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

S: I'm the child...forking

upervisor::createTask() - dvlServer
: Navigation - Using only the Dvl to compute altitude.
: SerialDevice: done...

Supe: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
rvi: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
sor:: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
:cre: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
ateT: SerialDevice: done...

ask() - f: SerialDevice: done...

anS: SerialDevice: done...

erve: BluefineBatt::init() - 1 batteries on 10 second interval
r
: SerialDevice: done...

Supervisor::cr: BluefinBatt.cc - Looking for Parosci server
eate: SerialDevice: done...

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

isor::createTask() - sonardyneServer
: SerialDevice: done...

: Crossbow.cc: Setting polled mode
: Crossbow.cc: Setting polled mode
: Crossbow.cc: In getSerialNumber()
: Crossbow.cc: _device->read failed with error
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: SerialDevice: done...

: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

: ahrs if is Ahrs

: SerialDevice: done...

: SerialDevice: done...

Task::spawnServer() - execlp() of "fan" failed: Operation not permitted
: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
:  s to default

: SerialDevice: done...

: 3 Modules found
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V4,1

: SerialDeviceDriver::initialize()
: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: 
 Starting DVL Initialization.

: SerialDevice: done...

: Sonardyne - PG response: 
PG1 PAN TDR GAIN: LOW

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

: PeriodicTask::run() () - sampleInterval=500, maxInterval=500
: AshtechGps::processRecord() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Parosci.cc -- Initial pressure = 0.137895
: Parosci.cc -- Parosci initial pressure period = 30.135690
: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N31.4,D-1,U0,Q0.000000

: Parosci.cc -- Parosci initial temp period = 5.840660
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,201510.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201510.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N31.4,D-1,U0,Q0.000000

: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,100,000,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

:  Dvl::initialize - Baud rate set to 38400.

: EX10011
>
: EA+04500
>
: WP0001
>
: WN25
>
:  Dvl::initialize - The number of cells is 25.

: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: **** EventTriggers::add() - attaching proxy
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N38.5,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201511.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201511.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N38.5,D-2,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 500
: AshtechGps::processRecord() - $GPGGA,201512.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201512.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N36.9,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N36.9,D-3,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N32.0,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N32.0,D-3,U0,Q0.000000

: BluefinBatt::init() - battery ids are 97  
: BluefinBatt::init() - found battery 97
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N44.7,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N44.7,D-2,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N36.0,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N36.0,D-5,U0,Q0.000000

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D-3,U3,Q0.019381

: AshtechGps::processRecord() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D-3,U3,Q0.019381

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N48.4,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201517.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201517.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N48.4,D-5,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N37.1,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201518.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201518.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N37.1,D-3,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt::init() - battery watchdog state is $97wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N40.8,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201519.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201519.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.9,N40.8,D-3,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20,X-0.51,Y-0.61,Z-4.12

: Sonardyne - parsing R4.20,X-0.51,Y-0.61,Z-4.12

: Sonardyne - read R = 4.200000 from 4.20,X-0.51,Y-0.61,Z-4.12

: Sonardyne - got all data, Vehicle coordinates,
    r=4.200000, x=4.120000, y=-0.510000, z=0.610000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201520.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201520.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201523.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201523.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.17,X-3.84,Y-1.63,Z0.00

: Sonardyne - parsing R4.17,X-3.84,Y-1.63,Z0.00

: Sonardyne - read R = 4.170000 from 4.17,X-3.84,Y-1.63,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.170000, x=0.000000, y=-3.840000, z=1.630000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201524.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201524.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201525.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201525.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201527.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201527.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+143.5,N28.6,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201528.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201528.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.5,N28.6,D-3,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.2,N34.5,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201529.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201529.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.2,N34.5,D-9,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.55 01:20:08 m

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N39.9,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.5,N39.9,D-4,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.18

: Sonardyne - parsing R4.18

: Sonardyne - read R = 4.180000 from 4.18

: Sonardyne - got range only (4.180000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N43.8,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201531.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201531.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.5,N43.8,D-9,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

:  Navigation: The lat/long in workSite.cfg,  36.802552, -121.788121

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073654.197869, 608108.694867

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R4.23

: Sonardyne - parsing R4.23

: Sonardyne - read R = 4.230000 from 4.23

: Sonardyne - got range only (4.230000), tat = 450
: WaypointHoming Initialization: 
  Begin waypoint control at t= 0.00                              (wplog)
  The current location (N,E) = 4073654.2      , 608108.7         (wplog)
  The next waypoint          = 4066275.5      , 599658.3         (wplog)
  The bearing to the next w.p. is 228.9 Degrees.

