tue Nov 16 23:12:16 2010
.
: AshtechGps::processRecord() - $GPGGA,231217.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $c0q0 d- 31.01  4.70 15.82 3.81 3.87 0   907.69 08:38:52 m

: NMEA Update: $GPGGA,231217.29,3649.3140,N,-12150.6233,W,1,03,00.5,003.2,M,-99.9,M,,*42

: LayeredControl _resolvedCommand - vertMode=2 vert=59.42
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231218.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

: NMEA Update: $GPGGA,231218.29,3649.3144,N,-12150.6226,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:12:18 2010
.
: AshtechGps::processRecord() - $GPGGA,231219.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.44
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231219.29,3649.3147,N,-12150.6219,W,1,03,00.5,003.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231220.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231220.29,3649.3151,N,-12150.6212,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: CameraDriver::Took a photo at Tue Nov 16 23:12:20 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.05
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231221.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,231221.29,3649.3154,N,-12150.6205,W,1,03,00.5,002.9,M,-99.9,M,,*4d

: LayeredControl _resolvedCommand - vertMode=2 vert=59.35
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231222.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:22 2010
.
: NMEA Update: $GPGGA,231222.29,3649.3159,N,-12150.6199,W,1,03,00.5,002.8,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231223.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.41
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231223.29,3649.3163,N,-12150.6193,W,1,03,00.5,002.8,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231224.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:23 2010
.
: NMEA Update: $GPGGA,231224.29,3649.3169,N,-12150.6188,W,1,03,00.5,002.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.60
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231225.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.86 15.23 3.82 3.89 0 12390.15 08:38:59 m

: NMEA Update: $GPGGA,231225.29,3649.3174,N,-12150.6183,W,1,03,00.5,002.7,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:12:25 2010
.
: AshtechGps::processRecord() - $GPGGA,231226.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231226.29,3649.3181,N,-12150.6179,W,1,03,00.5,002.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231227.00,,,,,0,00,,,M,,M,,*4F

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

: BluefinBatt Reply: $c0q0 d- 31.01  5.10 15.82 3.80 3.87 0   907.34 08:39:02 m

: NMEA Update: $GPGGA,231227.29,3649.3187,N,-12150.6176,W,1,03,00.5,002.7,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.62
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:12:27 2010
.
: AshtechGps::processRecord() - $GPGGA,231228.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: NMEA Update: $GPGGA,231228.29,3649.3194,N,-12150.6174,W,1,03,00.5,002.8,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.57
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231229.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,231229.29,3649.3200,N,-12150.6173,W,1,03,00.5,002.9,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:12:29 2010
.
: AshtechGps::processRecord() - $GPGGA,231230.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.64
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231230.29,3649.3207,N,-12150.6173,W,1,03,00.5,003.0,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231231.00,,,,,0,00,,,M,,M,,*48

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

: CameraDriver::Took a photo at Tue Nov 16 23:12:31 2010
.
: NMEA Update: $GPGGA,231231.29,3649.3213,N,-12150.6175,W,1,03,00.5,003.1,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231232.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231232.29,3649.3220,N,-12150.6177,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,231233.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:32 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.18
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231233.29,3649.3226,N,-12150.6180,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231234.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231234.29,3649.3232,N,-12150.6184,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.34
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:12:34 2010
.
: AshtechGps::processRecord() - $GPGGA,231235.00,,,,,0,00,,,M,,M,,*4C

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

: BluefinBatt Reply: $aaq0 d- 30.80  5.45 15.13 3.82 3.88 0 12389.69 08:39:09 m

: NMEA Update: $GPGGA,231235.29,3649.3238,N,-12150.6189,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.17
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231236.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231236.29,3649.3243,N,-12150.6195,W,1,03,00.5,003.2,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:12:36 2010
.
: AshtechGps::processRecord() - $GPGGA,231237.00,,,,,0,00,,,M,,M,,*4E

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231237.29,3649.3248,N,-12150.6201,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: BluefinBatt Reply: $c0q0 d- 30.97  5.57 15.82 3.80 3.87 0   906.77 08:39:12 m

: AshtechGps::processRecord() - $GPGGA,231238.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231238.29,3649.3254,N,-12150.6207,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: CameraDriver::Took a photo at Tue Nov 16 23:12:38 2010
.
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231239.00,,,,,0,00,,,M,,M,,*40

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

: NMEA Update: $GPGGA,231239.29,3649.3259,N,-12150.6214,W,1,03,00.5,003.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231240.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.45
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:12:40 2010
.
: NMEA Update: $GPGGA,231240.29,3649.3264,N,-12150.6221,W,1,03,00.5,003.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231241.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231241.29,3649.3269,N,-12150.6227,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231242.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:41 2010
.
: NMEA Update: $GPGGA,231242.29,3649.3275,N,-12150.6234,W,1,03,00.5,003.1,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231243.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231243.29,3649.3281,N,-12150.6241,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:12:43 2010
.
: AshtechGps::processRecord() - $GPGGA,231244.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.46
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231244.29,3649.3287,N,-12150.6247,W,1,03,00.5,003.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231245.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.80  5.38 15.23 3.82 3.88 0 12389.32 08:39:19 m

: NMEA Update: $GPGGA,231245.29,3649.3294,N,-12150.6253,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: CameraDriver::Took a photo at Tue Nov 16 23:12:45 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.52
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231246.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231246.29,3649.3300,N,-12150.6259,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231247.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 30.97  5.78 15.82 3.80 3.87 0   906.38 08:39:22 m

: NMEA Update: $GPGGA,231247.29,3649.3307,N,-12150.6263,W,1,03,00.5,003.2,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:12:47 2010
.
: AshtechGps::processRecord() - $GPGGA,231248.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: NMEA Update: $GPGGA,231248.29,3649.3314,N,-12150.6268,W,1,03,00.5,003.2,M,-99.9,M,,*45

: LayeredControl _resolvedCommand - vertMode=2 vert=59.37
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231249.00,,,,,0,00,,,M,,M,,*47

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

: CameraDriver::Took a photo at Tue Nov 16 23:12:49 2010
.
: NMEA Update: $GPGGA,231249.29,3649.3322,N,-12150.6272,W,1,03,00.5,003.2,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.53
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231250.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231250.29,3649.3329,N,-12150.6276,W,1,03,00.5,003.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231251.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:50 2010
.
: updating external sensors

: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231251.29,3649.3337,N,-12150.6280,W,1,03,00.5,003.1,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231252.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231252.29,3649.3345,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.48
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:12:52 2010
.
: AshtechGps::processRecord() - $GPGGA,231253.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231253.29,3649.3353,N,-12150.6285,W,1,03,00.5,003.1,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231254.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.49
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231254.29,3649.3361,N,-12150.6287,W,1,03,00.5,003.1,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:12:54 2010
.
: AshtechGps::processRecord() - $GPGGA,231255.00,,,,,0,00,,,M,,M,,*4A

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.75 15.13 3.82 3.88 0 12388.82 08:39:29 m

: NMEA Update: $GPGGA,231255.29,3649.3369,N,-12150.6288,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.71
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231256.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231256.29,3649.3377,N,-12150.6289,W,1,03,00.5,003.1,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:12:56 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.29
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231257.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.01  5.10 15.82 3.80 3.87 0   905.81 08:39:32 m

: NMEA Update: $GPGGA,231257.29,3649.3384,N,-12150.6289,W,1,03,00.5,003.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231258.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:58 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.33
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: NMEA Update: $GPGGA,231258.29,3649.3392,N,-12150.6289,W,1,03,00.5,003.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231259.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,231259.29,3649.3401,N,-12150.6290,W,1,03,00.5,003.0,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.43
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231300.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:12:59 2010
.
: NMEA Update: $GPGGA,231300.29,3649.3408,N,-12150.6290,W,1,03,00.5,002.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231301.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.02
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231301.29,3649.3417,N,-12150.6290,W,1,03,00.5,002.8,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:13:01 2010
.
: AshtechGps::processRecord() - $GPGGA,231302.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231302.29,3649.3425,N,-12150.6290,W,1,03,00.5,002.8,M,-99.9,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=59.28
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231303.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,231303.29,3649.3433,N,-12150.6290,W,1,03,00.5,002.8,M,-99.9,M,,*45

: CameraDriver::Took a photo at Tue Nov 16 23:13:03 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.38
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231304.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231304.29,3649.3441,N,-12150.6290,W,1,03,00.5,002.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231305.00,,,,,0,00,,,M,,M,,*4E

