Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
: Initializing worksiteServer
Superviso: WorkSite::WorkSite -- Adding attributes
r::: 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
Supervis: WorkSite::WorkSite -- Finished loading parameters
or: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
::cr: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
ea: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
teTa: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
sk(): 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
 -: WorkSite server: 0x22f48
 layeredControlServer
S: New Navigation component constructor
up: Navigation - Using only the Dvl to compute altitude.
ervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciServer
Supervisor:: Preparing to fork

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

a: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
teTask: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
() : TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
- b: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
lue: SerialDevice: done...

finBattDriver
: SerialDevice: done...

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

rver
Superv: SerialDevice: done...

isor::createT: SerialDevice: done...

ask() : BluefineBatt::init() - 1 batteries on 10 second interval
- fanServer
: SerialDevice: done...

S: SerialDevice: done...

upe: BluefinBatt.cc - Looking for Parosci server
rviso: SerialDevice: done...

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

: Gps: initializing

teTask: Crossbow.cc: Setting polled mode
() : SerialDevice: done...

- : SerialDevice: done...

dro: Crossbow.cc: Setting polled mode
p: Gps: done initializing...

Wei: Crossbow.cc: In getSerialNumber()
ghtS: **** EventTriggers::add() - attaching proxy
erver
: Crossbow.cc: _device->read failed with error
Supe: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
rvisor::createTask() : AshtechGps::processRecord() - $PASHR,ACK*3D

- : GpsUtils::parseFix() - $PASHR,ACK*3D


sona: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

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

: AshtechGps::processRecord() - $PASHR,ACK*3D

: GpsUtils::parseFix() - $PASHR,ACK*3D


: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?
$PASHR,ACK*3D

: SerialDevice: done...

: ahrs if is Ahrs

: SerialDevice: done...

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

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

: AshtechGps::processRecord() - $GPGGA,001110.00,,,,,0,00,,,M,,M,,*49

: SerialDevice: done...

:  default

: GpsUtils::parseFix() - $GPGGA,001110.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

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

: 3 Modules found
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001111.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001111.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Parosci.cc -- Initial pressure = 0.137895
: Sonardyne - POS response: 
POS V4,1 R3.92

: Sonardyne - parsing R3.92

: Sonardyne - read R = 3.920000 from 3.92

: Sonardyne - got range only (3.920000), tat = 450
: CR1
[Parameters set to FACTORY defaults]
>
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-8,U0,Q0.000000

: Parosci.cc -- Parosci initial pressure period = 30.132690
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-8,U0,Q0.000000

: BL,100,000,100
>
: BP001
>
: Parosci.cc -- Parosci initial temp period = 5.840638
: CF11010
>
: Parosci.cc -- Paroscientific configured.
: 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

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,001112.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001112.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.8,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.8,D-8,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,001113.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001113.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.2,D-10,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,001114.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001114.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.97

: Sonardyne - parsing R3.97

: Sonardyne - read R = 3.970000 from 3.97

: Sonardyne - got range only (3.970000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.7,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.7,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,001115.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001115.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99

: Sonardyne - parsing R3.99

: Sonardyne - read R = 3.990000 from 3.99

: Sonardyne - got range only (3.990000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N35.3,D-13,U0,Q0.000000

: BluefinBatt::init() - battery ids are 97  
: BluefinBatt::init() - found battery 97
: Sonardyne - POSD response: 
POSD S+145.0,N35.3,D-13,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,001116.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001116.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N35.1,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N35.1,D-14,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,001117.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001117.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99

: Sonardyne - parsing R3.99

: Sonardyne - read R = 3.990000 from 3.99

: Sonardyne - got range only (3.990000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-18,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,001118.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001118.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-17,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,001119.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001119.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.97

: Sonardyne - parsing R3.97

: Sonardyne - read R = 3.970000 from 3.97

: Sonardyne - got range only (3.970000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-15,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,001120.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001120.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-15,U0,Q0.000000