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

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

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

: Sonardyne - POSD response: 
POSD S+144.6,N46.8,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201532.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201532.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N46.8,D-6,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N45.4,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201533.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201533.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N45.4,D-4,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N36.5,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N36.5,D-5,U0,Q0.000000

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N46.6,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N46.6,D-6,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20,X-0.17,Y-0.56,Z-4.16

: Sonardyne - parsing R4.20,X-0.17,Y-0.56,Z-4.16

: Sonardyne - read R = 4.200000 from 4.20,X-0.17,Y-0.56,Z-4.16

: Sonardyne - got all data, Vehicle coordinates,
    r=4.200000, x=4.160000, y=-0.170000, z=0.560000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
:  WaypointHoming has set the state to finished.

: WaypointHoming (4073652.7, 608104.8), 
  reached at t = 4.20                                            (wplog)

: Vehicle Position is error is (-1.5, -3.9)

: LayeredControl::execute() -- (t = 4.209712) Behavior waypoint_homing has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 4.399699) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 4.399699) Behavior missionTimer has changed to state Active

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.5,D0,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.85  0.38 21.87 3.97 3.98 0 15354.54 01:20:18 m

: Sonardyne - POS response: 
POS V4,1 R4.11

: Sonardyne - parsing R4.11

: Sonardyne - read R = 4.110000 from 4.11

: Sonardyne - got range only (4.110000), tat = 450
: Sonardyne - POSD response: 
POSD S138.3,N27.1,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S138.3,N27.1,D-7,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N46.9,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N46.9,D-3,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N58.9,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N58.9,D-5,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N52.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N52.3,D0,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N49.5,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N49.5,D-3,U0,Q0.000000

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N43.3,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N43.3,D2,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.23,X-0.11,Y-0.46,Z-4.20

: Sonardyne - parsing R4.23,X-0.11,Y-0.46,Z-4.20

: Sonardyne - read R = 4.230000 from 4.23,X-0.11,Y-0.46,Z-4.20

: Sonardyne - got all data, Vehicle coordinates,
    r=4.230000, x=4.200000, y=-0.110000, z=0.460000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201549.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201549.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.52 01:20:28 m

: Sonardyne - POS response: 
POS V4,1 R4.15

: Sonardyne - parsing R4.15

: Sonardyne - read R = 4.150000 from 4.15

: Sonardyne - got range only (4.150000), tat = 450
: Sonardyne - POSD response: 
POSD S+142.8,N31.1,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+142.8,N31.1,D-7,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+143.7,N29.0,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.7,N29.0,D-8,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N46.9,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201552.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201552.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N46.9,D-2,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 449
: Sonardyne - POSD response: 
POSD S+144.6,N43.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201553.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201553.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N43.3,D0,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N44.9,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N44.9,D-3,U0,Q0.000000

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N38.5,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N38.5,D-5,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N34.6,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.5,N34.6,D-6,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N39.7,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N39.7,D-6,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N38.0,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N38.0,D1,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N44.3,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201559.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201559.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N44.3,D-1,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.51 01:20:38 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.2,N31.9,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201600.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201600.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.2,N31.9,D-7,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N42.1,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N42.1,D-1,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.4,N35.9,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201602.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201602.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.4,N35.9,D-1,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N32.6,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201603.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201603.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N32.6,D-2,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.0,N32.2,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.0,N32.2,D-7,U0,Q0.000000

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N34.1,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N34.1,D-4,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.1,N33.8,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.1,N33.8,D-6,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.18

: Sonardyne - parsing R4.18

: Sonardyne - read R = 4.180000 from 4.18

: Sonardyne - got range only (4.180000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N36.3,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N36.3,D-6,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.18

: Sonardyne - parsing R4.18

: Sonardyne - read R = 4.180000 from 4.18

: Sonardyne - got range only (4.180000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N39.6,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.5,N39.6,D-2,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N40.6,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201609.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201609.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N40.6,D-6,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.49 01:20:48 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N40.6,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N40.6,D-3,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N42.8,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N42.8,D-4,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N36.8,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N36.8,D-5,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20,X-3.96,Y-1.38,Z0.00

: Sonardyne - parsing R4.20,X-3.96,Y-1.38,Z0.00

: Sonardyne - read R = 4.200000 from 4.20,X-3.96,Y-1.38,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.200000, x=0.000000, y=-3.960000, z=1.380000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.10

: Sonardyne - parsing R4.10

: Sonardyne - read R = 4.100000 from 4.10

: Sonardyne - got range only (4.100000), tat = 450
: Sonardyne - POSD response: 
POSD S135.7,N24.4,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.7,N24.4,D-15,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.18

: Sonardyne - parsing R4.18

: Sonardyne - read R = 4.180000 from 4.18

: Sonardyne - got range only (4.180000), tat = 450
: Sonardyne - POSD response: 
POSD S+143.5,N28.7,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.5,N28.7,D-7,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N37.7,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N37.7,D-7,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.48 01:20:58 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N45.7,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N45.7,D4,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N23.7,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N23.7,D-2,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21,X-0.27,Y4.20,Z0.00