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.75 15.23 3.82 3.88 0 12388.47 08:39:39 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231305.29,3649.3450,N,-12150.6289,W,1,03,00.5,002.8,M,-99.9,M,,*4e

: CameraDriver::Took a photo at Tue Nov 16 23:13:05 2010
.
: AshtechGps::processRecord() - $GPGGA,231306.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231306.29,3649.3458,N,-12150.6288,W,1,03,00.5,002.7,M,-99.9,M,,*4b

: LayeredControl _resolvedCommand - vertMode=2 vert=59.23
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231307.00,,,,,0,00,,,M,,M,,*4C

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

: CameraDriver::Took a photo at Tue Nov 16 23:13:07 2010
.
: BluefinBatt Reply: $c0q0 d- 31.01  5.42 15.82 3.80 3.87 0   905.42 08:39:42 m

: NMEA Update: $GPGGA,231307.29,3649.3466,N,-12150.6287,W,1,03,00.5,002.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231308.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: NMEA Update: $GPGGA,231308.29,3649.3474,N,-12150.6286,W,1,03,00.5,002.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231309.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:08 2010
.
: updating external sensors

: NMEA Update: $GPGGA,231309.29,3649.3482,N,-12150.6285,W,1,03,00.5,002.8,M,-99.9,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=59.25
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231310.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231310.29,3649.3491,N,-12150.6285,W,1,03,00.5,002.8,M,-99.9,M,,*4b

: CameraDriver::Took a photo at Tue Nov 16 23:13:10 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=59.13
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231311.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,231311.29,3649.3499,N,-12150.6284,W,1,03,00.5,002.8,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231312.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.31
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231312.29,3649.3508,N,-12150.6284,W,1,03,00.5,002.8,M,-99.9,M,,*49

: CameraDriver::Took a photo at Tue Nov 16 23:13:12 2010
.
: AshtechGps::processRecord() - $GPGGA,231313.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,231313.29,3649.3516,N,-12150.6284,W,1,03,00.5,002.8,M,-99.9,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231314.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231314.29,3649.3525,N,-12150.6284,W,1,03,00.5,002.9,M,-99.9,M,,*41

: CameraDriver::Took a photo at Tue Nov 16 23:13:14 2010
.
: AshtechGps::processRecord() - $GPGGA,231315.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 30.83  4.15 15.23 3.82 3.88 0 12387.98 08:39:49 m

: NMEA Update: $GPGGA,231315.29,3649.3533,N,-12150.6283,W,1,03,00.5,003.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231316.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:16 2010
.
: NMEA Update: $GPGGA,231316.29,3649.3541,N,-12150.6283,W,1,03,00.5,003.0,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.12
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231317.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $c0q0 d- 30.97  5.57 15.82 3.80 3.87 0   904.88 08:39:52 m

: NMEA Update: $GPGGA,231317.29,3649.3550,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: LayeredControl _resolvedCommand - vertMode=2 vert=59.21
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231318.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:17 2010
.
: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: NMEA Update: $GPGGA,231318.29,3649.3559,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231319.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.14
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231319.29,3649.3567,N,-12150.6284,W,1,03,00.5,003.1,M,-99.9,M,,*43

: CameraDriver::Took a photo at Tue Nov 16 23:13:19 2010
.
: AshtechGps::processRecord() - $GPGGA,231320.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231320.29,3649.3576,N,-12150.6284,W,1,03,00.5,003.1,M,-99.9,M,,*49

: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231321.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,231321.29,3649.3584,N,-12150.6284,W,1,03,00.5,003.2,M,-99.9,M,,*46

: CameraDriver::Took a photo at Tue Nov 16 23:13:21 2010
.
: AshtechGps::processRecord() - $GPGGA,231322.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.19
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231322.29,3649.3593,N,-12150.6284,W,1,03,00.5,003.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231323.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231323.29,3649.3602,N,-12150.6285,W,1,03,00.5,003.2,M,-99.9,M,,*48

: CameraDriver::Took a photo at Tue Nov 16 23:13:23 2010
.
: LayeredControl _resolvedCommand - vertMode=2 vert=58.93
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231324.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231324.29,3649.3610,N,-12150.6285,W,1,03,00.5,003.2,M,-99.9,M,,*4c

: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231325.00,,,,,0,00,,,M,,M,,*4C

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

: CameraDriver::Took a photo at Tue Nov 16 23:13:25 2010
.
: BluefinBatt Reply: $aaq0 d- 30.83  4.86 15.13 3.82 3.88 0 12387.62 08:39:59 m

: NMEA Update: $GPGGA,231325.29,3649.3619,N,-12150.6286,W,1,03,00.5,003.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231326.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.07
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231326.29,3649.3628,N,-12150.6287,W,1,03,00.5,003.2,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231327.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:26 2010
.
: updating external sensors

: NMEA Update: $GPGGA,231327.29,3649.3637,N,-12150.6287,W,1,03,00.5,003.1,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 30.97  5.57 15.72 3.80 3.87 0   904.50 08:40:02 m

: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231328.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231328.29,3649.3646,N,-12150.6287,W,1,03,00.5,003.1,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

: CameraDriver::Took a photo at Tue Nov 16 23:13:28 2010
.
: AshtechGps::processRecord() - $GPGGA,231329.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.16
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231329.29,3649.3655,N,-12150.6286,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,231330.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231330.29,3649.3664,N,-12150.6286,W,1,03,00.5,003.1,M,-99.9,M,,*4a

: LayeredControl _resolvedCommand - vertMode=2 vert=59.04
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: CameraDriver::Took a photo at Tue Nov 16 23:13:30 2010
.
: AshtechGps::processRecord() - $GPGGA,231331.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,231331.29,3649.3672,N,-12150.6285,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=59.14
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231332.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231332.29,3649.3681,N,-12150.6285,W,1,03,00.5,003.1,M,-99.9,M,,*40

: CameraDriver::Took a photo at Tue Nov 16 23:13:32 2010
.
: AshtechGps::processRecord() - $GPGGA,231333.00,,,,,0,00,,,M,,M,,*4B

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

: LayeredControl _resolvedCommand - vertMode=2 vert=59.01
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231333.29,3649.3690,N,-12150.6284,W,1,03,00.5,003.1,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,231334.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:34 2010
.
: NMEA Update: $GPGGA,231334.29,3649.3698,N,-12150.6284,W,1,03,00.5,003.1,M,-99.9,M,,*4f

: LayeredControl _resolvedCommand - vertMode=2 vert=58.90
	horzlMode=3 horz=6.27
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231335.00,,,,,0,00,,,M,,M,,*4D

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

: BluefinBatt Reply: $aaq0 d- 30.87  4.19 15.23 3.82 3.88 0 12387.13 08:40:09 m

: NMEA Update: $GPGGA,231335.29,3649.3707,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231336.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: CameraDriver::Took a photo at Tue Nov 16 23:13:35 2010
.
:  Waypoint has set the state to finished.

: Waypoint (4075844.8, 603116.6), 
  reached at t = 1704.79                                         (wplog)

: Vehicle Position is error is (0.0, 2.8)

: LayeredControl::execute() -- (t = 1704.793214) Behavior waypoint:-1 has changed to state Finished

: CameraServer::Shutting off the camera!
: CameraServer::stop - Camera will stop after 1 photos.
: LayeredControl::execute() -- (t = 1704.803213) Behavior stopCamera:-1 has changed to state Finished

: sending status via acoustic modem

: LayeredControl::execute() -- (t = 1704.803213) Behavior acousticUpdate:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1704.803213) Behavior ascend:-1 has changed to state Active

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

: NMEA Update: $GPGGA,231336.29,3649.3715,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231337.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231337.29,3649.3724,N,-12150.6283,W,1,03,00.5,003.1,M,-99.9,M,,*4d

: BluefinBatt Reply: $c0q0 d- 30.97  5.60 15.82 3.80 3.87 0   903.94 08:40:12 m

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

: CameraDriver::Took a photo at Tue Nov 16 23:13:37 2010
.
: AshtechGps::processRecord() - $GPGGA,231338.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231338.29,3649.3732,N,-12150.6284,W,1,03,00.5,002.9,M,-99.9,M,,*4b