: BluefinBatt::init() - battery watchdog state is $97wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001121.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001121.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N30.8,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N30.8,D-13,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,001122.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001122.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,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,001123.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001123.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-11,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,001124.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001124.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-13,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,001125.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001125.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-13,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,001126.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001126.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-13,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,001127.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001127.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-15,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,001128.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001128.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-14,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,001129.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001129.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-14,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,001130.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001130.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-13,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,001131.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001131.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.7,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.7,D-11,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.89  0.17 21.09 3.98 3.99 0 15332.67 05:16:10 m

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

: AshtechGps::processRecord() - $GPGGA,001132.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001132.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-10,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,001133.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001133.00,,,,,0,00,,,M,,M,,*48


: 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
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: **** 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 ***

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

: AshtechGps::processRecord() - $GPGGA,001134.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001134.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-8,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,001135.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001135.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-9,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,001136.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001136.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-9,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,001137.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001137.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-9,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,001138.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001138.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-8,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,001139.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001139.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.5,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.5,D-9,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,001140.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001140.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-8,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,001141.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001141.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-8,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.65 05:16:20 m

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

: AshtechGps::processRecord() - $GPGGA,001142.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001142.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-10,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,001143.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001143.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,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,001144.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001144.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-14,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,001145.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001145.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-14,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,001146.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001146.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-15,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,001147.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001147.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.97

: Sonardyne - parsing R3.97

: Sonardyne - read R = 3.970000 from 3.97

: Sonardyne - got range only (3.970000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-11,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,001148.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,001148.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.6,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.6,D-11,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,001149.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,001149.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.4,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.4,D-11,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,001150.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001150.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.7,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.7,D-10,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,001151.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001151.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.64 05:16:30 m

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

: AshtechGps::processRecord() - $GPGGA,001152.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001152.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-12,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,001153.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001153.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-12,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,001154.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001154.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 449
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-9,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,001155.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001155.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-15,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,001156.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001156.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-13,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,001157.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001157.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 550
: Sonardyne - POSD response: 
POSD S+145.0,N34.6,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.6,D-11,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,001158.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,001158.00,,,,,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 S116.9,N14.6,D83,U1,Q0.006381

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S116.9,N14.6,D83,U1,Q0.006381

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

: AshtechGps::processRecord() - $GPGGA,001159.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,001159.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N35.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N35.2,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,001200.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001200.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), 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

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

: AshtechGps::processRecord() - $GPGGA,001201.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001201.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-9,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.62 05:16:40 m

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

: AshtechGps::processRecord() - $GPGGA,001202.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001202.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-8,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,001203.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001203.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-8,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,001204.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001204.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-8,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,001205.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001205.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.4,D-10,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,001206.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001206.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-8,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,001207.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001207.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-10,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,001208.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001208.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-9,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,001209.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001209.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-11,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,001210.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001210.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-12,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,001211.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001211.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99

: Sonardyne - parsing R3.99

: Sonardyne - read R = 3.990000 from 3.99

: Sonardyne - got range only (3.990000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-14,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.61 05:16:50 m

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

: AshtechGps::processRecord() - $GPGGA,001212.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001212.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-10,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,001213.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001213.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-13,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,001214.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001214.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001215.00,,,,,0,00,,,M,,M,,*4F

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

: GpsUtils::parseFix() - $GPGGA,001215.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001216.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001216.00,,,,,0,00,,,M,,M,,*4C


:  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 - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001217.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001217.00,,,,,0,00,,,M,,M,,*4D


: 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 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001218.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001218.00,,,,,0,00,,,M,,M,,*42


: 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 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001219.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001219.00,,,,,0,00,,,M,,M,,*43


: 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 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001220.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001220.00,,,,,0,00,,,M,,M,,*49


: 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 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001221.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001221.00,,,,,0,00,,,M,,M,,*48


: 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

: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.7,D-10,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.96  0.17 21.09 3.98 3.99 0 15332.59 05:17:00 m

: AshtechGps::processRecord() - $GPGGA,001222.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001222.00,,,,,0,00,,,M,,M,,*4B


: 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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-11,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001223.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001223.00,,,,,0,00,,,M,,M,,*4A


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 449
: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001224.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001224.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001225.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001225.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001226.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001226.00,,,,,0,00,,,M,,M,,*4F