: Sonardyne - parsing R4.21,X-0.27,Y4.20,Z0.00

: Sonardyne - read R = 4.210000 from 4.21,X-0.27,Y4.20,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.210000, x=0.000000, y=-0.270000, z=-4.200000 tat = 469
: AshtechGps::processRecord() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.12,X-0.32,Y4.02,Z-0.85

: Sonardyne - parsing R4.12,X-0.32,Y4.02,Z-0.85

: Sonardyne - read R = 4.120000 from 4.12,X-0.32,Y4.02,Z-0.85

: Sonardyne - got all data, Vehicle coordinates,
    r=4.120000, x=0.850000, y=-0.320000, z=-4.020000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201627.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201627.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201628.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201628.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.46 01:21:08 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.17,X-0.40,Y3.86,Z-1.51

: Sonardyne - parsing R4.17,X-0.40,Y3.86,Z-1.51

: Sonardyne - read R = 4.170000 from 4.17,X-0.40,Y3.86,Z-1.51

: Sonardyne - got all data, Vehicle coordinates,
    r=4.170000, x=1.510000, y=-0.400000, z=-3.860000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201630.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201630.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.13

: Sonardyne - parsing R4.13

: Sonardyne - read R = 4.130000 from 4.13

: Sonardyne - got range only (4.130000), tat = 450
: Sonardyne - POSD response: 
POSD S+142.1,N26.8,D3,U1,Q0.010404

: AshtechGps::processRecord() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+142.1,N26.8,D3,U1,Q0.010404

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N32.8,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N32.8,D7,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N38.8,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N38.8,D-4,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.25

: Sonardyne - parsing R4.25

: Sonardyne - read R = 4.250000 from 4.25

: Sonardyne - got range only (4.250000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N40.4,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201637.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201637.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N40.4,D-4,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.21,X-0.30,Y4.20,Z0.00

: Sonardyne - parsing R4.21,X-0.30,Y4.20,Z0.00

: Sonardyne - read R = 4.210000 from 4.21,X-0.30,Y4.20,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.210000, x=0.000000, y=-0.300000, z=-4.200000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201638.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201638.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.45 01:21:18 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201641.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201641.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.14

: Sonardyne - parsing R4.14

: Sonardyne - read R = 4.140000 from 4.14

: Sonardyne - got range only (4.140000), tat = 450
: Sonardyne - POSD response: 
POSD S139.8,N29.3,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201642.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201642.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S139.8,N29.3,D-4,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19,X-3.84,Y-1.69,Z0.00

: Sonardyne - parsing R4.19,X-3.84,Y-1.69,Z0.00

: Sonardyne - read R = 4.190000 from 4.19,X-3.84,Y-1.69,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.190000, x=0.000000, y=-3.840000, z=1.690000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - POS response: 
POS V4,1 R0.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.10

: Sonardyne - parsing R4.10

: Sonardyne - read R = 4.100000 from 4.10

: Sonardyne - got range only (4.100000), tat = 450
: Sonardyne - POSD response: 
POSD S137.8,N22.4,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S137.8,N22.4,D-7,U0,Q0.000000

:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19,X-0.42,Y4.01,Z-1.13

: Sonardyne - parsing R4.19,X-0.42,Y4.01,Z-1.13

: Sonardyne - read R = 4.190000 from 4.19,X-0.42,Y4.01,Z-1.13

: Sonardyne - got all data, Vehicle coordinates,
    r=4.190000, x=1.130000, y=-0.420000, z=-4.010000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.43 01:21:28 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201651.00,,,,,0,00,,,M,,M,,*49

: Sonardyne - POS response: 
POS V4,1 R0.00

: GpsUtils::parseFix() - $GPGGA,201651.00,,,,,0,00,,,M,,M,,*49


: Sonardyne - parsing R0.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19,X-0.25,Y3.86,Z-1.60

: Sonardyne - parsing R4.19,X-0.25,Y3.86,Z-1.60

: Sonardyne - read R = 4.190000 from 4.19,X-0.25,Y3.86,Z-1.60

: Sonardyne - got all data, Vehicle coordinates,
    r=4.190000, x=1.600000, y=-0.250000, z=-3.860000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: AshtechGps::processRecord() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D

: Sonardyne - parsing R0.00

: GpsUtils::parseFix() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - R is not valid
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.16,X-0.32,Y3.86,Z-1.53

: Sonardyne - parsing R4.16,X-0.32,Y3.86,Z-1.53

: Sonardyne - read R = 4.160000 from 4.16,X-0.32,Y3.86,Z-1.53

: Sonardyne - got all data, Vehicle coordinates,
    r=4.160000, x=1.530000, y=-0.320000, z=-3.860000 tat = 470
: AshtechGps::processRecord() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R0.00