: batts online 2, min cell voltage 3.800000, mean min cell voltage 3.810000

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

: AshtechGps::processRecord() - $GPGGA,231339.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,231339.29,3649.3741,N,-12150.6284,W,1,03,00.5,002.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231340.00,,,,,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,231340.29,3649.3749,N,-12150.6284,W,1,03,00.5,002.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231341.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231341.29,3649.3757,N,-12150.6284,W,1,03,00.5,001.1,M,-99.9,M,,*4d

: DepthEnvelope -- Measured altitude = 0.875861. Allowable altitude = 1.000000. t= 1710.39. Stopping!
: LayeredControl _resolvedCommand - vertMode=0 vert=-0.05
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 0.650820. Allowable altitude = 1.000000. t= 1710.59. Stopping!
: AshtechGps::processRecord() - $GPGGA,231342.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = 0.433147. Allowable altitude = 1.000000. t= 1710.79. Stopping!
: DepthEnvelope -- Measured altitude = 0.433147. Allowable altitude = 1.000000. t= 1710.99. Stopping!
: NMEA Update: $GPGGA,231342.29,3649.3765,N,-12150.6284,W,1,03,00.5,000.0,M,-99.9,M,,*4f

: DepthEnvelope -- Measured altitude = 0.023547. Allowable altitude = 1.000000. t= 1711.19. Stopping!
: DepthEnvelope -- Measured altitude = -0.167736. Allowable altitude = 1.000000. t= 1711.39. Stopping!
: AshtechGps::processRecord() - $GPGGA,231343.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=0 vert=-0.05
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,231343.29,3649.3773,N,-12150.6285,W,1,03,00.5,002.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231344.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = 0.936685. Allowable altitude = 1.000000. t= 1712.99. Stopping!
: NMEA Update: $GPGGA,231344.29,3649.3779,N,-12150.6285,W,1,03,00.5,000.6,M,-99.9,M,,*43

: DepthEnvelope -- Measured altitude = 0.635443. Allowable altitude = 1.000000. t= 1713.19. Stopping!
: LayeredControl _resolvedCommand - vertMode=0 vert=-0.05
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude = 0.351052. Allowable altitude = 1.000000. t= 1713.39. Stopping!
: DepthEnvelope -- Measured altitude = 0.074540. Allowable altitude = 1.000000. t= 1713.59. Stopping!
: AshtechGps::processRecord() - $GPGGA,231345.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = -0.186110. Allowable altitude = 1.000000. t= 1713.79. Stopping!
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  1.22 15.23 3.82 3.88 0 12386.83 08:40:19 m

: DepthEnvelope -- Measured altitude = -0.434503. Allowable altitude = 1.000000. t= 1713.99. Stopping!
: NMEA Update: $GPGGA,231345.29,3649.3786,N,-12150.6286,W,1,03,00.5,-00.7,M,-99.9,M,,*5d

: DepthEnvelope -- Measured altitude = -0.672653. Allowable altitude = 1.000000. t= 1714.19. Stopping!
: DepthEnvelope -- Measured altitude = -0.897048. Allowable altitude = 1.000000. t= 1714.39. Stopping!
: DepthEnvelope -- Measured altitude = -1.111670. Allowable altitude = 1.000000. t= 1714.59. Stopping!
: LayeredControl _resolvedCommand - vertMode=0 vert=-0.05
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,231346.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = -1.314779. Allowable altitude = 1.000000. t= 1714.79. Stopping!
: DepthEnvelope -- Measured altitude = -1.504603. Allowable altitude = 1.000000. t= 1714.99. Stopping!
: NMEA Update: $GPGGA,231346.29,3649.3791,N,-12150.6287,W,1,03,00.5,-01.7,M,-99.9,M,,*58

: DepthEnvelope -- Measured altitude = -1.683150. Allowable altitude = 1.000000. t= 1715.19. Stopping!
: DepthEnvelope -- Measured altitude = -1.852302. Allowable altitude = 1.000000. t= 1715.39. Stopping!
: DepthEnvelope -- Measured altitude = -1.852302. Allowable altitude = 1.000000. t= 1715.59. Stopping!
: AshtechGps::processRecord() - $GPGGA,231347.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = -2.158591. Allowable altitude = 1.000000. t= 1715.79. Stopping!
: updating external sensors

: DepthEnvelope -- Measured altitude = -2.297543. Allowable altitude = 1.000000. t= 1715.99. Stopping!
: LayeredControl _resolvedCommand - vertMode=0 vert=-0.05
	horzlMode=0 horz=0.05
	speedMode=1 speed=0.00

: NMEA Update: $GPGGA,231347.29,3649.3796,N,-12150.6287,W,1,03,00.5,-02.3,M,-99.9,M,,*59

: BluefinBatt Reply: $c0q0 d- 31.20  1.50 15.72 3.83 3.89 0   903.73 08:40:22 m

: DepthEnvelope -- Measured altitude = -2.297543. Allowable altitude = 1.000000. t= 1716.19. Stopping!
: DepthEnvelope -- Measured altitude = -0.578365. Allowable altitude = 1.000000. t= 1716.39. Stopping!
: DepthEnvelope -- Measured altitude = -0.578365. Allowable altitude = 1.000000. t= 1716.59. Stopping!
: AshtechGps::processRecord() - $GPGGA,231348.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude = 0.281801. Allowable altitude = 1.000000. t= 1716.79. Stopping!
: DepthEnvelope -- Measured altitude = 0.582844. Allowable altitude = 1.000000. t= 1716.99. Stopping!
: NMEA Update: $GPGGA,231348.29,3649.3801,N,-12150.6288,W,1,03,00.5,100.0,M,-99.9,M,,*45

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: DepthEnvelope -- Depth 54.513783 shallower than restart depth 57.145552 and altitude 100.000000 greater than min altitude 1.000000 at t= 1717.19. Starting prop!
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231349.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,231349.29,3649.3805,N,-12150.6289,W,1,03,00.5,100.0,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231350.00,,,,,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,231350.29,3649.3810,N,-12150.6290,W,1,03,00.5,100.0,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231351.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231351.29,3649.3814,N,-12150.6291,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,231352.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231352.29,3649.3818,N,-12150.6291,W,1,03,00.5,100.0,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231353.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231353.29,3649.3823,N,-12150.6291,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231354.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231354.29,3649.3828,N,-12150.6291,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,231355.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.87  3.97 15.13 3.85 3.91 0 12386.62 08:40:29 m

: NMEA Update: $GPGGA,231355.29,3649.3833,N,-12150.6290,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,231356.00,,,,,0,00,,,M,,M,,*48

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

: Kearfott::deltaTime is 0.809944

: BluefinBatt Reply: $c0q0 d- 31.05  4.85 15.72 3.83 3.89 0   903.55 08:40:32 m

: NMEA Update: $GPGGA,231357.29,3649.3839,N,-12150.6289,W,1,03,00.5,012.2,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231357.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,231358.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231358.29,3649.3851,N,-12150.6290,W,1,03,00.5,013.5,M,-99.9,M,,*4e

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,231359.00,,,,,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,231359.29,3649.3857,N,-12150.6289,W,1,03,00.5,014.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231400.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231400.29,3649.3864,N,-12150.6288,W,1,03,00.5,014.7,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231401.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231401.29,3649.3870,N,-12150.6286,W,1,03,00.5,015.4,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231402.00,,,,,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,231402.29,3649.3876,N,-12150.6285,W,1,03,00.5,016.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231403.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231403.29,3649.3883,N,-12150.6283,W,1,03,00.5,017.1,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,231404.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231404.29,3649.3890,N,-12150.6280,W,1,03,00.5,017.7,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,231405.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.56 15.23 3.85 3.91 0 12386.32 08:40:39 m

: NMEA Update: $GPGGA,231405.29,3649.3896,N,-12150.6277,W,1,03,00.5,013.1,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231406.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231406.29,3649.3903,N,-12150.6274,W,1,03,00.5,100.0,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231407.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $c0q0 d- 31.05  4.63 15.72 3.81 3.87 0   903.04 08:40:42 m

: NMEA Update: $GPGGA,231407.29,3649.3909,N,-12150.6270,W,1,03,00.5,019.7,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,231408.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.830000

: NMEA Update: $GPGGA,231408.29,3649.3915,N,-12150.6267,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231409.00,,,,,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