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.9,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001227.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001227.00,,,,,0,00,,,M,,M,,*4E


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001228.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001228.00,,,,,0,00,,,M,,M,,*41


: 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 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001229.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001229.00,,,,,0,00,,,M,,M,,*40


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001230.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001230.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.3,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001231.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001231.00,,,,,0,00,,,M,,M,,*49


: 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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.89  0.17 21.09 3.98 3.99 0 15332.58 05:17:10 m

: AshtechGps::processRecord() - $GPGGA,001232.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001232.00,,,,,0,00,,,M,,M,,*4A


: 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

: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-7,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001233.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001233.00,,,,,0,00,,,M,,M,,*4B


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001234.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001234.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.3,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.3,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001235.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001235.00,,,,,0,00,,,M,,M,,*4D


: 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 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001236.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001236.00,,,,,0,00,,,M,,M,,*4E


: 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 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001237.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001237.00,,,,,0,00,,,M,,M,,*4F


: 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 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001238.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001238.00,,,,,0,00,,,M,,M,,*40


: 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 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001239.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001239.00,,,,,0,00,,,M,,M,,*41


: 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 R3.97

: Sonardyne - parsing R3.97

: Sonardyne - read R = 3.970000 from 3.97

: Sonardyne - got range only (3.970000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.9,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001240.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001240.00,,,,,0,00,,,M,,M,,*4F


: 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 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001241.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001241.00,,,,,0,00,,,M,,M,,*4E


: 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

: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-10,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.89  0.17 21.09 3.98 3.99 0 15332.56 05:17:20 m

: AshtechGps::processRecord() - $GPGGA,001242.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001242.00,,,,,0,00,,,M,,M,,*4D


: 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

: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-11,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001243.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001243.00,,,,,0,00,,,M,,M,,*4C


: 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 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.9,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001244.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001244.00,,,,,0,00,,,M,,M,,*4B


: 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 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001245.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001245.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.2,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001246.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001246.00,,,,,0,00,,,M,,M,,*49


: 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 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001247.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001247.00,,,,,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 - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001248.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001248.00,,,,,0,00,,,M,,M,,*47


: 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 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001249.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001249.00,,,,,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 - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001250.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001250.00,,,,,0,00,,,M,,M,,*4E


: 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 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001251.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001251.00,,,,,0,00,,,M,,M,,*4F


: 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

: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-11,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.55 05:17:30 m

: AshtechGps::processRecord() - $GPGGA,001252.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001252.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

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

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-11,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001253.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001253.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

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

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.6,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.6,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001254.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001254.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), 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+145.0,N32.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001255.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001255.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), 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+145.0,N32.8,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.8,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001256.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001256.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), 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+145.0,N33.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001257.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001257.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), 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+145.0,N32.2,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.2,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001258.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001258.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), 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+145.0,N32.0,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001259.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001259.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.97

: Sonardyne - parsing R3.97

: Sonardyne - read R = 3.970000 from 3.97

: Sonardyne - got range only (3.970000), 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,N33.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001300.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001300.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), 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,N32.5,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.5,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001301.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001301.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), 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,N33.8,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-13,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.53 05:17:40 m

: AshtechGps::processRecord() - $GPGGA,001302.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001302.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), 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+145.0,N33.7,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-12,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001303.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001303.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), 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+145.0,N33.6,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001304.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001304.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), 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+145.0,N33.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.0,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001305.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001305.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), 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+145.0,N34.0,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001306.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001306.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99

: Sonardyne - parsing R3.99

: Sonardyne - read R = 3.990000 from 3.99

: Sonardyne - got range only (3.990000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-13,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001307.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001307.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 449
: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-10,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001308.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001308.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-10,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,N31.6,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001309.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001309.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.7,D-9,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,N34.7,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001310.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001310.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98

: Sonardyne - parsing R3.98

: Sonardyne - read R = 3.980000 from 3.98

: Sonardyne - got range only (3.980000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.4,D-11,U0,Q0.000000

:  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,N34.4,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,001311.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001311.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-12,U0,Q0.000000