: AshtechGps::processRecord() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41

: Sonardyne - parsing R0.00

: GpsUtils::parseFix() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41


: Sonardyne - R is not valid
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.81  0.17 21.77 3.97 3.98 0 15354.42 01:21:38 m

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+143.5,N26.8,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.5,N26.8,D2,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N31.4,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N31.4,D2,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N40.4,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N40.4,D-3,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N40.0,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N40.0,D-2,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N44.3,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N44.3,D-3,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.23

:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - parsing R4.23

: Sonardyne - read R = 4.230000 from 4.23

: Sonardyne - got range only (4.230000), tat = 450
: Sonardyne - POSD response: 
POSD S+143.8,N30.4,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.8,N30.4,D15,U0,Q0.000000

:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.18,X-0.13,Y4.18,Z0.00

: Sonardyne - parsing R4.18,X-0.13,Y4.18,Z0.00

: Sonardyne - read R = 4.180000 from 4.18,X-0.13,Y4.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.180000, x=0.000000, y=-0.130000, z=-4.180000 tat = 469
: AshtechGps::processRecord() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45


: Sonardyne - POS response: 
POS V4,1 R0.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.40 01:21:48 m

: Sonardyne - POS response: 
POS V4,1 R4.14

: Sonardyne - parsing R4.14

: Sonardyne - read R = 4.140000 from 4.14

: Sonardyne - got range only (4.140000), tat = 450
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+142.8,N31.4,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+142.8,N31.4,D-7,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+142.8,N29.6,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+142.8,N29.6,D-9,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.3,N32.5,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N32.5,D-5,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.3,N33.1,D18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N33.1,D18,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.18

: Sonardyne - parsing R4.18

: Sonardyne - read R = 4.180000 from 4.18

: Sonardyne - got range only (4.180000), tat = 450
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+140.3,N29.4,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+140.3,N29.4,D-7,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.5,N30.9,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+143.5,N30.9,D-7,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.24

: Sonardyne - parsing R4.24

: Sonardyne - read R = 4.240000 from 4.24

: Sonardyne - got range only (4.240000), tat = 450
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.5,N36.9,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.5,N36.9,D-4,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N34.7,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N34.7,D-7,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N44.1,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N44.1,D-3,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N43.5,D-6,U0,Q0.000000

:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N43.5,D-6,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.39 01:21:58 m

: Sonardyne - POS response: 
POS V4,1 R4.22

: Sonardyne - parsing R4.22

: Sonardyne - read R = 4.220000 from 4.22

: Sonardyne - got range only (4.220000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N45.1,D2,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N45.1,D2,U0,Q0.000000

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.21

: Sonardyne - parsing R4.21

: Sonardyne - read R = 4.210000 from 4.21

: Sonardyne - got range only (4.210000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N36.9,D-10,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N36.9,D-10,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.23

: Sonardyne - parsing R4.23

: Sonardyne - read R = 4.230000 from 4.23

: Sonardyne - got range only (4.230000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-5,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-5,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.24

: Sonardyne - parsing R4.24

: Sonardyne - read R = 4.240000 from 4.24

: Sonardyne - got range only (4.240000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N46.0,D3,U0,Q0.000000

:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N46.0,D3,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N42.2,D2,U0,Q0.000000

:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.8,N42.2,D2,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N47.3,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B


:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.7,N47.3,D7,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N43.9,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N43.9,D-6,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.2,N34.9,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.2,N34.9,D-6,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+141.8,N32.8,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+141.8,N32.8,D-7,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R4.17

: Sonardyne - parsing R4.17

: Sonardyne - read R = 4.170000 from 4.17

: Sonardyne - got range only (4.170000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N38.0,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.7,N38.0,D2,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.85  0.17 21.87 3.97 3.98 0 15354.37 01:22:08 m

: Sonardyne - POS response: 
POS V4,1 R4.19

: Sonardyne - parsing R4.19

: Sonardyne - read R = 4.190000 from 4.19

: Sonardyne - got range only (4.190000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.4,N38.6,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.4,N38.6,D-7,U0,Q0.000000

:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.3,N38.1,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.3,N38.1,D-7,U0,Q0.000000

:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R4.20

: Sonardyne - parsing R4.20

: Sonardyne - read R = 4.200000 from 4.20

: Sonardyne - got range only (4.200000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.6,N44.4,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+144.6,N44.4,D-4,U0,Q0.000000

:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task dʿ - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::signalHandler(); caught signal 2
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000217C4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: Supervisor::signalHandler(); 
Never received a SIGTERM from slay, or a SIGQUIT.
I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES!
To prevent a weight-drop, you must manually start
dropWeightServer before the countdown timer expires.
See devices.cfg for the syntax and serial port number.
: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task dʿ - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
