Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - externalC: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
ommsServer
Supervisor::createTask() - navigationServer
Super: WorkSite::WorkSite -- Finished loading parameters
vi: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
sor::: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
crea: 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
 - l: WorkSite server: 0x22eec
ayeredContro: New Navigation component constructor
lServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

(: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
) - : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
paro: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
sciS: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: Preparing to fork

erve: SerialDevice: done...

r
Su: I'm the child...forking

per: SerialDevice: done...

visor::createTask() - bluefinBattDriver
Su: SerialDevice: done...

pervis: SerialDevice: done...

or::createTask() - dvlServer
S: Gps: initializing

u: SerialDevice: done...

pe: SerialDevice: done...

rv: SerialDevice: done...

isor::cr: BluefineBatt::init() - 1 batteries on 10 second interval
eat: SerialDevice: done...

e: Gps: done initializing...

T: SerialDevice: done...

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

a: **** EventTriggers::add() - attaching proxy
nS: BluefinBatt.cc - Looking for Parosci server
erver: Crossbow.cc: Setting polled mode

Super: AshtechGps::processRecord() - 

viso: SerialDevice: done...

r::cr: Crossbow.cc: Setting polled mode
ea: GpsUtils::parseFix() - 


teTask: BluefinBatt::init() - querying for batt ids
() -: Crossbow.cc: In getSerialNumber()
 dr: AshtechGps::processRecord() - GpsUtils::parseFix() - incomplete GGA sentence?


opW: Navigation - Using only the Dvl to compute altitude.
eightSer: Crossbow.cc: _device->read failed with error
ve: **** EventTriggers::add() - attaching proxy
r
: ahrs if is Ahrs

Super: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
visor::createTa: SerialDevice: done...

sk() - sonardyneServer
: SerialDevice: done...

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

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

: AshtechGps::processRecord() - $GPGGA,170833.00,3654.77205,N,12153.38261,W,1,10,0.8,-2.30,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,170833.00,3654.77205,N,12153.38261,W,1,10,0.8,-2.30,M,-32.59,M,,*7C


: successfully parse sentence at 17:8:33

: AshtechGPS::processRecord -sample time is 1134407313
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

:  ting counters to default

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

: SerialDevice: done...

: 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
: SerialDevice: done...

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

: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,170834.00,3654.77223,N,12153.38255,W,1,10,0.8,-2.61,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,170834.00,3654.77223,N,12153.38255,W,1,10,0.8,-2.61,M,-32.59,M,,*7C


: successfully parse sentence at 17:8:34

: AshtechGPS::processRecord -sample time is 1134407314
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138900
: Parosci.cc -- Parosci initial temp period = 5.842361
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R55.68

: Sonardyne - parsing R55.68

: Sonardyne - read R = 55.680000 from 55.68

: Sonardyne - got range only (55.680000), tat = 530
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: Sonardyne - POSD response: 
POSD S108.2,N24.4,D51,U0,Q0.000000

: TP00:00.00
>
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: TE00:00:00.60
>
: BL,10,000,100
>
: Sonardyne - POSD response: 
POSD S108.2,N24.4,D51,U0,Q0.000000

: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,170835.00,3654.77222,N,12153.38253,W,1,10,0.8,-2.87,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170835.00,3654.77222,N,12153.38253,W,1,10,0.8,-2.87,M,-32.59,M,,*72


: successfully parse sentence at 17:8:35

: AshtechGPS::processRecord -sample time is 1134407315
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170836.00,3654.77227,N,12153.38270,W,1,10,0.8,-3.25,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,170836.00,3654.77227,N,12153.38270,W,1,10,0.8,-3.25,M,-32.59,M,,*7C


: successfully parse sentence at 17:8:36

: AshtechGPS::processRecord -sample time is 1134407316
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170837.00,3654.77212,N,12153.38295,W,1,10,0.8,-3.39,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,170837.00,3654.77212,N,12153.38295,W,1,10,0.8,-3.39,M,-32.59,M,,*7D


: successfully parse sentence at 17:8:37

: AshtechGPS::processRecord -sample time is 1134407317
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170838.00,3654.77195,N,12153.38325,W,1,10,0.8,-3.52,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,170838.00,3654.77195,N,12153.38325,W,1,10,0.8,-3.52,M,-32.59,M,,*79


: successfully parse sentence at 17:8:38

: AshtechGPS::processRecord -sample time is 1134407318
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

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

: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170839.00,3654.77178,N,12153.38352,W,1,10,0.8,-3.41,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,170839.00,3654.77178,N,12153.38352,W,1,10,0.8,-3.41,M,-32.59,M,,*79


: successfully parse sentence at 17:8:39

: AshtechGPS::processRecord -sample time is 1134407319
: Sonardyne - POS response: 
POS V4,1 R60.91

: Sonardyne - parsing R60.91

: Sonardyne - read R = 60.910000 from 60.91

: Sonardyne - got range only (60.910000), tat = 530
: Sonardyne - POSD response: 
POSD S106.9,N16.9,D16,U1,Q0.001302

: Sonardyne - POSD response: 
POSD S106.9,N16.9,D16,U1,Q0.001302

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

: AshtechGps::processRecord() - $GPGGA,170840.00,3654.77154,N,12153.38368,W,1,10,0.8,-3.20,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,170840.00,3654.77154,N,12153.38368,W,1,10,0.8,-3.20,M,-32.59,M,,*77