:  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,N33.4,D-12,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.52 05:17:50 m

: AshtechGps::processRecord() - $GPGGA,001312.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001312.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.95

: Sonardyne - parsing R3.95

: Sonardyne - read R = 3.950000 from 3.95

: Sonardyne - got range only (3.950000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-10,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-10,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001313.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001313.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99,X-0.56,Y0.49,Z-3.92

: Sonardyne - parsing R3.99,X-0.56,Y0.49,Z-3.92

: Sonardyne - read R = 3.990000 from 3.99,X-0.56,Y0.49,Z-3.92

: Sonardyne - got all data, Vehicle coordinates,
    r=3.990000, x=3.920000, y=-0.560000, z=-0.490000 tat = 470
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,001314.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001314.00,,,,,0,00,,,M,,M,,*4F


: 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,001315.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001315.00,,,,,0,00,,,M,,M,,*4E


: 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,001316.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001316.00,,,,,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
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001317.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001317.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93

: Sonardyne - parsing R3.93

: Sonardyne - read R = 3.930000 from 3.93

: Sonardyne - got range only (3.930000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N50.2,D-5,U3,Q0.019940

: Sonardyne - POSD response: 
POSD S+145.0,N50.2,D-5,U3,Q0.019940

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

: AshtechGps::processRecord() - $GPGGA,001318.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,001318.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.93,X-0.48,Y0.79,Z-3.82

: Sonardyne - parsing R3.93,X-0.48,Y0.79,Z-3.82

: Sonardyne - read R = 3.930000 from 3.93,X-0.48,Y0.79,Z-3.82

: Sonardyne - got all data, Vehicle coordinates,
    r=3.930000, x=3.820000, y=-0.480000, z=-0.790000 tat = 470
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,001319.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,001319.00,,,,,0,00,,,M,,M,,*42


: 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,001320.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001320.00,,,,,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,001321.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001321.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.50 05:18:00 m

: AshtechGps::processRecord() - $GPGGA,001322.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001322.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.1,N37.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.1,N37.2,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,001323.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001323.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.94

: Sonardyne - parsing R3.94

: Sonardyne - read R = 3.940000 from 3.94

: Sonardyne - got range only (3.940000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-10,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,001324.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001324.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.90

: Sonardyne - parsing R3.90

: Sonardyne - read R = 3.900000 from 3.90

: Sonardyne - got range only (3.900000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-13,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,001325.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001325.00,,,,,0,00,,,M,,M,,*4D


: 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,N33.5,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.5,D-12,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,001326.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001326.00,,,,,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,N32.6,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.6,D-15,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,001327.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001327.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.77

: Sonardyne - parsing R3.77

: Sonardyne - read R = 3.770000 from 3.77

: Sonardyne - got range only (3.770000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.1,N33.7,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.1,N33.7,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,001328.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001328.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.79

: Sonardyne - parsing R3.79

: Sonardyne - read R = 3.790000 from 3.79

: Sonardyne - got range only (3.790000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N44.6,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N44.6,D-3,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,001329.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001329.00,,,,,0,00,,,M,,M,,*41


: 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,N35.8,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N35.8,D-11,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,001330.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001330.00,,,,,0,00,,,M,,M,,*49


: 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,N35.1,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N35.1,D-15,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,001331.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001331.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.89,X1.22,Y-1.53,Z-3.36

: Sonardyne - parsing R3.89,X1.22,Y-1.53,Z-3.36

: Sonardyne - read R = 3.890000 from 3.89,X1.22,Y-1.53,Z-3.36

: Sonardyne - got all data, Vehicle coordinates,
    r=3.890000, x=3.360000, y=1.220000, z=1.530000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  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 15332.49 05:18:10 m

: AshtechGps::processRecord() - $GPGGA,001332.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001332.00,,,,,0,00,,,M,,M,,*4B


: 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,001333.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001333.00,,,,,0,00,,,M,,M,,*4A


: 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,001334.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001334.00,,,,,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,N9.5,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,N9.5,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001335.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001335.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.06,X2.48,Y0.28,Z-3.20