: updating external sensors

: NMEA Update: $GPGGA,231409.10,3649.3920,N,-12150.6264,W,1,03,00.5,100.0,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231410.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231410.10,3649.3926,N,-12150.6261,W,1,03,00.5,100.0,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,231411.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231411.10,3649.3932,N,-12150.6257,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,231412.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231412.10,3649.3938,N,-12150.6253,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,231413.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231413.10,3649.3944,N,-12150.6248,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,231414.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231414.10,3649.3949,N,-12150.6243,W,1,03,00.5,100.0,M,-99.9,M,,*4b

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

: AshtechGps::processRecord() - $GPGGA,231415.00,,,,,0,00,,,M,,M,,*48

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

: BluefinBatt Reply: $aaq0 d- 30.87  3.89 15.13 3.82 3.88 0 12385.88 08:40:49 m

: NMEA Update: $GPGGA,231415.10,3649.3955,N,-12150.6237,W,1,03,00.5,100.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231416.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: NMEA Update: $GPGGA,231416.10,3649.3960,N,-12150.6231,W,1,03,00.5,100.0,M,-99.9,M,,*47

: AshtechGps::processRecord() - $GPGGA,231417.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231417.10,3649.3965,N,-12150.6225,W,1,03,00.5,100.0,M,-99.9,M,,*46

: BluefinBatt Reply: $c0q0 d- 31.05  4.31 15.72 3.81 3.87 0   902.74 08:40:52 m

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

: AshtechGps::processRecord() - $GPGGA,231418.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231418.10,3649.3970,N,-12150.6219,W,1,03,00.5,100.0,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

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

: AshtechGps::processRecord() - $GPGGA,231419.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,231419.10,3649.3975,N,-12150.6213,W,1,03,00.5,100.0,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231420.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231420.10,3649.3981,N,-12150.6207,W,1,03,00.5,100.0,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231421.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231421.10,3649.3986,N,-12150.6201,W,1,03,00.5,100.0,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231422.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231422.10,3649.3991,N,-12150.6195,W,1,03,00.5,100.0,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231423.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.79
	horzlMode=0 horz=0.05
	speedMode=1 speed=1.50

: updating external sensors

: NMEA Update: $GPGGA,231423.10,3649.3995,N,-12150.6189,W,1,03,00.5,100.0,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,231424.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231424.10,3649.4000,N,-12150.6184,W,1,03,00.5,100.0,M,-99.9,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,231425.00,,,,,0,00,,,M,,M,,*4B

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

: BluefinBatt Reply: $aaq0 d- 30.83  4.12 15.13 3.82 3.88 0 12385.61 08:40:59 m

: NMEA Update: $GPGGA,231425.09,3649.4004,N,-12150.6179,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,231426.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231426.09,3649.4009,N,-12150.6174,W,1,03,00.5,100.0,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231427.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,231427.09,3649.4013,N,-12150.6168,W,1,03,00.5,100.0,M,-99.9,M,,*48

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

: BluefinBatt Reply: $c0q0 d- 31.05  4.13 15.72 3.81 3.87 0   902.27 08:41:02 m

: AshtechGps::processRecord() - $GPGGA,231428.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231428.09,3649.4017,N,-12150.6162,W,1,03,00.5,100.0,M,-99.9,M,,*49

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

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

: AshtechGps::processRecord() - $GPGGA,231429.00,,,,,0,00,,,M,,M,,*47

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

: NMEA Update: $GPGGA,231429.09,3649.4021,N,-12150.6156,W,1,03,00.5,100.0,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,231430.00,,,,,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,231430.09,3649.4024,N,-12150.6149,W,1,03,00.5,100.0,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231431.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231431.09,3649.4028,N,-12150.6143,W,1,03,00.5,100.0,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231432.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231432.09,3649.4032,N,-12150.6138,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,231433.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231433.09,3649.4035,N,-12150.6132,W,1,03,00.5,100.0,M,-99.9,M,,*46

: AshtechGps::processRecord() - $GPGGA,231434.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231434.09,3649.4038,N,-12150.6125,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,231435.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231435.09,3649.4041,N,-12150.6117,W,1,03,00.5,100.0,M,-99.9,M,,*44

: BluefinBatt Reply: $aaq0 d- 30.87  3.85 15.03 3.82 3.89 0 12385.20 08:41:09 m

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

: AshtechGps::processRecord() - $GPGGA,231436.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231436.09,3649.4044,N,-12150.6108,W,1,03,00.5,045.4,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231437.00,,,,,0,00,,,M,,M,,*48

: 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,231437.09,3649.4047,N,-12150.6099,W,1,03,00.5,047.2,M,-99.9,M,,*47

: BluefinBatt Reply: $c0q0 d- 31.05  4.38 15.62 3.81 3.87 0   901.84 08:41:12 m

: AshtechGps::processRecord() - $GPGGA,231438.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231438.09,3649.4050,N,-12150.6092,W,1,03,00.5,048.3,M,-99.9,M,,*4b

: batts online 2, min cell voltage 3.810000, mean min cell voltage 3.815000

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

: AshtechGps::processRecord() - $GPGGA,231439.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,231439.09,3649.4052,N,-12150.6086,W,1,03,00.5,048.6,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231440.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231440.09,3649.4055,N,-12150.6078,W,1,03,00.5,048.4,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231441.00,,,,,0,00,,,M,,M,,*49

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

: NMEA Update: $GPGGA,231441.09,3649.4056,N,-12150.6071,W,1,03,00.5,049.0,M,-99.9,M,,*4c

: LayeredControl::execute() -- (t = 1769.998747) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1769.998747) 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

: AshtechGps::processRecord() - $GPGGA,231442.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231442.09,3649.4057,N,-12150.6062,W,1,03,00.5,054.0,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,231443.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,231443.09,3649.4058,N,-12150.6054,W,1,03,00.5,052.5,M,-99.9,M,,*48

: Kearfott::deltaTime is 0.829943

: NMEA Update: $GPGGA,231444.22,3649.4058,N,-12150.6053,W,1,03,00.5,052.0,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231444.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,231445.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,231445.09,3649.4058,N,-12150.6042,W,1,03,00.5,052.5,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 31.03  1.37 15.13 3.82 3.89 0 12384.94 08:41:19 m

: AshtechGps::processRecord() - $GPGGA,231446.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231446.09,3649.4059,N,-12150.6035,W,1,03,00.5,052.0,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231447.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231447.09,3649.4058,N,-12150.6028,W,1,03,00.5,052.2,M,-99.9,M,,*40

: BluefinBatt Reply: $c0q0 d- 31.20  1.76 15.62 3.83 3.89 0   901.62 08:41:22 m

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

: AshtechGps::processRecord() - $GPGGA,231448.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231448.09,3649.4058,N,-12150.6022,W,1,03,00.5,052.2,M,-99.9,M,,*45

: batts online 2, min cell voltage 3.820000, mean min cell voltage 3.825000

: AshtechGps::processRecord() - $GPGGA,231449.00,,,,,0,00,,,M,,M,,*41

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

: NMEA Update: $GPGGA,231449.09,3649.4057,N,-12150.6016,W,1,03,00.5,052.0,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231450.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231450.09,3649.4057,N,-12150.6012,W,1,03,00.5,051.9,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231451.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,231451.09,3649.4057,N,-12150.6008,W,1,03,00.5,052.3,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,231452.00,,,,,0,00,,,M,,M,,*4B

: 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,231452.09,3649.4057,N,-12150.6005,W,1,03,00.5,051.9,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231453.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231453.09,3649.4057,N,-12150.5999,W,1,03,00.5,051.7,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,231454.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231454.09,3649.4057,N,-12150.5992,W,1,03,00.5,052.2,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,231455.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231455.09,3649.4056,N,-12150.5985,W,1,03,00.5,051.8,M,-99.9,M,,*49

: BluefinBatt Reply: $aaq0 d- 31.03  1.26 15.13 3.84 3.90 0 12384.78 08:41:29 m

: AshtechGps::processRecord() - $GPGGA,231456.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231456.09,3649.4055,N,-12150.5980,W,1,03,00.5,051.4,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,231457.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231457.09,3649.4055,N,-12150.5975,W,1,03,00.5,051.3,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 31.20  1.94 15.62 3.83 3.89 0   901.44 08:41:32 m

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

: AshtechGps::processRecord() - $GPGGA,231458.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231458.09,3649.4055,N,-12150.5972,W,1,03,00.5,051.5,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