: successfully parse sentence at 17:8:40

: AshtechGPS::processRecord -sample time is 1134407320
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170841.00,3654.77141,N,12153.38376,W,1,10,0.8,-3.02,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,170841.00,3654.77141,N,12153.38376,W,1,10,0.8,-3.02,M,-32.59,M,,*7D


: successfully parse sentence at 17:8:41

: AshtechGPS::processRecord -sample time is 1134407321
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170842.00,3654.77133,N,12153.38378,W,1,10,0.8,-2.76,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,170842.00,3654.77133,N,12153.38378,W,1,10,0.8,-2.76,M,-32.59,M,,*77


: successfully parse sentence at 17:8:42

: AshtechGPS::processRecord -sample time is 1134407322
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,170843.00,3654.77131,N,12153.38371,W,1,10,0.8,-2.48,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170843.00,3654.77131,N,12153.38371,W,1,10,0.8,-2.48,M,-32.59,M,,*70


: successfully parse sentence at 17:8:43

: AshtechGPS::processRecord -sample time is 1134407323
: Sonardyne - POS response: 
POS V4,1 R65.05

: Sonardyne - parsing R65.05

: BluefinBatt::init() - battery watchdog state is $b6wf 1
 
: Sonardyne - read R = 65.050000 from 65.05

: Sonardyne - got range only (65.050000), tat = 530
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POSD response: 
POSD S106.5,N15.4,D-63,U1,Q0.006755

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

: Sonardyne - POSD response: 
POSD S106.5,N15.4,D-63,U1,Q0.006755

: AshtechGps::processRecord() - $GPGGA,170844.00,3654.77154,N,12153.38363,W,1,10,0.8,-2.26,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,170844.00,3654.77154,N,12153.38363,W,1,10,0.8,-2.26,M,-32.59,M,,*7F


: successfully parse sentence at 17:8:44

: AshtechGPS::processRecord -sample time is 1134407324
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170845.00,3654.77173,N,12153.38344,W,1,10,0.8,-2.19,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170845.00,3654.77173,N,12153.38344,W,1,10,0.8,-2.19,M,-32.59,M,,*72


: successfully parse sentence at 17:8:45

: AshtechGPS::processRecord -sample time is 1134407325
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170846.00,3654.77193,N,12153.38322,W,1,10,0.8,-2.16,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170846.00,3654.77193,N,12153.38322,W,1,10,0.8,-2.16,M,-32.59,M,,*70


: successfully parse sentence at 17:8:46

: AshtechGPS::processRecord -sample time is 1134407326
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170847.00,3654.77216,N,12153.38307,W,1,10,0.8,-2.29,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,170847.00,3654.77216,N,12153.38307,W,1,10,0.8,-2.29,M,-32.59,M,,*74


: successfully parse sentence at 17:8:47

: AshtechGPS::processRecord -sample time is 1134407327
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,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,170848.00,3654.77217,N,12153.38294,W,1,10,0.8,-2.57,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,170848.00,3654.77217,N,12153.38294,W,1,10,0.8,-2.57,M,-32.59,M,,*78


: successfully parse sentence at 17:8:48

: AshtechGPS::processRecord -sample time is 1134407328
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170849.00,3654.77231,N,12153.38304,W,1,10,0.8,-2.89,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,170849.00,3654.77231,N,12153.38304,W,1,10,0.8,-2.89,M,-32.59,M,,*76


: successfully parse sentence at 17:8:49

: AshtechGPS::processRecord -sample time is 1134407329
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170850.00,3654.77217,N,12153.38311,W,1,10,0.8,-3.10,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,170850.00,3654.77217,N,12153.38311,W,1,10,0.8,-3.10,M,-32.59,M,,*7F


: successfully parse sentence at 17:8:50

: AshtechGPS::processRecord -sample time is 1134407330
: 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
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,170851.00,3654.77207,N,12153.38332,W,1,10,0.8,-3.33,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,170851.00,3654.77207,N,12153.38332,W,1,10,0.8,-3.33,M,-32.59,M,,*7F


: successfully parse sentence at 17:8:51

: AshtechGPS::processRecord -sample time is 1134407331
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170852.00,3654.77192,N,12153.38349,W,1,10,0.8,-3.34,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,170852.00,3654.77192,N,12153.38349,W,1,10,0.8,-3.34,M,-32.59,M,,*78


: successfully parse sentence at 17:8:52

: AshtechGPS::processRecord -sample time is 1134407332
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170853.00,3654.77178,N,12153.38368,W,1,10,0.8,-3.23,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,170853.00,3654.77178,N,12153.38368,W,1,10,0.8,-3.23,M,-32.59,M,,*78


: successfully parse sentence at 17:8:53

: AshtechGPS::processRecord -sample time is 1134407333
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170854.00,3654.77158,N,12153.38383,W,1,10,0.8,-3.21,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,170854.00,3654.77158,N,12153.38383,W,1,10,0.8,-3.21,M,-32.59,M,,*7A


: successfully parse sentence at 17:8:54

: AshtechGPS::processRecord -sample time is 1134407334
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.93  1.99 14.06 4.11 4.12 0 21683.12 02:13:16 m

: AshtechGps::processRecord() - $GPGGA,170855.00,3654.77151,N,12153.38391,W,1,10,0.8,-2.98,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170855.00,3654.77151,N,12153.38391,W,1,10,0.8,-2.98,M,-32.59,M,,*72


: successfully parse sentence at 17:8:55

: AshtechGPS::processRecord -sample time is 1134407335
: Sonardyne - POS response: 
POS V4,1 R91.33