: Sonardyne - parsing R4.06,X2.48,Y0.28,Z-3.20

: Sonardyne - read R = 4.060000 from 4.06,X2.48,Y0.28,Z-3.20

: Sonardyne - got all data, Vehicle coordinates,
    r=4.060000, x=3.200000, y=2.480000, z=-0.280000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001336.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001336.00,,,,,0,00,,,M,,M,,*4F


: 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,001337.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001337.00,,,,,0,00,,,M,,M,,*4E


: 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,001338.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001338.00,,,,,0,00,,,M,,M,,*41


: 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,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001339.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001339.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.15,X2.45,Y1.25,Z-3.10

: Sonardyne - parsing R4.15,X2.45,Y1.25,Z-3.10

: Sonardyne - read R = 4.150000 from 4.15,X2.45,Y1.25,Z-3.10

: Sonardyne - got all data, Vehicle coordinates,
    r=4.150000, x=3.100000, y=2.450000, z=-1.250000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001340.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001340.00,,,,,0,00,,,M,,M,,*4E


: 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,001341.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001341.00,,,,,0,00,,,M,,M,,*4F


: 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 15332.47 05:18:20 m

: AshtechGps::processRecord() - $GPGGA,001342.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001342.00,,,,,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,N9.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,001343.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001343.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.90

: Sonardyne - parsing R3.90

: Sonardyne - read R = 3.900000 from 3.90

: Sonardyne - got range only (3.900000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N30.8,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N30.8,D-12,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,001344.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001344.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.88

: Sonardyne - parsing R3.88

: Sonardyne - read R = 3.880000 from 3.88

: Sonardyne - got range only (3.880000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.1,D-8,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,001345.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001345.00,,,,,0,00,,,M,,M,,*4B


: 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,N31.6,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.6,D-12,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,001346.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001346.00,,,,,0,00,,,M,,M,,*48


: 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,N33.8,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.8,D-12,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,001347.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001347.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.79

: Sonardyne - parsing R3.79

: Sonardyne - read R = 3.790000 from 3.79

: Sonardyne - got range only (3.790000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N36.8,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N36.8,D-6,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,001348.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001348.00,,,,,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+145.1,N33.4,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.1,N33.4,D-8,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,001349.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001349.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.89

: Sonardyne - parsing R3.89

: Sonardyne - read R = 3.890000 from 3.89

: Sonardyne - got range only (3.890000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.3,D-17,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,001350.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001350.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.99

: Sonardyne - parsing R3.99

: Sonardyne - read R = 3.990000 from 3.99

: Sonardyne - got range only (3.990000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.1,D-10,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,001351.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001351.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.07

: Sonardyne - parsing R4.07

: Sonardyne - read R = 4.070000 from 4.07

: Sonardyne - got range only (4.070000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.0,D-10,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 15332.46 05:18:30 m

: AshtechGps::processRecord() - $GPGGA,001352.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001352.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.02,X-0.56,Y1.96,Z-3.47

: Sonardyne - parsing R4.02,X-0.56,Y1.96,Z-3.47

: Sonardyne - read R = 4.020000 from 4.02,X-0.56,Y1.96,Z-3.47

: Sonardyne - got all data, Vehicle coordinates,
    r=4.020000, x=3.470000, y=-0.560000, z=-1.960000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  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,001353.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001353.00,,,,,0,00,,,M,,M,,*4C


: 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,001354.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001354.00,,,,,0,00,,,M,,M,,*4B


: 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,001355.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001355.00,,,,,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,N10.3,D0,U0,Q0.000000

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001356.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001356.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.98,X-2.10,Y0.11,Z-3.38

: Sonardyne - parsing R3.98,X-2.10,Y0.11,Z-3.38

: Sonardyne - read R = 3.980000 from 3.98,X-2.10,Y0.11,Z-3.38

: Sonardyne - got all data, Vehicle coordinates,
    r=3.980000, x=3.380000, y=-2.100000, z=-0.110000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001357.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001357.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,001358.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001358.00,,,,,0,00,,,M,,M,,*47