: AshtechGps::processRecord() - $GPGGA,231459.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,231459.09,3649.4054,N,-12150.5969,W,1,03,00.5,050.6,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,231500.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231500.09,3649.4054,N,-12150.5967,W,1,03,00.5,051.4,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,231501.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231501.09,3649.4052,N,-12150.5966,W,1,03,00.5,051.0,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231502.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231502.09,3649.4051,N,-12150.5964,W,1,03,00.5,050.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231503.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231503.09,3649.4051,N,-12150.5961,W,1,03,00.5,050.4,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,231504.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231504.09,3649.4050,N,-12150.5957,W,1,03,00.5,050.6,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,231505.00,,,,,0,00,,,M,,M,,*48

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

: NMEA Update: $GPGGA,231505.09,3649.4050,N,-12150.5952,W,1,03,00.5,050.5,M,-99.9,M,,*4d

: BluefinBatt Reply: $aaq0 d- 31.03  1.14 15.23 3.84 3.90 0 12384.67 08:41:39 m

: AshtechGps::processRecord() - $GPGGA,231506.00,,,,,0,00,,,M,,M,,*4B

: 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,231506.09,3649.4048,N,-12150.5949,W,1,03,00.5,050.8,M,-99.9,M,,*40

: AshtechGps::processRecord() - $GPGGA,231507.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231507.09,3649.4047,N,-12150.5946,W,1,03,00.5,050.5,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 31.20  1.47 15.62 3.83 3.89 0   901.32 08:41:42 m

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

: AshtechGps::processRecord() - $GPGGA,231508.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231508.09,3649.4047,N,-12150.5944,W,1,03,00.5,050.0,M,-99.9,M,,*44

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.835000

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

: AshtechGps::processRecord() - $GPGGA,231509.00,,,,,0,00,,,M,,M,,*44

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

: NMEA Update: $GPGGA,231509.09,3649.4047,N,-12150.5942,W,1,03,00.5,050.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231510.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231510.09,3649.4047,N,-12150.5940,W,1,03,00.5,049.9,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231511.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231511.09,3649.4047,N,-12150.5938,W,1,03,00.5,050.2,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,231512.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231512.09,3649.4046,N,-12150.5935,W,1,03,00.5,050.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231513.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,231513.09,3649.4045,N,-12150.5932,W,1,03,00.5,050.8,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231514.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231514.09,3649.4044,N,-12150.5929,W,1,03,00.5,049.9,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,231515.00,,,,,0,00,,,M,,M,,*49

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

: BluefinBatt Reply: $aaq0 d- 31.03  1.11 15.13 3.85 3.91 0 12384.52 08:41:49 m

: NMEA Update: $GPGGA,231515.09,3649.4043,N,-12150.5927,W,1,03,00.5,051.0,M,-99.9,M,,*48

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

: AshtechGps::processRecord() - $GPGGA,231516.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231516.09,3649.4042,N,-12150.5926,W,1,03,00.5,050.5,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231517.00,,,,,0,00,,,M,,M,,*4B

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

: NMEA Update: $GPGGA,231517.09,3649.4041,N,-12150.5925,W,1,03,00.5,050.6,M,-99.9,M,,*4d

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

: BluefinBatt Reply: $c0q0 d- 31.20  1.36 15.62 3.83 3.89 0   901.20 08:41:52 m

: AshtechGps::processRecord() - $GPGGA,231518.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231518.09,3649.4040,N,-12150.5923,W,1,03,00.5,051.0,M,-99.9,M,,*42

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

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

: AshtechGps::processRecord() - $GPGGA,231519.00,,,,,0,00,,,M,,M,,*45

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

: NMEA Update: $GPGGA,231519.09,3649.4040,N,-12150.5919,W,1,03,00.5,051.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231520.00,,,,,0,00,,,M,,M,,*4F

: 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,231520.09,3649.4039,N,-12150.5914,W,1,03,00.5,051.7,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231521.00,,,,,0,00,,,M,,M,,*4E

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

: NMEA Update: $GPGGA,231521.09,3649.4039,N,-12150.5912,W,1,03,00.5,051.0,M,-99.9,M,,*44

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

: AshtechGps::processRecord() - $GPGGA,231522.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231522.09,3649.4038,N,-12150.5912,W,1,03,00.5,051.3,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,231523.00,,,,,0,00,,,M,,M,,*4C

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

: NMEA Update: $GPGGA,231523.09,3649.4038,N,-12150.5912,W,1,03,00.5,050.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231524.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231524.09,3649.4037,N,-12150.5912,W,1,03,00.5,050.8,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,231525.00,,,,,0,00,,,M,,M,,*4A

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

: NMEA Update: $GPGGA,231525.09,3649.4036,N,-12150.5911,W,1,03,00.5,052.0,M,-99.9,M,,*4f

: BluefinBatt Reply: $aaq0 d- 30.99  1.29 15.13 3.85 3.91 0 12384.44 08:41:59 m

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

: AshtechGps::processRecord() - $GPGGA,231526.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231526.09,3649.4035,N,-12150.5908,W,1,03,00.5,052.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231527.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: updating external sensors

: NMEA Update: $GPGGA,231527.09,3649.4033,N,-12150.5906,W,1,03,00.5,052.2,M,-99.9,M,,*4c

: BluefinBatt Reply: $c0q0 d- 31.20  1.90 15.52 3.83 3.89 0   901.04 08:42:02 m

: AshtechGps::processRecord() - $GPGGA,231528.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231528.09,3649.4033,N,-12150.5905,W,1,03,00.5,052.2,M,-99.9,M,,*40

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

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

: AshtechGps::processRecord() - $GPGGA,231529.00,,,,,0,00,,,M,,M,,*46

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

: NMEA Update: $GPGGA,231529.09,3649.4033,N,-12150.5903,W,1,03,00.5,051.0,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,231530.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231530.09,3649.4034,N,-12150.5901,W,1,03,00.5,052.5,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231531.00,,,,,0,00,,,M,,M,,*4F

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

: NMEA Update: $GPGGA,231531.09,3649.4033,N,-12150.5899,W,1,03,00.5,052.2,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,231532.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: NMEA Update: $GPGGA,231532.09,3649.4032,N,-12150.5897,W,1,03,00.5,051.7,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,231533.00,,,,,0,00,,,M,,M,,*4D

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

: NMEA Update: $GPGGA,231533.09,3649.4031,N,-12150.5895,W,1,03,00.5,052.0,M,-99.9,M,,*42

: Kearfott::deltaTime is 1.059927

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

: gpsDriver::readRecord() - serial device timed out
: NMEA Update: $GPGGA,231534.92,3649.4030,N,-12150.5894,W,1,03,00.5,051.3,M,-99.9,M,,*47

: AshtechGps::processRecord() - ,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M
: Kearfott::parseGPS_GGA - lat(36.823374) lon(121.843199)

: AshtechGps::processRecord() - $GPGGA,231535.00,3649.40245,N,12150.59195,W,1,09,0.9,-3.88,M,-32.68,M,,*78

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

: updating external sensors

: NMEA Update: $GPGGA,231535.89,3649.4027,N,-12150.5893,W,1,03,00.5,052.2,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231536.00,3649.40243,N,12150.59134,W,1,10,0.8,-2.48,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.823374) lon(121.843189)

: 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:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: BluefinBatt Reply: $aaq0 d- 30.99  2.07 15.03 3.85 3.91 0 12384.31 08:42:10 m

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

: NMEA Update: $GPGGA,231536.89,3649.4026,N,-12150.5889,W,1,03,00.5,052.5,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231537.00,3649.40232,N,12150.59094,W,1,10,0.8,-2.72,M,-32.68,M,,*77

: Kearfott::parseGPS_GGA - lat(36.823372) lon(121.843182)

: 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:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            1

: updating external sensors

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

: NMEA Update: $GPGGA,231537.89,3649.4025,N,-12150.5886,W,1,03,00.5,052.3,M,-99.9,M,,*4a

: AshtechGps::processRecord() - $GPGGA,231538.00,3649.40232,N,12150.59056,W,1,10,0.8,-2.35,M,-32.68,M,,*75

: Kearfott::parseGPS_GGA - lat(36.823372) lon(121.843176)

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 1 of 10 needed
: BluefinBatt Reply: $c0q0 d- 31.20  1.79 15.52 3.83 3.89 0   900.84 08:42:13 m

: NMEA Update: $GPGGA,231538.89,3649.4024,N,-12150.5884,W,1,03,00.5,052.1,M,-99.9,M,,*44

: AshtechGps::processRecord() - $GPGGA,231539.00,3649.40224,N,12150.59047,W,1,10,0.8,-3.22,M,-32.68,M,,*74