: Sonardyne - parsing R91.33

: Sonardyne - read R = 91.330000 from 91.33

: Sonardyne - got range only (91.330000), tat = 570
: Sonardyne - POSD response: 
POSD S111.1,N20.1,D-39,U1,Q0.017254

: Sonardyne - POSD response: 
POSD S111.1,N20.1,D-39,U1,Q0.017254

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

: batts online 1, min cell voltage 4.110000, mean min cell voltage 4.110000

: AshtechGps::processRecord() - $GPGGA,170856.00,3654.77141,N,12153.38387,W,1,10,0.8,-2.80,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,170856.00,3654.77141,N,12153.38387,W,1,10,0.8,-2.80,M,-32.59,M,,*7E


: successfully parse sentence at 17:8:56

: AshtechGPS::processRecord -sample time is 1134407336
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

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

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

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: LayeredControl::execute() -- (t = 0.000000) Behavior getgps has changed to state Active

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

: LayeredControl::execute() -- (t = 0.009999) 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,170857.00,3654.77147,N,12153.38378,W,1,10,0.8,-2.52,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,170857.00,3654.77147,N,12153.38378,W,1,10,0.8,-2.52,M,-32.59,M,,*76


: successfully parse sentence at 17:8:57

: AshtechGPS::processRecord -sample time is 1134407337
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170858.00,3654.77156,N,12153.38357,W,1,10,0.8,-2.51,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,170858.00,3654.77156,N,12153.38357,W,1,10,0.8,-2.51,M,-32.59,M,,*77


: successfully parse sentence at 17:8:58

: AshtechGPS::processRecord -sample time is 1134407338
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,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,170859.00,3654.77171,N,12153.38331,W,1,10,0.8,-2.27,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170859.00,3654.77171,N,12153.38331,W,1,10,0.8,-2.27,M,-32.59,M,,*72


: successfully parse sentence at 17:8:59

: AshtechGPS::processRecord -sample time is 1134407339
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R56.34

: Sonardyne - parsing R56.34

: Sonardyne - read R = 56.340000 from 56.34

: Sonardyne - got range only (56.340000), tat = 520
: Sonardyne - POSD response: 
POSD S109.9,N14.5,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.9,N14.5,D-30,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,170900.00,3654.77183,N,12153.38321,W,1,10,0.8,-2.52,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170900.00,3654.77183,N,12153.38321,W,1,10,0.8,-2.52,M,-32.59,M,,*71


: successfully parse sentence at 17:9:0

: AshtechGPS::processRecord -sample time is 1134407340
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170901.00,3654.77190,N,12153.38313,W,1,10,0.8,-2.70,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,170901.00,3654.77190,N,12153.38313,W,1,10,0.8,-2.70,M,-32.59,M,,*73


: successfully parse sentence at 17:9:1

: AshtechGPS::processRecord -sample time is 1134407341
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170902.00,3654.77190,N,12153.38309,W,1,10,0.8,-2.77,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,170902.00,3654.77190,N,12153.38309,W,1,10,0.8,-2.77,M,-32.59,M,,*7C


: successfully parse sentence at 17:9:2

: AshtechGPS::processRecord -sample time is 1134407342
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170903.00,3654.77191,N,12153.38315,W,1,10,0.8,-2.98,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170903.00,3654.77191,N,12153.38315,W,1,10,0.8,-2.98,M,-32.59,M,,*70


: successfully parse sentence at 17:9:3

: AshtechGPS::processRecord -sample time is 1134407343
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,170904.00,3654.77188,N,12153.38321,W,1,10,0.8,-3.03,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,170904.00,3654.77188,N,12153.38321,W,1,10,0.8,-3.03,M,-32.59,M,,*7B


: successfully parse sentence at 17:9:4

: AshtechGPS::processRecord -sample time is 1134407344
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: BluefinBatt Reply: $b6q0 d- 32.89  2.60 14.06 4.10 4.11 0 21682.93 02:13:26 m

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

: AshtechGps::processRecord() - $GPGGA,170905.00,3654.77177,N,12153.38332,W,1,10,0.8,-3.12,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,170905.00,3654.77177,N,12153.38332,W,1,10,0.8,-3.12,M,-32.59,M,,*78


: successfully parse sentence at 17:9:5

: AshtechGPS::processRecord -sample time is 1134407345
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.799397) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.799397) Behavior setpoint has changed to state Active

: batts online 1, min cell voltage 4.100000, mean min cell voltage 4.100000

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

: AshtechGps::processRecord() - $GPGGA,170906.00,3654.77176,N,12153.38352,W,1,10,0.8,-2.93,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,170906.00,3654.77176,N,12153.38352,W,1,10,0.8,-2.93,M,-32.59,M,,*74


: successfully parse sentence at 17:9:6

: AshtechGPS::processRecord -sample time is 1134407346
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,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,170907.00,3654.77157,N,12153.38354,W,1,10,0.8,-2.79,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,170907.00,3654.77157,N,12153.38354,W,1,10,0.8,-2.79,M,-32.59,M,,*74


: successfully parse sentence at 17:9:7

: AshtechGPS::processRecord -sample time is 1134407347
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170908.00,3654.77153,N,12153.38361,W,1,10,0.8,-2.85,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,170908.00,3654.77153,N,12153.38361,W,1,10,0.8,-2.85,M,-32.59,M,,*7A


: successfully parse sentence at 17:9:8

: AshtechGPS::processRecord -sample time is 1134407348
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170909.00,3654.77139,N,12153.38367,W,1,10,0.8,-2.83,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,170909.00,3654.77139,N,12153.38367,W,1,10,0.8,-2.83,M,-32.59,M,,*77


