Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Supervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
Supe: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
rvisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::creat: WorkSite::WorkSite -- Finished loading parameters
e: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Tas: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
k(): 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
dyn: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
ami: WorkSite server: 0x22f48
cCo: New Navigation component constructor
ntrolS: Navigation - Using only the Dvl to compute altitude.
erver
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor:: Preparing to fork

:cr: I'm the child...forking

eat: SerialDevice: done...

eTa: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
sk(: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
) -: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
 bl: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
uef: SerialDevice: done...

inBat: SerialDevice: done...

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

dvlServer
: SerialDevice: done...

Supervisor::crea: SerialDevice: done...

teTask: BluefineBatt::init() - 1 batteries on 10 second interval
() - fanServer: Gps: initializing


: BluefinBatt.cc - Looking for Parosci server
S: SerialDevice: done...

up: SerialDevice: done...

erv: SerialDevice: done...

isor: Gps: done initializing...

::: SerialDevice: done...

cr: SerialDevice: done...

: **** EventTriggers::add() - attaching proxy
e: BluefinBatt::init() - querying for batt ids
ateTask(): SerialDevice: done...

 : Crossbow.cc: Setting polled mode
- dropWeightSe: Crossbow.cc: Setting polled mode
rver: Crossbow.cc: In getSerialNumber()

: AshtechGps::processRecord() - HR,ACK*3D

Su: Crossbow.cc: _device->read failed with error
perv: GpsUtils::parseFix() - HR,ACK*3D


isor: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
::: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
HR,ACK*3D

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

: SerialDevice: done...

: SerialDevice: done...

: ahrs if is Ahrs

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

:  oxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: AshtechGps::processRecord() - $GPGGA,233830.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233830.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - PG response: 
PG1 PAN TDR GAIN: LOW

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

: PeriodicTask::run() () - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.137895
:  wdt = 00721,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233831.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233831.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N62.8,D-4,U0,Q0.000000

: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: Parosci.cc -- Parosci initial pressure period = 30.132660
: Sonardyne - POSD response: 
POSD S+145.0,N62.8,D-4,U0,Q0.000000

: TE00:00:00.60
>
: BL,100,000,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: EX10011
>
: EA+04500
>
: Parosci.cc -- Parosci initial temp period = 5.840643
: WP0001
>
: Parosci.cc -- Paroscientific configured.
: 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 = 00720,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233832.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233832.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  wdt = 00719,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233833.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233833.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00718,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233834.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233834.00,,,,,0,00,,,M,,M,,*45


: 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,N10.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.7,D0,U0,Q0.000000

:  wdt = 00717,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233835.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233835.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt::init() - battery ids are 97  
: BluefinBatt::init() - found battery 97
: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N44.4,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N44.4,D-5,U0,Q0.000000

:  wdt = 00716,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233836.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233836.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N39.4,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N39.4,D-5,U0,Q0.000000

:  wdt = 00715,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233837.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233837.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00714,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233838.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,233838.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00713,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,233839.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,233839.00,,,,,0,00,,,M,,M,,*48


: 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,233840.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233840.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt::init() - battery watchdog state is $97wf 1
 
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POSD response: 
POSD S-100.0,N11.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.3,D0,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,233841.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233841.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.85

: Sonardyne - parsing R3.85

: Sonardyne - read R = 3.850000 from 3.85

: Sonardyne - got range only (3.850000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N45.0,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N45.0,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233842.00,,,,,0,00,,,M,,M,,*44

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

: GpsUtils::parseFix() - $GPGGA,233842.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N49.3,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N49.3,D-6,U0,Q0.000000

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,233843.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233843.00,,,,,0,00,,,M,,M,,*45


: 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,233844.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233844.00,,,,,0,00,,,M,,M,,*42


: 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,233845.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233845.00,,,,,0,00,,,M,,M,,*43


: 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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233846.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233846.00,,,,,0,00,,,M,,M,,*40


: 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,233847.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233847.00,,,,,0,00,,,M,,M,,*41


: 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,233848.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,233848.00,,,,,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,233849.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,233849.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233850.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233850.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N52.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N52.9,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233851.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233851.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), 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+145.0,N35.7,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N35.7,D-6,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15335.66 04:43:30 m

: AshtechGps::processRecord() - $GPGGA,233852.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233852.00,,,,,0,00,,,M,,M,,*45


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233853.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233853.00,,,,,0,00,,,M,,M,,*44