: Kearfott::parseGPS_GGA - lat(36.823371) lon(121.843175)

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

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

: updating external sensors

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: Kearfott::deltaTime is 0.889939

: Kearfott::parseGPS_GGA - lat(36.823369) lon(121.843176)

: NMEA Update: $GPGGA,231540.35,3649.4024,N,-12150.5885,W,1,03,00.5,051.6,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231540.00,3649.40216,N,12150.59058,W,1,10,0.8,-3.61,M,-32.68,M,,*72

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,231541.00,3649.40222,N,12150.59068,W,1,10,0.8,-3.40,M,-32.68,M,,*74

: Kearfott::parseGPS_GGA - lat(36.823370) lon(121.843178)

: updating external sensors

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

: NMEA Update: $GPGGA,231541.29,3649.4020,N,-12150.5900,W,1,03,00.5,051.6,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231542.00,3649.40219,N,12150.59068,W,1,10,0.8,-2.88,M,-32.68,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.823370) lon(121.843178)

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 4 of 10 needed
: NMEA Update: $GPGGA,231542.29,3649.4020,N,-12150.5899,W,1,03,00.5,052.6,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,231543.00,3649.40215,N,12150.59054,W,1,10,0.8,-2.50,M,-32.68,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.823369) lon(121.843176)

: 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            1

: GetGPS::execute() -- The Keafott accepted the Gps hit: 5 of 10 needed
: updating external sensors

: NMEA Update: $GPGGA,231543.29,3649.4019,N,-12150.5897,W,1,03,00.5,052.7,M,-99.9,M,,*48

: AshtechGps::processRecord() - $GPGGA,231544.00,3649.40199,N,12150.59025,W,1,10,0.8,-1.99,M,-32.68,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.823367) lon(121.843171)

: 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            1

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

: NMEA Update: $GPGGA,231544.29,3649.4017,N,-12150.5893,W,1,03,00.5,053.1,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231545.00,3649.40176,N,12150.58982,W,1,10,0.8,-2.20,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.823363) lon(121.843164)

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 7 of 10 needed
: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  1.63 15.03 3.85 3.91 0 12384.21 08:42:19 m

: NMEA Update: $GPGGA,231545.29,3649.4015,N,-12150.5892,W,1,03,00.5,052.5,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,231546.00,3649.40156,N,12150.58948,W,1,10,0.8,-2.57,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.823359) lon(121.843158)

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

: GetGPS::execute() -- The Keafott accepted the Gps hit: 8 of 10 needed
: NMEA Update: $GPGGA,231546.29,3649.4014,N,-12150.5888,W,1,03,00.5,052.5,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,231547.00,3649.40153,N,12150.58915,W,1,10,0.8,-3.05,M,-32.68,M,,*74

: Kearfott::parseGPS_GGA - lat(36.823359) lon(121.843153)

: GetGPS::execute() -- Got a new GPS hit: 12 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 9 of 10 needed
: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.20  2.01 15.42 3.83 3.89 0   900.71 08:42:22 m

: NMEA Update: $GPGGA,231547.29,3649.4013,N,-12150.5887,W,1,03,00.5,052.3,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231548.00,3649.40148,N,12150.58924,W,1,10,0.8,-3.51,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.823358) lon(121.843154)

: GetGPS::execute() -- Got a new GPS hit: 13 of 10 needed
: GetGPS::execute():
   Depth loop open > 1 minute: 0
   Gps data processed:         1
   Gps data rejected:          0
   Dvl data processed:         0
   Dvl data rejected:          0
   ZUPT processed              0
   Valid Dvl height            0

: GetGPS::execute() -- The Keafott accepted the Gps hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1836.794171) Behavior getgps:-1 has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 1836.994157) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1836.994157) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1836.994157) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1836.994157) Behavior missionTimer:-1 has changed to state Active

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,231548.29,3649.4013,N,-12150.5889,W,1,03,00.5,051.7,M,-99.9,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,231549.00,3649.40156,N,12150.58952,W,1,10,0.8,-3.31,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.823359) lon(121.843159)

: updating external sensors

: NMEA Update: $GPGGA,231549.29,3649.4012,N,-12150.5891,W,1,03,00.5,051.7,M,-99.9,M,,*4c

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

: AshtechGps::processRecord() - $GPGGA,231550.00,3649.40153,N,12150.58958,W,1,10,0.8,-2.79,M,-32.68,M,,*71

: Kearfott::parseGPS_GGA - lat(36.823359) lon(121.843160)

: NMEA Update: $GPGGA,231550.29,3649.4012,N,-12150.5890,W,1,03,00.5,051.7,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231551.00,3649.40153,N,12150.58937,W,1,10,0.8,-2.46,M,-32.68,M,,*75

: Kearfott::parseGPS_GGA - lat(36.823359) lon(121.843156)

: updating external sensors

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

: NMEA Update: $GPGGA,231551.29,3649.4011,N,-12150.5887,W,1,03,00.5,052.8,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231552.00,3649.40132,N,12150.58911,W,1,10,0.8,-2.81,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.823355) lon(121.843152)

: NMEA Update: $GPGGA,231552.29,3649.4010,N,-12150.5884,W,1,03,00.5,052.5,M,-99.9,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,231553.00,3649.40116,N,12150.58891,W,1,10,0.8,-2.76,M,-32.68,M,,*78

: Kearfott::parseGPS_GGA - lat(36.823353) lon(121.843149)

: updating external sensors

: NMEA Update: $GPGGA,231553.29,3649.4008,N,-12150.5883,W,1,03,00.5,052.2,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231554.00,3649.40106,N,12150.58875,W,1,10,0.8,-2.54,M,-32.68,M,,*74

: Kearfott::parseGPS_GGA - lat(36.823351) lon(121.843146)

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

: NMEA Update: $GPGGA,231554.29,3649.4007,N,-12150.5881,W,1,03,00.5,052.3,M,-99.9,M,,*42

: AshtechGps::processRecord() - $GPGGA,231555.00,3649.40094,N,12150.58845,W,1,10,0.8,-2.43,M,-32.68,M,,*7A

: Kearfott::parseGPS_GGA - lat(36.823349) lon(121.843141)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  1.26 15.03 3.85 3.91 0 12384.05 08:42:29 m

: Kearfott::deltaTime is 0.909938

: Kearfott::parseGPS_GGA - lat(36.823350) lon(121.843135)

: NMEA Update: $GPGGA,231556.35,3649.4006,N,-12150.5877,W,1,03,00.5,052.2,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,231556.00,3649.40097,N,12150.58812,W,1,10,0.8,-2.64,M,-32.68,M,,*7D

: AshtechGps::processRecord() - $GPGGA,231557.00,3649.40091,N,12150.58788,W,1,10,0.8,-2.78,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.823349) lon(121.843131)

: updating external sensors

: NMEA Update: $GPGGA,231557.29,3649.4006,N,-12150.5873,W,1,03,00.5,052.5,M,-99.9,M,,*4b

: BluefinBatt Reply: $c0q0 d- 31.24  1.65 15.42 3.83 3.89 0   900.55 08:42:32 m

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

: AshtechGps::processRecord() - $GPGGA,231558.00,3649.40086,N,12150.58777,W,1,10,0.8,-3.05,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.823348) lon(121.843130)

: NMEA Update: $GPGGA,231558.29,3649.4005,N,-12150.5872,W,1,03,00.5,051.5,M,-99.9,M,,*45

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,231559.00,3649.40090,N,12150.58773,W,1,10,0.8,-3.11,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.823348) lon(121.843129)

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

: updating external sensors

: NMEA Update: $GPGGA,231559.29,3649.4006,N,-12150.5872,W,1,03,00.5,052.2,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231600.00,3649.40086,N,12150.58777,W,1,10,0.8,-3.18,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.823348) lon(121.843130)

: NMEA Update: $GPGGA,231600.29,3649.4006,N,-12150.5873,W,1,03,00.5,051.8,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,231601.00,3649.40080,N,12150.58779,W,1,10,0.8,-2.70,M,-32.68,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.823347) lon(121.843130)

: updating external sensors

: NMEA Update: $GPGGA,231601.29,3649.4005,N,-12150.5873,W,1,03,00.5,051.8,M,-99.9,M,,*46

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

: AshtechGps::processRecord() - $GPGGA,231602.00,3649.40062,N,12150.58753,W,1,10,0.8,-2.29,M,-32.68,M,,*76