: 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,001359.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001359.00,,,,,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,N10.4,D0,U0,Q0.000000

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001400.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001400.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.12,X-2.43,Y0.14,Z-3.33

: Sonardyne - parsing R4.12,X-2.43,Y0.14,Z-3.33

: Sonardyne - read R = 4.120000 from 4.12,X-2.43,Y0.14,Z-3.33

: Sonardyne - got all data, Vehicle coordinates,
    r=4.120000, x=3.330000, y=-2.430000, z=-0.140000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001401.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001401.00,,,,,0,00,,,M,,M,,*4C


: 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 15332.44 05:18:40 m

: AshtechGps::processRecord() - $GPGGA,001402.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001402.00,,,,,0,00,,,M,,M,,*4F


: 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,001403.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001403.00,,,,,0,00,,,M,,M,,*4E


: 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,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001404.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001404.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.25,X-2.48,Y1.67,Z-3.01

: Sonardyne - parsing R4.25,X-2.48,Y1.67,Z-3.01

: Sonardyne - read R = 4.250000 from 4.25,X-2.48,Y1.67,Z-3.01

: Sonardyne - got all data, Vehicle coordinates,
    r=4.250000, x=3.010000, y=-2.480000, z=-1.670000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001405.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001405.00,,,,,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,001406.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001406.00,,,,,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,001407.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001407.00,,,,,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,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001408.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,001408.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.96,X-2.00,Y1.37,Z-3.13

: Sonardyne - parsing R3.96,X-2.00,Y1.37,Z-3.13

: Sonardyne - read R = 3.960000 from 3.96,X-2.00,Y1.37,Z-3.13

: Sonardyne - got all data, Vehicle coordinates,
    r=3.960000, x=3.130000, y=-2.000000, z=-1.370000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001409.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,001409.00,,,,,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,001410.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001410.00,,,,,0,00,,,M,,M,,*4C


: 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,001411.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001411.00,,,,,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,N7.3,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.43 05:18:50 m

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

: AshtechGps::processRecord() - $GPGGA,001412.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001412.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.87,X-1.61,Y0.51,Z-3.48

: Sonardyne - parsing R3.87,X-1.61,Y0.51,Z-3.48

: Sonardyne - read R = 3.870000 from 3.87,X-1.61,Y0.51,Z-3.48

: Sonardyne - got all data, Vehicle coordinates,
    r=3.870000, x=3.480000, y=-1.610000, z=-0.510000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
: 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,001413.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001413.00,,,,,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,001414.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001414.00,,,,,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,001415.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001415.00,,,,,0,00,,,M,,M,,*49


: 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,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001416.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001416.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.74

: Sonardyne - parsing R3.74

: Sonardyne - read R = 3.740000 from 3.74

: Sonardyne - got range only (3.740000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.3,D-10,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,001417.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001417.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.77

: Sonardyne - parsing R3.77

: Sonardyne - read R = 3.770000 from 3.77

: Sonardyne - got range only (3.770000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N32.1,D-8,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,001418.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,001418.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.75

: Sonardyne - parsing R3.75

: Sonardyne - read R = 3.750000 from 3.75

: Sonardyne - got range only (3.750000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N34.8,D-12,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,001419.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,001419.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.73

: Sonardyne - parsing R3.73

: Sonardyne - read R = 3.730000 from 3.73

: Sonardyne - got range only (3.730000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.1,N33.5,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.1,N33.5,D-13,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,001420.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001420.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.64

: Sonardyne - parsing R3.64

: Sonardyne - read R = 3.640000 from 3.64

: Sonardyne - got range only (3.640000), tat = 449
: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N33.4,D-10,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,001421.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001421.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.62

: Sonardyne - parsing R3.62

: Sonardyne - read R = 3.620000 from 3.62

: Sonardyne - got range only (3.620000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N31.8,D-17,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.41 05:19:00 m

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

: AshtechGps::processRecord() - $GPGGA,001422.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001422.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.74,X1.35,Y-1.89,Z-2.93