: successfully parse sentence at 17:9:9

: AshtechGPS::processRecord -sample time is 1134407349
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170910.00,3654.77132,N,12153.38374,W,1,10,0.8,-2.51,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,170910.00,3654.77132,N,12153.38374,W,1,10,0.8,-2.51,M,-32.59,M,,*79


: successfully parse sentence at 17:9:10

: AshtechGPS::processRecord -sample time is 1134407350
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,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,170911.00,3654.77131,N,12153.38383,W,1,10,0.8,-2.53,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170911.00,3654.77131,N,12153.38383,W,1,10,0.8,-2.53,M,-32.59,M,,*71


: successfully parse sentence at 17:9:11

: AshtechGPS::processRecord -sample time is 1134407351
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170912.00,3654.77117,N,12153.38394,W,1,10,0.8,-2.62,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170912.00,3654.77117,N,12153.38394,W,1,10,0.8,-2.62,M,-32.59,M,,*72


: successfully parse sentence at 17:9:12

: AshtechGPS::processRecord -sample time is 1134407352
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170913.00,3654.77121,N,12153.38412,W,1,10,0.8,-2.49,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,170913.00,3654.77121,N,12153.38412,W,1,10,0.8,-2.49,M,-32.59,M,,*76


: successfully parse sentence at 17:9:13

: AshtechGPS::processRecord -sample time is 1134407353
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,170914.00,3654.77105,N,12153.38449,W,1,10,0.8,-2.72,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170914.00,3654.77105,N,12153.38449,W,1,10,0.8,-2.72,M,-32.59,M,,*71


: successfully parse sentence at 17:9:14

: AshtechGPS::processRecord -sample time is 1134407354
: BluefinBatt Reply: $b6q0 d- 32.55 10.80 14.06 4.10 4.11 0 21682.16 02:13:36 m

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

: AshtechGps::processRecord() - $GPGGA,170915.00,3654.77104,N,12153.38505,W,1,10,0.8,-2.92,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,170915.00,3654.77104,N,12153.38505,W,1,10,0.8,-2.92,M,-32.59,M,,*76


: successfully parse sentence at 17:9:15

: AshtechGPS::processRecord -sample time is 1134407355
: batts online 1, min cell voltage 4.100000, mean min cell voltage 4.100000

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

: AshtechGps::processRecord() - $GPGGA,170916.00,3654.77094,N,12153.38565,W,1,10,0.8,-2.97,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,170916.00,3654.77094,N,12153.38565,W,1,10,0.8,-2.97,M,-32.59,M,,*7E


: successfully parse sentence at 17:9:16

: AshtechGPS::processRecord -sample time is 1134407356
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170917.00,3654.77087,N,12153.38641,W,1,10,0.8,-3.06,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170917.00,3654.77087,N,12153.38641,W,1,10,0.8,-3.06,M,-32.59,M,,*71


: successfully parse sentence at 17:9:17

: AshtechGPS::processRecord -sample time is 1134407357
: 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

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

: AshtechGps::processRecord() - $GPGGA,170918.00,3654.77079,N,12153.38727,W,1,10,0.8,-3.05,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,170918.00,3654.77079,N,12153.38727,W,1,10,0.8,-3.05,M,-32.59,M,,*7D


: successfully parse sentence at 17:9:18

: AshtechGPS::processRecord -sample time is 1134407358
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170919.00,3654.77073,N,12153.38800,W,1,10,0.8,-2.81,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170919.00,3654.77073,N,12153.38800,W,1,10,0.8,-2.81,M,-32.59,M,,*71


: successfully parse sentence at 17:9:19

: AshtechGPS::processRecord -sample time is 1134407359
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170920.00,3654.77069,N,12153.38866,W,1,10,0.8,-2.51,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,170920.00,3654.77069,N,12153.38866,W,1,10,0.8,-2.51,M,-32.59,M,,*7D


: successfully parse sentence at 17:9:20

: AshtechGPS::processRecord -sample time is 1134407360
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,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,170921.00,3654.77067,N,12153.38935,W,1,10,0.8,-2.45,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170921.00,3654.77067,N,12153.38935,W,1,10,0.8,-2.45,M,-32.59,M,,*70


: successfully parse sentence at 17:9:21

: AshtechGPS::processRecord -sample time is 1134407361
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170922.00,3654.77071,N,12153.38990,W,1,10,0.8,-2.18,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,170922.00,3654.77071,N,12153.38990,W,1,10,0.8,-2.18,M,-32.59,M,,*73


: successfully parse sentence at 17:9:22

: AshtechGPS::processRecord -sample time is 1134407362
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170923.00,3654.77081,N,12153.39043,W,1,10,0.8,-2.12,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,170923.00,3654.77081,N,12153.39043,W,1,10,0.8,-2.12,M,-32.59,M,,*71


: successfully parse sentence at 17:9:23

: AshtechGPS::processRecord -sample time is 1134407363
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170924.00,3654.77091,N,12153.39101,W,1,10,0.8,-2.24,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,170924.00,3654.77091,N,12153.39101,W,1,10,0.8,-2.24,M,-32.59,M,,*75


: successfully parse sentence at 17:9:24

: AshtechGPS::processRecord -sample time is 1134407364
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

: BluefinBatt Reply: $b6q0 d- 32.62  8.26 14.06 4.07 4.08 0 21681.48 02:13:46 m

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

: AshtechGps::processRecord() - $GPGGA,170925.00,3654.77098,N,12153.39170,W,1,10,0.8,-2.49,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170925.00,3654.77098,N,12153.39170,W,1,10,0.8,-2.49,M,-32.59,M,,*70