: Kearfott::parseGPS_GGA - lat(36.823344) lon(121.843126)

: NMEA Update: $GPGGA,231602.29,3649.4003,N,-12150.5869,W,1,03,00.5,052.6,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231603.00,3649.40036,N,12150.58714,W,1,10,0.8,-2.71,M,-32.68,M,,*78

: Kearfott::parseGPS_GGA - lat(36.823339) lon(121.843119)

: updating external sensors

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

: NMEA Update: $GPGGA,231603.29,3649.4001,N,-12150.5865,W,1,03,00.5,052.3,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231604.00,3649.40045,N,12150.58695,W,1,11,0.7,-2.95,M,-32.68,M,,*77

: Kearfott::parseGPS_GGA - lat(36.823341) lon(121.843116)

: NMEA Update: $GPGGA,231604.29,3649.4001,N,-12150.5864,W,1,03,00.5,052.3,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,231605.00,3649.40043,N,12150.58694,W,1,11,0.7,-3.18,M,-32.68,M,,*75

: Kearfott::parseGPS_GGA - lat(36.823341) lon(121.843116)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  1.66 15.03 3.85 3.91 0 12383.96 08:42:39 m

: NMEA Update: $GPGGA,231605.29,3649.4002,N,-12150.5865,W,1,03,00.5,051.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231606.00,3649.40050,N,12150.58704,W,1,11,0.7,-2.87,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.823342) lon(121.843117)

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

: NMEA Update: $GPGGA,231606.29,3649.4002,N,-12150.5866,W,1,03,00.5,051.6,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231607.00,3649.40053,N,12150.58690,W,1,11,0.7,-2.32,M,-32.68,M,,*7B

: Kearfott::parseGPS_GGA - lat(36.823342) lon(121.843115)

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.16  2.15 15.42 3.83 3.89 0   900.42 08:42:42 m

: NMEA Update: $GPGGA,231607.29,3649.4003,N,-12150.5864,W,1,03,00.5,052.5,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231608.00,3649.40045,N,12150.58651,W,1,11,0.7,-2.64,M,-32.68,M,,*7D

: Kearfott::parseGPS_GGA - lat(36.823341) lon(121.843109)

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,231608.29,3649.4002,N,-12150.5861,W,1,03,00.5,052.0,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,231609.00,3649.40033,N,12150.58640,W,1,11,0.7,-2.55,M,-32.68,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.823339) lon(121.843107)

: updating external sensors

: NMEA Update: $GPGGA,231609.29,3649.4000,N,-12150.5861,W,1,03,00.5,052.8,M,-99.9,M,,*4b

: AshtechGps::processRecord() - $GPGGA,231610.00,3649.40022,N,12150.58616,W,1,11,0.7,-2.02,M,-32.68,M,,*76

: Kearfott::parseGPS_GGA - lat(36.823337) lon(121.843103)

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

: NMEA Update: $GPGGA,231610.29,3649.4000,N,-12150.5856,W,1,03,00.5,052.1,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231611.00,3649.40018,N,12150.58558,W,1,11,0.7,-2.17,M,-32.68,M,,*73

: Kearfott::parseGPS_GGA - lat(36.823336) lon(121.843093)

: updating external sensors

: NMEA Update: $GPGGA,231611.29,3649.3999,N,-12150.5847,W,1,03,00.5,052.7,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,231612.00,3649.40016,N,12150.58531,W,1,11,0.7,-2.79,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.823336) lon(121.843089)

: NMEA Update: $GPGGA,231612.29,3649.3999,N,-12150.5846,W,1,03,00.5,052.1,M,-99.9,M,,*43

: AshtechGps::processRecord() - $GPGGA,231613.00,3649.40014,N,12150.58539,W,1,11,0.7,-3.13,M,-32.68,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.823336) lon(121.843090)

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

: updating external sensors

: NMEA Update: $GPGGA,231613.29,3649.3998,N,-12150.5847,W,1,03,00.5,051.1,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231614.00,3649.40009,N,12150.58535,W,1,11,0.7,-2.83,M,-32.68,M,,*70

: Kearfott::parseGPS_GGA - lat(36.823335) lon(121.843089)

: NMEA Update: $GPGGA,231614.29,3649.3997,N,-12150.5847,W,1,03,00.5,051.6,M,-99.9,M,,*4e

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

: AshtechGps::processRecord() - $GPGGA,231615.00,3649.40002,N,12150.58529,W,1,11,0.7,-2.94,M,-32.68,M,,*71

: Kearfott::parseGPS_GGA - lat(36.823334) lon(121.843088)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.07  1.22 15.03 3.85 3.91 0 12383.78 08:42:49 m

: NMEA Update: $GPGGA,231615.29,3649.3998,N,-12150.5847,W,1,03,00.5,051.3,M,-99.9,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,231616.00,3649.40005,N,12150.58515,W,1,11,0.7,-2.76,M,-32.68,M,,*76

: Kearfott::parseGPS_GGA - lat(36.823334) lon(121.843086)

: NMEA Update: $GPGGA,231616.29,3649.3998,N,-12150.5846,W,1,03,00.5,052.2,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231617.00,3649.39993,N,12150.58503,W,1,11,0.7,-2.69,M,-32.68,M,,*76

: Kearfott::parseGPS_GGA - lat(36.823332) lon(121.843084)

: updating external sensors

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

: BluefinBatt Reply: $c0q0 d- 31.20  1.65 15.42 3.83 3.89 0   900.24 08:42:52 m

: NMEA Update: $GPGGA,231617.29,3649.3997,N,-12150.5845,W,1,03,00.5,052.3,M,-99.9,M,,*49

: AshtechGps::processRecord() - $GPGGA,231618.00,3649.39991,N,12150.58489,W,1,11,0.7,-2.88,M,-32.68,M,,*77

: Kearfott::parseGPS_GGA - lat(36.823332) lon(121.843082)

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,231618.29,3649.3997,N,-12150.5843,W,1,03,00.5,052.0,M,-99.9,M,,*43

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

: AshtechGps::processRecord() - $GPGGA,231619.00,3649.39988,N,12150.58487,W,1,11,0.7,-2.81,M,-32.68,M,,*79

: Kearfott::parseGPS_GGA - lat(36.823331) lon(121.843081)

: updating external sensors

: NMEA Update: $GPGGA,231619.29,3649.3997,N,-12150.5844,W,1,03,00.5,051.9,M,-99.9,M,,*4f

: AshtechGps::processRecord() - $GPGGA,231620.00,3649.39975,N,12150.58475,W,1,11,0.7,-2.34,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.823329) lon(121.843079)

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

: NMEA Update: $GPGGA,231620.29,3649.3996,N,-12150.5842,W,1,03,00.5,052.4,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231621.00,3649.39972,N,12150.58436,W,1,11,0.7,-2.01,M,-32.68,M,,*75

: Kearfott::parseGPS_GGA - lat(36.823329) lon(121.843073)

: updating external sensors

: NMEA Update: $GPGGA,231621.29,3649.3996,N,-12150.5837,W,1,03,00.5,052.8,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,231622.00,3649.39963,N,12150.58384,W,1,11,0.7,-2.14,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.823327) lon(121.843064)

: NMEA Update: $GPGGA,231622.29,3649.3995,N,-12150.5832,W,1,03,00.5,052.4,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,231623.00,3649.39962,N,12150.58359,W,1,11,0.7,-2.63,M,-32.68,M,,*7C

: Kearfott::parseGPS_GGA - lat(36.823327) lon(121.843060)

: updating external sensors

: NMEA Update: $GPGGA,231623.29,3649.3995,N,-12150.5833,W,1,03,00.5,052.2,M,-99.9,M,,*4c

: AshtechGps::processRecord() - $GPGGA,231624.00,3649.39953,N,12150.58353,W,1,11,0.7,-2.76,M,-32.68,M,,*77

: Kearfott::parseGPS_GGA - lat(36.823326) lon(121.843059)

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

: NMEA Update: $GPGGA,231624.29,3649.3994,N,-12150.5832,W,1,03,00.5,051.4,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231625.00,3649.39947,N,12150.58341,W,1,11,0.7,-2.98,M,-32.68,M,,*70

: Kearfott::parseGPS_GGA - lat(36.823325) lon(121.843057)