: Sonardyne - parsing R3.74,X1.35,Y-1.89,Z-2.93

: Sonardyne - read R = 3.740000 from 3.74,X1.35,Y-1.89,Z-2.93

: Sonardyne - got all data, Vehicle coordinates,
    r=3.740000, x=2.930000, y=1.350000, z=1.890000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
: 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,001423.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001423.00,,,,,0,00,,,M,,M,,*4C


: 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,001424.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001424.00,,,,,0,00,,,M,,M,,*4B


: 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,001425.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001425.00,,,,,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,N9.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001426.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001426.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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+145.0,N27.4,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N27.4,D7,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,001427.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001427.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.38,X3.54,Y0.30,Z-2.55

: Sonardyne - parsing R4.38,X3.54,Y0.30,Z-2.55

: Sonardyne - read R = 4.380000 from 4.38,X3.54,Y0.30,Z-2.55

: Sonardyne - got all data, Vehicle coordinates,
    r=4.380000, x=2.550000, y=3.540000, z=-0.300000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001428.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001428.00,,,,,0,00,,,M,,M,,*47


: 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,001429.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001429.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,001430.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001430.00,,,,,0,00,,,M,,M,,*4E


: 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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001431.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001431.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.53,X3.19,Y1.99,Z-2.53

: Sonardyne - parsing R4.53,X3.19,Y1.99,Z-2.53

: Sonardyne - read R = 4.530000 from 4.53,X3.19,Y1.99,Z-2.53

: Sonardyne - got all data, Vehicle coordinates,
    r=4.530000, x=2.530000, y=3.190000, z=-1.990000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.40 05:19:10 m

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

: AshtechGps::processRecord() - $GPGGA,001432.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001432.00,,,,,0,00,,,M,,M,,*4C


: 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

: AshtechGps::processRecord() - $GPGGA,001433.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001433.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,001434.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001434.00,,,,,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,N9.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001435.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001435.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.91

: Sonardyne - parsing R3.91

: Sonardyne - read R = 3.910000 from 3.91

: Sonardyne - got range only (3.910000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.1,N34.4,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.1,N34.4,D-14,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,001436.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001436.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.03,X-2.33,Y0.29,Z-3.28

: Sonardyne - parsing R4.03,X-2.33,Y0.29,Z-3.28

: Sonardyne - read R = 4.030000 from 4.03,X-2.33,Y0.29,Z-3.28

: Sonardyne - got all data, Vehicle coordinates,
    r=4.030000, x=3.280000, y=-2.330000, z=-0.290000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001437.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001437.00,,,,,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,001438.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,001438.00,,,,,0,00,,,M,,M,,*46


: 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,001439.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,001439.00,,,,,0,00,,,M,,M,,*47


: 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,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001440.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001440.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.49,X-3.83,Y0.95,Z-2.15

: Sonardyne - parsing R4.49,X-3.83,Y0.95,Z-2.15

: Sonardyne - read R = 4.490000 from 4.49,X-3.83,Y0.95,Z-2.15

: Sonardyne - got all data, Vehicle coordinates,
    r=4.490000, x=2.150000, y=-3.830000, z=-0.950000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001441.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001441.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.38 05:19:20 m

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

: AshtechGps::processRecord() - $GPGGA,001442.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001442.00,,,,,0,00,,,M,,M,,*4B


: 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

: AshtechGps::processRecord() - $GPGGA,001443.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001443.00,,,,,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,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001444.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001444.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.72

: Sonardyne - parsing R4.72

: Sonardyne - read R = 4.720000 from 4.72

: Sonardyne - got range only (4.720000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N41.9,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N41.9,D-2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001445.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001445.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.75,X-3.92,Y1.85,Z-1.94

: Sonardyne - parsing R4.75,X-3.92,Y1.85,Z-1.94

: Sonardyne - read R = 4.750000 from 4.75,X-3.92,Y1.85,Z-1.94

: Sonardyne - got all data, Vehicle coordinates,
    r=4.750000, x=1.940000, y=-3.920000, z=-1.850000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001446.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001446.00,,,,,0,00,,,M,,M,,*4F


: 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,001447.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001447.00,,,,,0,00,,,M,,M,,*4E