: successfully parse sentence at 17:9:25

: AshtechGPS::processRecord -sample time is 1134407365
: Sonardyne - POS response: 
POS V4,1 R78.94

: Sonardyne - parsing R78.94

: Sonardyne - read R = 78.940000 from 78.94

: Sonardyne - got range only (78.940000), tat = 550
: Sonardyne - POSD response: 
POSD S108.3,N16.8,D-9,U1,Q0.006403

: Sonardyne - POSD response: 
POSD S108.3,N16.8,D-9,U1,Q0.006403

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

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

: AshtechGps::processRecord() - $GPGGA,170926.00,3654.77101,N,12153.39250,W,1,10,0.8,-2.76,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,170926.00,3654.77101,N,12153.39250,W,1,10,0.8,-2.76,M,-32.59,M,,*7F


: successfully parse sentence at 17:9:26

: AshtechGPS::processRecord -sample time is 1134407366
: Sonardyne - POS response: 
POS V4,1 R93.15

: Sonardyne - parsing R93.15

: Sonardyne - read R = 93.150000 from 93.15

: Sonardyne - got range only (93.150000), tat = 570
: Sonardyne - POSD response: 
POSD S107.9,N16.0,D16,U2,Q0.010529

: Sonardyne - POSD response: 
POSD S107.9,N16.0,D16,U2,Q0.010529

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

: AshtechGps::processRecord() - $GPGGA,170927.00,3654.77106,N,12153.39346,W,1,10,0.8,-3.01,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,170927.00,3654.77106,N,12153.39346,W,1,10,0.8,-3.01,M,-32.59,M,,*7E


: successfully parse sentence at 17:9:27

: AshtechGPS::processRecord -sample time is 1134407367
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170928.00,3654.77104,N,12153.39455,W,1,10,0.8,-3.25,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170928.00,3654.77104,N,12153.39455,W,1,10,0.8,-3.25,M,-32.59,M,,*70


: successfully parse sentence at 17:9:28

: AshtechGPS::processRecord -sample time is 1134407368
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170929.00,3654.77099,N,12153.39568,W,1,10,0.8,-3.31,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,170929.00,3654.77099,N,12153.39568,W,1,10,0.8,-3.31,M,-32.59,M,,*7E


: successfully parse sentence at 17:9:29

: AshtechGPS::processRecord -sample time is 1134407369
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,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,170930.00,3654.77110,N,12153.39680,W,1,10,0.8,-3.13,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,170930.00,3654.77110,N,12153.39680,W,1,10,0.8,-3.13,M,-32.59,M,,*73


: successfully parse sentence at 17:9:30

: AshtechGPS::processRecord -sample time is 1134407370
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170931.00,3654.77110,N,12153.39791,W,1,10,0.8,-3.03,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170931.00,3654.77110,N,12153.39791,W,1,10,0.8,-3.03,M,-32.59,M,,*72


: successfully parse sentence at 17:9:31

: AshtechGPS::processRecord -sample time is 1134407371
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170932.00,3654.77116,N,12153.39894,W,1,10,0.8,-2.83,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,170932.00,3654.77116,N,12153.39894,W,1,10,0.8,-2.83,M,-32.59,M,,*74


: successfully parse sentence at 17:9:32

: AshtechGPS::processRecord -sample time is 1134407372
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170933.00,3654.77125,N,12153.39976,W,1,10,0.8,-2.26,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,170933.00,3654.77125,N,12153.39976,W,1,10,0.8,-2.26,M,-32.59,M,,*77


: successfully parse sentence at 17:9:33

: AshtechGPS::processRecord -sample time is 1134407373
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,170934.00,3654.77137,N,12153.40041,W,1,10,0.8,-2.04,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170934.00,3654.77137,N,12153.40041,W,1,10,0.8,-2.04,M,-32.59,M,,*70


: successfully parse sentence at 17:9:34

: AshtechGPS::processRecord -sample time is 1134407374
: BluefinBatt Reply: $b6q0 d- 32.62  9.09 14.06 4.07 4.08 0 21680.46 02:13:56 m

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

: AshtechGps::processRecord() - $GPGGA,170935.00,3654.77153,N,12153.40108,W,1,10,0.8,-1.94,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,170935.00,3654.77153,N,12153.40108,W,1,10,0.8,-1.94,M,-32.59,M,,*75


: successfully parse sentence at 17:9:35

: AshtechGPS::processRecord -sample time is 1134407375
: LayeredControl::execute() -- (t = 38.997329) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.997329) Behavior descend has changed to state Active

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

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

: AshtechGps::processRecord() - $GPGGA,170936.00,3654.77166,N,12153.40179,W,1,10,0.8,-2.29,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,170936.00,3654.77166,N,12153.40179,W,1,10,0.8,-2.29,M,-32.59,M,,*73


: successfully parse sentence at 17:9:36

: AshtechGPS::processRecord -sample time is 1134407376
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,170937.00,3654.77182,N,12153.40262,W,1,10,0.8,-2.70,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,170937.00,3654.77182,N,12153.40262,W,1,10,0.8,-2.70,M,-32.59,M,,*7D


: successfully parse sentence at 17:9:37

: AshtechGPS::processRecord -sample time is 1134407377
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170938.00,3654.77187,N,12153.40355,W,1,10,0.8,-2.96,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,170938.00,3654.77187,N,12153.40355,W,1,10,0.8,-2.96,M,-32.59,M,,*7A