: updating external sensors

: BluefinBatt Reply: $aaq0 d- 31.03  1.41 14.94 3.85 3.91 0 12383.68 08:42:59 m

: NMEA Update: $GPGGA,231625.29,3649.3993,N,-12150.5830,W,1,03,00.5,051.5,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,231626.00,3649.39944,N,12150.58330,W,1,11,0.7,-3.36,M,-32.68,M,,*73

: Kearfott::parseGPS_GGA - lat(36.823324) lon(121.843055)

: NMEA Update: $GPGGA,231626.29,3649.3993,N,-12150.5830,W,1,03,00.5,051.3,M,-99.9,M,,*4e

: AshtechGps::processRecord() - $GPGGA,231627.00,3649.39946,N,12150.58343,W,1,11,0.7,-3.47,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.823324) lon(121.843057)

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

: updating external sensors

: BluefinBatt Reply: $c0q0 d- 31.24  1.83 15.52 3.83 3.89 0   900.12 08:43:02 m

: NMEA Update: $GPGGA,231627.29,3649.3992,N,-12150.5832,W,1,03,00.5,051.2,M,-99.9,M,,*4d

: AshtechGps::processRecord() - $GPGGA,231628.00,3649.39934,N,12150.58359,W,1,11,0.7,-3.26,M,-32.68,M,,*74

: Kearfott::parseGPS_GGA - lat(36.823322) lon(121.843060)

: batts online 2, min cell voltage 3.830000, mean min cell voltage 3.840000

: NMEA Update: $GPGGA,231628.29,3649.3991,N,-12150.5833,W,1,03,00.5,051.7,M,-99.9,M,,*45

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

: AshtechGps::processRecord() - $GPGGA,231629.00,3649.39930,N,12150.58359,W,1,11,0.7,-2.82,M,-32.68,M,,*7E

: Kearfott::parseGPS_GGA - lat(36.823322) lon(121.843060)

: updating external sensors

: NMEA Update: $GPGGA,231629.29,3649.3991,N,-12150.5832,W,1,03,00.5,051.8,M,-99.9,M,,*4a

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

: AshtechGps::processRecord() - $GPGGA,231630.00,3649.39921,N,12150.58336,W,1,11,0.7,-2.51,M,-32.68,M,,*71

: Kearfott::parseGPS_GGA - lat(36.823320) lon(121.843056)

: NMEA Update: $GPGGA,231630.29,3649.3990,N,-12150.5829,W,1,03,00.5,052.3,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231631.00,3649.39915,N,12150.58299,W,1,11,0.7,-2.08,M,-32.68,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.823319) lon(121.843050)

: updating external sensors

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

: NMEA Update: $GPGGA,231631.29,3649.3989,N,-12150.5825,W,1,03,00.5,052.6,M,-99.9,M,,*41

: AshtechGps::processRecord() - $GPGGA,231632.00,3649.39916,N,12150.58253,W,1,11,0.7,-2.11,M,-32.68,M,,*71

: Kearfott::parseGPS_GGA - lat(36.823319) lon(121.843042)

: NMEA Update: $GPGGA,231632.29,3649.3989,N,-12150.5820,W,1,03,00.5,052.8,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,231633.00,3649.39911,N,12150.58215,W,1,11,0.7,-2.25,M,-32.68,M,,*72

: Kearfott::parseGPS_GGA - lat(36.823319) lon(121.843036)

: updating external sensors

: NMEA Update: $GPGGA,231633.29,3649.3989,N,-12150.5817,W,1,03,00.5,052.1,M,-99.9,M,,*45

: AshtechGps::processRecord() - $GPGGA,231634.00,3649.39923,N,12150.58195,W,1,11,0.7,-2.43,M,-32.68,M,,*7F

: Kearfott::parseGPS_GGA - lat(36.823321) lon(121.843033)

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

: NMEA Update: $GPGGA,231634.29,3649.3989,N,-12150.5815,W,1,03,00.5,052.1,M,-99.9,M,,*40

: 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 WorkSiteIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

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

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

:  Fan Destructor Executing.
: 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 LayeredControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - 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
: destroying segment kearfottOutput
: destroying segment m3dmgx1Cmd
: **** SharedData destructor for object kearfottOutput ****

: EchoSounderServer:: Destructor executing.
: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: SerialDeviceExt::closeSD() - closed

: NavigationOutput::~NavigationOutput()

: destroying segment LayeredControlOutput_ShmemName
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: destroying segment BluefinBattOutput
: **** SharedData destructor for object fanOutput ****

: destroying segment GpsOutput_ShmemName
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: destroying prot sem ParosciOutput_ShmemName_prot
: destroying prot sem kearfottOutput_prot
: destroying prot sem m3dmgx1Cmd_prot
: destroying segment kearfottOutput
: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: destroying segment DvlOutput_ShmemName
: destroying segment ParosciOutput_ShmemName
: destroying segment navigationOutput
: destroying segment GpsOutput_ShmemName
: destroying segment CameraOutput
: destroying prot sem LayeredControlOutput_ShmemName_prot
: **** SharedData destructor for object navigationOutput ****

: destroying segment TailConeInput_ShmemName
: **** SharedData destructor for object CameraOutput ****

: destroying segment fanOutput
: destroying segment EchoSounderOutput_ShmemName
: destroying prot sem BluefinBattOutput_prot
: destroying segment dropWeightOutput
: destroying prot sem GpsOutput_ShmemName_prot
: destroying segment fanOutput
: destroying notify sem ParosciOutput_ShmemName_notify
: destroying segment LayeredControlInput_ShmemName
: destroying notify sem kearfottOutput_notify
: destroying segment dropWeightOutput
: destroying notify sem m3dmgx1Cmd_notify
: destroying prot sem kearfottOutput_prot
: destroying segment EchoSounderOutput_ShmemName
: destroying prot sem DvlOutput_ShmemName_prot
: destroying prot sem ParosciOutput_ShmemName_prot
: destroying prot sem navigationOutput_prot
: destroying prot sem GpsOutput_ShmemName_prot
: destroying prot sem CameraOutput_prot
: destroying notify sem LayeredControlOutput_ShmemName_notify
: destroying segment navigationOutput
: destroying prot sem TailConeInput_ShmemName_prot
: destroying prot sem fanOutput_prot
: destroying segment CameraOutput
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying notify sem BluefinBattOutput_notify
: destroying prot sem dropWeightOutput_prot
: destroying notify sem GpsOutput_ShmemName_notify
: destroying prot sem fanOutput_prot
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: destroying prot sem LayeredControlInput_ShmemName_prot
: **** SharedData destructor for object DvlOutput_ShmemName ****

: destroying prot sem dropWeightOutput_prot
: **** SharedData destructor for object m3dmgx1 ****

: destroying notify sem kearfottOutput_notify
: destroying prot sem EchoSounderOutput_ShmemName_prot
: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem navigationOutput_notify
: destroying notify sem GpsOutput_ShmemName_notify
: destroying notify sem CameraOutput_notify
: destroying prot sem CameraOutput_prot
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: destroying prot sem navigationOutput_prot
: destroying notify sem TailConeInput_ShmemName_notify
: destroying notify sem fanOutput_notify
: destroying notify sem EchoSounderOutput_ShmemName_notify
: destroying notify sem dropWeightOutput_notify
: destroying notify sem fanOutput_notify
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: destroying notify sem LayeredControlInput_ShmemName_notify
: destroying segment DvlOutput_ShmemName
: destroying notify sem dropWeightOutput_notify
: destroying segment m3dmgx1
: destroying notify sem EchoSounderOutput_ShmemName_notify
: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

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

: destroying prot sem DvlOutput_ShmemName_prot
: destroying prot sem m3dmgx1_prot
: failed to unlink queue EchoSounderCommand
: destroying segment TailConeOutput_ShmemName
: destroying notify sem LayeredControlInput_ShmemName_notify
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: destroying notify sem DvlOutput_ShmemName_notify
: destroying notify sem m3dmgx1_notify
: destroying segment LayeredControlOutput_ShmemName
: destroying prot sem TailConeOutput_ShmemName_prot

//3/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000447E4.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: destroying notify sem TailConeOutput_ShmemName_notify
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 5d 5d 00 00 01 00 00
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: destroying segment TailConeInput_ShmemName
: destroying prot sem TailConeInput_ShmemName_prot
: destroying notify sem TailConeInput_ShmemName_notify
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: destroying segment TailConeOutput_ShmemName
: destroying prot sem TailConeOutput_ShmemName_prot
: destroying notify sem TailConeOutput_ShmemName_notify