: 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,001448.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001448.00,,,,,0,00,,,M,,M,,*41


: 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,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001449.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001449.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.69,X-3.98,Y1.39,Z-2.06

: Sonardyne - parsing R4.69,X-3.98,Y1.39,Z-2.06

: Sonardyne - read R = 4.690000 from 4.69,X-3.98,Y1.39,Z-2.06

: Sonardyne - got all data, Vehicle coordinates,
    r=4.690000, x=2.060000, y=-3.980000, z=-1.390000 tat = 469
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001450.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001450.00,,,,,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,001451.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001451.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.37 05:19:30 m

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

: AshtechGps::processRecord() - $GPGGA,001452.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001452.00,,,,,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,N12.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.4,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: 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,001453.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001453.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.63,X-3.97,Y1.22,Z-2.05

: Sonardyne - parsing R4.63,X-3.97,Y1.22,Z-2.05

: Sonardyne - read R = 4.630000 from 4.63,X-3.97,Y1.22,Z-2.05

: Sonardyne - got all data, Vehicle coordinates,
    r=4.630000, x=2.050000, y=-3.970000, z=-1.220000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001454.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001454.00,,,,,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,001455.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001455.00,,,,,0,00,,,M,,M,,*4D


: 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,001456.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001456.00,,,,,0,00,,,M,,M,,*4E


: 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,N11.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.2,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001457.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001457.00,,,,,0,00,,,M,,M,,*4F


: 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,001458.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,001458.00,,,,,0,00,,,M,,M,,*40


: 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,001459.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,001459.00,,,,,0,00,,,M,,M,,*41


: 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,N9.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,001500.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001500.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.52,X-3.56,Y1.45,Z-2.37

: Sonardyne - parsing R4.52,X-3.56,Y1.45,Z-2.37

: Sonardyne - read R = 4.520000 from 4.52,X-3.56,Y1.45,Z-2.37

: Sonardyne - got all data, Vehicle coordinates,
    r=4.520000, x=2.370000, y=-3.560000, z=-1.450000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001501.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001501.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $97q0 d- 31.92  0.17 21.09 3.98 3.99 0 15332.35 05:19:40 m

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

: AshtechGps::processRecord() - $GPGGA,001502.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001502.00,,,,,0,00,,,M,,M,,*4E


: 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

: AshtechGps::processRecord() - $GPGGA,001503.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001503.00,,,,,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
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001504.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,001504.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.43,X-3.34,Y1.22,Z-2.64

: Sonardyne - parsing R4.43,X-3.34,Y1.22,Z-2.64

: Sonardyne - read R = 4.430000 from 4.43,X-3.34,Y1.22,Z-2.64

: Sonardyne - got all data, Vehicle coordinates,
    r=4.430000, x=2.640000, y=-3.340000, z=-1.220000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,001505.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,001505.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,001506.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,001506.00,,,,,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,001507.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,001507.00,,,,,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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,001508.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,001508.00,,,,,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,001509.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,001509.00,,,,,0,00,,,M,,M,,*45


: 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,001510.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,001510.00,,,,,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,001511.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,001511.00,,,,,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,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: BluefinBatt Reply: $97q0 d- 31.92  0.17 20.99 3.98 3.99 0 15332.34 05:19:50 m

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

: AshtechGps::processRecord() - $GPGGA,001512.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,001512.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.16,X-2.50,Y0.96,Z-3.19

: Sonardyne - parsing R4.16,X-2.50,Y0.96,Z-3.19

: Sonardyne - read R = 4.160000 from 4.16,X-2.50,Y0.96,Z-3.19

: Sonardyne - got all data, Vehicle coordinates,
    r=4.160000, x=3.190000, y=-2.500000, z=-0.960000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
: 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,001513.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,001513.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: **** 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 gEXk - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
:  Fan Destructor Executing.
: 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()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object DvlOutput_ShmemName ****

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


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_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 ****

: TaskServer::signalHandler() for task gEXk - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****


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

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

: Supervisor::cleanup() - delete _theSupervisor

: TaskServer::signalHandler() for task FanIFServer - exit()
: 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.