: successfully parse sentence at 17:9:38

: AshtechGPS::processRecord -sample time is 1134407378
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170939.00,3654.77194,N,12153.40467,W,1,10,0.8,-3.20,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,170939.00,3654.77194,N,12153.40467,W,1,10,0.8,-3.20,M,-32.59,M,,*73


: successfully parse sentence at 17:9:39

: AshtechGPS::processRecord -sample time is 1134407379
: AshtechGps::processRecord() - $GPGGA,170940.00,3654.77197,N,12153.40590,W,1,10,0.8,-3.34,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,170940.00,3654.77197,N,12153.40590,W,1,10,0.8,-3.34,M,-32.59,M,,*72


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

: successfully parse sentence at 17:9:40

: AshtechGPS::processRecord -sample time is 1134407380
: 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

: AshtechGps::processRecord() - $GPGGA,170941.00,3654.77196,N,12153.40716,W,1,10,0.8,-3.18,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170941.00,3654.77196,N,12153.40716,W,1,10,0.8,-3.18,M,-32.59,M,,*70


: successfully parse sentence at 17:9:41

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

: AshtechGPS::processRecord -sample time is 1134407381
: AshtechGps::processRecord() - $GPGGA,170942.00,3654.77195,N,12153.40832,W,1,10,0.8,-3.06,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,170942.00,3654.77195,N,12153.40832,W,1,10,0.8,-3.06,M,-32.59,M,,*76


: successfully parse sentence at 17:9:42

: AshtechGPS::processRecord -sample time is 1134407382
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,170943.00,3654.77200,N,12153.40937,W,1,10,0.8,-2.83,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,170943.00,3654.77200,N,12153.40937,W,1,10,0.8,-2.83,M,-32.59,M,,*70


: successfully parse sentence at 17:9:43

: AshtechGPS::processRecord -sample time is 1134407383
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,170944.00,3654.77207,N,12153.41028,W,1,10,0.8,-2.52,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,170944.00,3654.77207,N,12153.41028,W,1,10,0.8,-2.52,M,-32.59,M,,*7A


: successfully parse sentence at 17:9:44

: AshtechGPS::processRecord -sample time is 1134407384
:  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 R92.42,X-1.39,Y8.54,Z-92.02

: Sonardyne - parsing R92.42,X-1.39,Y8.54,Z-92.02

: Sonardyne - read R = 92.420000 from 92.42,X-1.39,Y8.54,Z-92.02

: Sonardyne - got all data, Vehicle coordinates,
    r=92.420000, x=92.020000, y=-1.390000, z=-8.540000 tat = 590
: BluefinBatt Reply: $b6q0 d- 32.70  6.99 14.16 4.07 4.08 0 21679.86 02:14:06 m

: AshtechGps::processRecord() - $GPGGA,170945.00,3654.77162,N,12153.41114,W,1,08,1.0,-0.15,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,170945.00,3654.77162,N,12153.41114,W,1,08,1.0,-0.15,M,-32.59,M,,*74


: successfully parse sentence at 17:9:45

: AshtechGPS::processRecord -sample time is 1134407385
:  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 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,170946.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,170946.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,170947.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,170947.00,,,,,0,00,,,M,,M,,*44


: 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,170948.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,170948.00,,,,,0,00,,,M,,M,,*4B


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

: 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,170949.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,170949.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R94.76

: Sonardyne - parsing R94.76

: Sonardyne - read R = 94.760000 from 94.76

: Sonardyne - got range only (94.760000), tat = 570
: Sonardyne - POSD response: 
POSD S114.0,N23.4,D-15,U3,Q0.010756

: Sonardyne - POSD response: 
POSD S114.0,N23.4,D-15,U3,Q0.010756

: AshtechGps::processRecord() - $GPGGA,170950.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,170950.00,,,,,0,00,,,M,,M,,*42


: 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 R96.16

: Sonardyne - parsing R96.16

: Sonardyne - read R = 96.160000 from 96.16

: Sonardyne - got range only (96.160000), tat = 580
: Sonardyne - POSD response: 
POSD S113.0,N19.0,D55,U1,Q0.002393

: Sonardyne - POSD response: 
POSD S113.0,N19.0,D55,U1,Q0.002393

: AshtechGps::processRecord() - $GPGGA,170951.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,170951.00,,,,,0,00,,,M,,M,,*43


: 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 R99.92,X-0.46,Y8.49,Z-99.56

: Sonardyne - parsing R99.92,X-0.46,Y8.49,Z-99.56

: Sonardyne - read R = 99.920000 from 99.92,X-0.46,Y8.49,Z-99.56

: Sonardyne - got all data, Vehicle coordinates,
    r=99.920000, x=99.560000, y=-0.460000, z=-8.490000 tat = 600
: AshtechGps::processRecord() - $GPGGA,170952.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,170952.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,170953.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,170953.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R1178.25

: Sonardyne - parsing R1178.25

: Sonardyne - read R = 1178.250000 from 1178.25

: Sonardyne - got range only (1178.250000), tat = 2040
: Sonardyne - POSD response: 
POSD S109.0,N14.3,D0,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S109.0,N14.3,D0,U1,Q0.014122

: AshtechGps::processRecord() - $GPGGA,170954.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,170954.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $b6q0 d- 32.55 10.47 14.16 4.07 4.08 0 21678.90 02:14:16 m

: AshtechGps::processRecord() - $GPGGA,170955.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,170955.00,,,,,0,00,,,M,,M,,*47


: 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 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,170956.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,170956.00,,,,,0,00,,,M,,M,,*44