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

: **** EventTriggers::add() - attaching proxy
: WaypointHoming Initialization: 
  Begin waypoint control at t= 0.00                              (wplog)
  The current location (N,E) = 4073654.2      , 608108.7         (wplog)
  The next waypoint          = 4073543.3      , 608110.1         (wplog)
  The bearing to the next w.p. is 179.3 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 ***

: AshtechGps::processRecord() - $GPGGA,233854.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233854.00,,,,,0,00,,,M,,M,,*43


: 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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233855.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233855.00,,,,,0,00,,,M,,M,,*42


: 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,233856.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233856.00,,,,,0,00,,,M,,M,,*41


: 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,233857.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233857.00,,,,,0,00,,,M,,M,,*40


: 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,233858.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,233858.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233859.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,233859.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.82

: Sonardyne - parsing R3.82

: Sonardyne - read R = 3.820000 from 3.82

: Sonardyne - got range only (3.820000), 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+145.0,N47.4,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N47.4,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233900.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233900.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N46.6,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N46.6,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233901.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233901.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15335.64 04:43:40 m

: AshtechGps::processRecord() - $GPGGA,233902.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233902.00,,,,,0,00,,,M,,M,,*41


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233903.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233903.00,,,,,0,00,,,M,,M,,*40


: 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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233904.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233904.00,,,,,0,00,,,M,,M,,*47


: 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,233905.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233905.00,,,,,0,00,,,M,,M,,*46


: 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,233906.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233906.00,,,,,0,00,,,M,,M,,*45


: 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,233907.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233907.00,,,,,0,00,,,M,,M,,*44


: 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 - 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

: AshtechGps::processRecord() - $GPGGA,233908.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,233908.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N51.5,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 - POSD response: 
POSD S+145.0,N51.5,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233909.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,233909.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N48.3,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 - POSD response: 
POSD S+145.0,N48.3,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233910.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233910.00,,,,,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,233911.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233911.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.96  0.17 21.19 3.98 3.99 0 15335.63 04:43:50 m

: AshtechGps::processRecord() - $GPGGA,233912.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233912.00,,,,,0,00,,,M,,M,,*40


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233913.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233913.00,,,,,0,00,,,M,,M,,*41


: 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,233914.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233914.00,,,,,0,00,,,M,,M,,*46


: 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,233915.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233915.00,,,,,0,00,,,M,,M,,*47


: 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,233916.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233916.00,,,,,0,00,,,M,,M,,*44


: 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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233917.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233917.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N53.2,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N53.2,D-7,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,233918.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,233918.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.82

: Sonardyne - parsing R3.82

: Sonardyne - read R = 3.820000 from 3.82

: Sonardyne - got range only (3.820000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N48.3,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N48.3,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,233919.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,233919.00,,,,,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,233920.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233920.00,,,,,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,233921.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233921.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15335.61 04:44:00 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N12.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233922.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233922.00,,,,,0,00,,,M,,M,,*43


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233923.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233923.00,,,,,0,00,,,M,,M,,*42


: 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,233924.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233924.00,,,,,0,00,,,M,,M,,*45


: 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,233925.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233925.00,,,,,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
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233926.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233926.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N40.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N40.9,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,233927.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233927.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-5,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,233928.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,233928.00,,,,,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,233929.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,233929.00,,,,,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,233930.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233930.00,,,,,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

: 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

: AshtechGps::processRecord() - $GPGGA,233931.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233931.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.89  0.17 21.09 3.98 3.99 0 15335.60 04:44:10 m

: AshtechGps::processRecord() - $GPGGA,233932.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233932.00,,,,,0,00,,,M,,M,,*42


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233933.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233933.00,,,,,0,00,,,M,,M,,*43


: 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,233934.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233934.00,,,,,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,N10.8,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N10.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233935.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233935.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.84

: Sonardyne - parsing R3.84

: Sonardyne - read R = 3.840000 from 3.84

: Sonardyne - got range only (3.840000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N40.3,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N40.3,D-6,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,233936.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233936.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.82

: Sonardyne - parsing R3.82

: Sonardyne - read R = 3.820000 from 3.82

: Sonardyne - got range only (3.820000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N51.7,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N51.7,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,233937.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233937.00,,,,,0,00,,,M,,M,,*47


: 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,233938.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,233938.00,,,,,0,00,,,M,,M,,*48


: 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,233939.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,233939.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N12.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233940.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233940.00,,,,,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,233941.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233941.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.19 3.98 3.99 0 15335.58 04:44:20 m

: AshtechGps::processRecord() - $GPGGA,233942.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233942.00,,,,,0,00,,,M,,M,,*45