: 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,170957.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,170957.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N12.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,170958.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,170958.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,170959.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,170959.00,,,,,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,171000.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171000.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171001.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171001.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171002.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171002.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171003.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171003.00,,,,,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,171004.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171004.00,,,,,0,00,,,M,,M,,*4B


: 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 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

: BluefinBatt Reply: $b6q0 d- 32.59  8.98 14.16 4.06 4.07 0 21678.19 02:14:26 m

: AshtechGps::processRecord() - $GPGGA,171005.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171005.00,,,,,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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171006.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171006.00,,,,,0,00,,,M,,M,,*49


: 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,171007.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171007.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171008.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171008.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171009.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171009.00,,,,,0,00,,,M,,M,,*46


: 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,171010.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171010.00,,,,,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,171011.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171011.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,171012.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171012.00,,,,,0,00,,,M,,M,,*4C


: 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,171013.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171013.00,,,,,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,171014.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171014.00,,,,,0,00,,,M,,M,,*4A


: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.8,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.59  9.20 14.16 4.06 4.07 0 21677.13 02:14:36 m

: AshtechGps::processRecord() - $GPGGA,171015.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171015.00,,,,,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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171016.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171016.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 9.029376 > 9.000000 at time 79.794534

: LayeredControl::execute() -- (t = 79.794534) Behavior descend has changed to state Finished

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

: Waypoint Initialization: 
  Begin waypoint control at t= 79.79                             (wplog)
  The current location (N,E) = 4085781.4      , 598822.6         (wplog)
  The next waypoint          = 4085784.6      , 598133.8         (wplog)
  The bearing to the next w.p. is 270.3 Degrees.

: LayeredControl::execute() -- (t = 79.794534) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,171017.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171017.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171018.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171018.00,,,,,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
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N9.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171019.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171019.00,,,,,0,00,,,M,,M,,*47


: 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,171020.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171020.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171021.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171021.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171022.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171022.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171023.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171023.00,,,,,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,171024.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171024.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.55  9.60 14.16 4.07 4.08 0 21676.46 02:14:46 m

: AshtechGps::processRecord() - $GPGGA,171025.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171025.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,171026.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171026.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171027.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171027.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171028.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171028.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171029.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171029.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,171030.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171030.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171031.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171031.00,,,,,0,00,,,M,,M,,*4D


: 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,171032.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171032.00,,,,,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,N1.3,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N1.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171033.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171033.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171034.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171034.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.59  7.97 14.16 4.07 4.08 0 21675.48 02:14:56 m

: AshtechGps::processRecord() - $GPGGA,171035.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171035.00,,,,,0,00,,,M,,M,,*49


: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,171036.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171036.00,,,,,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,171037.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171037.00,,,,,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,171038.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171038.00,,,,,0,00,,,M,,M,,*44


: 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,171039.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171039.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,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,171040.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171040.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171041.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171041.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171042.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171042.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171043.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171043.00,,,,,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,171044.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171044.00,,,,,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: $b6q0 d- 32.59  7.93 14.16 4.07 4.07 0 21674.84 02:15:06 m

: AshtechGps::processRecord() - $GPGGA,171045.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171045.00,,,,,0,00,,,M,,M,,*4E


: 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 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,171046.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171046.00,,,,,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,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171047.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171047.00,,,,,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,171048.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171048.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171049.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171049.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171050.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171050.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171051.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171051.00,,,,,0,00,,,M,,M,,*4B


: 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,171052.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171052.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171053.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171053.00,,,,,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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171054.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171054.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.59  8.40 14.16 4.07 4.07 0 21673.87 02:15:16 m

: AshtechGps::processRecord() - $GPGGA,171055.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171055.00,,,,,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 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,171056.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171056.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171057.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171057.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171058.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171058.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171059.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171059.00,,,,,0,00,,,M,,M,,*43


: 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,171100.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171100.00,,,,,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,N2.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,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,171101.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171101.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171102.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171102.00,,,,,0,00,,,M,,M,,*4C


: 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,171103.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171103.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171104.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171104.00,,,,,0,00,,,M,,M,,*4A


: 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: $b6q0 d- 32.51  8.66 14.16 4.06 4.07 0 21673.18 02:15:26 m

: AshtechGps::processRecord() - $GPGGA,171105.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171105.00,,,,,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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171106.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171106.00,,,,,0,00,,,M,,M,,*48


: 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,171107.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171107.00,,,,,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,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,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,171108.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171108.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171109.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171109.00,,,,,0,00,,,M,,M,,*47


: 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,171110.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171110.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171111.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171111.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171112.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171112.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171113.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171113.00,,,,,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,171114.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171114.00,,,,,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,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.59  8.04 14.16 4.06 4.07 0 21672.27 02:15:36 m

: AshtechGps::processRecord() - $GPGGA,171115.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171115.00,,,,,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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171116.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171116.00,,,,,0,00,,,M,,M,,*49


: 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,171117.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171117.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171118.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171118.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171119.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171119.00,,,,,0,00,,,M,,M,,*46


: 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,171120.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171120.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171121.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171121.00,,,,,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,N1.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.1,D0,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,171122.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171122.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171123.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171123.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171124.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171124.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.59  8.33 14.16 4.06 4.07 0 21671.64 02:15:46 m

: AshtechGps::processRecord() - $GPGGA,171125.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171125.00,,,,,0,00,,,M,,M,,*49