: 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

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233943.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233943.00,,,,,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,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,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,233944.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233944.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.84

: Sonardyne - parsing R3.84

: Sonardyne - read R = 3.840000 from 3.84

: Sonardyne - got range only (3.840000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N42.6,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N42.6,D-6,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,233945.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233945.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-6,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,233946.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233946.00,,,,,0,00,,,M,,M,,*41


: 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,233947.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233947.00,,,,,0,00,,,M,,M,,*40


: 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,233948.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,233948.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233949.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,233949.00,,,,,0,00,,,M,,M,,*4E


: 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,233950.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,233950.00,,,,,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,233951.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,233951.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15335.57 04:44:30 m

: AshtechGps::processRecord() - $GPGGA,233952.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,233952.00,,,,,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,N10.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,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 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,233953.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,233953.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.82

: Sonardyne - parsing R3.82

: Sonardyne - read R = 3.820000 from 3.82

: Sonardyne - got range only (3.820000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N44.9,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N44.9,D-7,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,233954.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,233954.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N41.2,D-9,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,233955.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,233955.00,,,,,0,00,,,M,,M,,*43


: 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,233956.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,233956.00,,,,,0,00,,,M,,M,,*40


: 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,233957.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,233957.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,233958.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,233958.00,,,,,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,233959.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,233959.00,,,,,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,234000.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,234000.00,,,,,0,00,,,M,,M,,*4D


: 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,234001.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,234001.00,,,,,0,00,,,M,,M,,*4C


: 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,N10.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.7,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- 31.89  0.17 21.09 3.98 3.99 0 15335.55 04:44:40 m

: AshtechGps::processRecord() - $GPGGA,234002.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,234002.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N47.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N47.2,D-6,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 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,234003.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,234003.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.82

: Sonardyne - parsing R3.82

: Sonardyne - read R = 3.820000 from 3.82

: Sonardyne - got range only (3.820000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N49.6,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N49.6,D-7,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,234004.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,234004.00,,,,,0,00,,,M,,M,,*49


: 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,234005.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,234005.00,,,,,0,00,,,M,,M,,*48


: 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,234006.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,234006.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,234007.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,234007.00,,,,,0,00,,,M,,M,,*4A


: 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,234008.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,234008.00,,,,,0,00,,,M,,M,,*45


: 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,234009.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,234009.00,,,,,0,00,,,M,,M,,*44


: 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,234010.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,234010.00,,,,,0,00,,,M,,M,,*4C


: 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,N10.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.9,D0,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,234011.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,234011.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.84

: Sonardyne - parsing R3.84

: Sonardyne - read R = 3.840000 from 3.84

: Sonardyne - got range only (3.840000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N30.5,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N30.5,D-21,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.19 3.98 3.99 0 15335.53 04:44:50 m

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

: AshtechGps::processRecord() - $GPGGA,234012.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,234012.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N30.1,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N30.1,D-23,U0,Q0.000000

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,234013.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,234013.00,,,,,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,234014.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,234014.00,,,,,0,00,,,M,,M,,*48


: 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,234015.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,234015.00,,,,,0,00,,,M,,M,,*49


: 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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,234016.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,234016.00,,,,,0,00,,,M,,M,,*4A


: 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,234017.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,234017.00,,,,,0,00,,,M,,M,,*4B


: 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,234018.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,234018.00,,,,,0,00,,,M,,M,,*44


: 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,234019.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,234019.00,,,,,0,00,,,M,,M,,*45


: 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,N11.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,234020.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,234020.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.80

: Sonardyne - parsing R3.80

: Sonardyne - read R = 3.800000 from 3.80

: Sonardyne - got range only (3.800000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-11,U2,Q0.018228

: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-11,U2,Q0.018228

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

: AshtechGps::processRecord() - $GPGGA,234021.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,234021.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.81

: Sonardyne - parsing R3.81

: Sonardyne - read R = 3.810000 from 3.81

: Sonardyne - got range only (3.810000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-9,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.19 3.98 3.99 0 15335.52 04:45:00 m

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

: AshtechGps::processRecord() - $GPGGA,234022.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,234022.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

:  wdt = 00897,  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  - 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()
:  Fan Destructor Executing.
:  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 DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_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 ****

: **** 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 fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task GpsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000217C4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object crossbowOutput ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: StepGetStat (2) failed to read chars, rcvd=4, want=8
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: StepGetStat (2) 05 7f 5d 5d 00 00 00
: Supervisor::shutdown()

: Supervisor::shutdown() - done()

: SerialDevice: done...

: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