: 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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171126.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171126.00,,,,,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,171127.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171127.00,,,,,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,171128.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171128.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,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,171129.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171129.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171130.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171130.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171131.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171131.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171132.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171132.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171133.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171133.00,,,,,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,171134.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171134.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  8.66 14.16 4.06 4.07 0 21670.70 02:15:56 m

: AshtechGps::processRecord() - $GPGGA,171135.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171135.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171136.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171136.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171137.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171137.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171138.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171138.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171139.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171139.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,171140.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171140.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171141.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171141.00,,,,,0,00,,,M,,M,,*4B


: 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,171142.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171142.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171143.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171143.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171144.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171144.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  9.16 14.16 4.06 4.07 0 21670.09 02:16:06 m

: AshtechGps::processRecord() - $GPGGA,171145.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171145.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171146.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171146.00,,,,,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,171147.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171147.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171148.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171148.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171149.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171149.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,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,171150.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171150.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171151.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171151.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171152.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171152.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171153.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171153.00,,,,,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,171154.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171154.00,,,,,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: $b6q0 d- 32.51  8.48 14.16 4.06 4.07 0 21669.14 02:16:16 m

: AshtechGps::processRecord() - $GPGGA,171155.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171155.00,,,,,0,00,,,M,,M,,*4E


: 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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171156.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171156.00,,,,,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,N2.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171157.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171157.00,,,,,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,171158.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171158.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171159.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171159.00,,,,,0,00,,,M,,M,,*42


: 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,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171200.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171200.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171201.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171201.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171202.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171202.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171203.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171203.00,,,,,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,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171204.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171204.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.55  9.27 14.25 4.06 4.07 0 21668.49 02:16:26 m

: AshtechGps::processRecord() - $GPGGA,171205.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171205.00,,,,,0,00,,,M,,M,,*48


: 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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171206.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171206.00,,,,,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,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N3.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171207.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171207.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171208.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171208.00,,,,,0,00,,,M,,M,,*45


: 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,171209.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171209.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,171210.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171210.00,,,,,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,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,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,171211.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171211.00,,,,,0,00,,,M,,M,,*4D


: 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,171212.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171212.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171213.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171213.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171214.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171214.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  9.42 14.16 4.06 4.07 0 21667.54 02:16:36 m

: AshtechGps::processRecord() - $GPGGA,171215.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171215.00,,,,,0,00,,,M,,M,,*49


: 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 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171216.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171216.00,,,,,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,171217.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171217.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,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,171218.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171218.00,,,,,0,00,,,M,,M,,*44


: 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,171219.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171219.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171220.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171220.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,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,171221.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171221.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171222.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171222.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171223.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171223.00,,,,,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,171224.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171224.00,,,,,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,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  9.64 14.25 4.06 4.07 0 21666.92 02:16:46 m

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

: AshtechGps::processRecord() - $GPGGA,171225.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171225.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

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

: AshtechGps::processRecord() - $GPGGA,171226.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171226.00,,,,,0,00,,,M,,M,,*49


: 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,171227.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171227.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,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,171228.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171228.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171229.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171229.00,,,,,0,00,,,M,,M,,*46


: 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,171230.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171230.00,,,,,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,171231.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171231.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,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,171232.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171232.00,,,,,0,00,,,M,,M,,*4C


: 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,171233.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171233.00,,,,,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,171234.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171234.00,,,,,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,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  9.09 14.25 4.06 4.07 0 21665.96 02:16:56 m

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

: AshtechGps::processRecord() - $GPGGA,171235.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171235.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

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

: AshtechGps::processRecord() - $GPGGA,171236.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171236.00,,,,,0,00,,,M,,M,,*48


: 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,171237.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171237.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171238.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171238.00,,,,,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,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,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,171239.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171239.00,,,,,0,00,,,M,,M,,*47


: 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,171240.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171240.00,,,,,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,171241.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171241.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,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,171242.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171242.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171243.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171243.00,,,,,0,00,,,M,,M,,*4A


: 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,171244.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171244.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 32.51  8.40 14.25 4.05 4.06 0 21665.29 02:17:06 m

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

: AshtechGps::processRecord() - $GPGGA,171245.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171245.00,,,,,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,N8.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,171246.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171246.00,,,,,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,171247.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171247.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171248.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171248.00,,,,,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,N-0.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.5,D0,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,171249.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171249.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,171250.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171250.00,,,,,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,171251.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171251.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171252.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171252.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171253.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171253.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171254.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171254.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  8.33 14.25 4.05 4.06 0 21664.32 02:17:16 m

: AshtechGps::processRecord() - $GPGGA,171255.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171255.00,,,,,0,00,,,M,,M,,*4D


: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171256.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171256.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171257.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171257.00,,,,,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,171258.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171258.00,,,,,0,00,,,M,,M,,*40


: 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,171259.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171259.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171300.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171300.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171301.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171301.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171302.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171302.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171303.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171303.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171304.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171304.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  8.87 14.25 4.06 4.07 0 21663.69 02:17:26 m

: AshtechGps::processRecord() - $GPGGA,171305.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171305.00,,,,,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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171306.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171306.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171307.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171307.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171308.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171308.00,,,,,0,00,,,M,,M,,*44


: 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,171309.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171309.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171310.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171310.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171311.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171311.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171312.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171312.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,171313.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171313.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171314.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171314.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  9.35 14.25 4.06 4.07 0 21662.73 02:17:36 m

: AshtechGps::processRecord() - $GPGGA,171315.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171315.00,,,,,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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,171316.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171316.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171317.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171317.00,,,,,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,171318.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171318.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171319.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171319.00,,,,,0,00,,,M,,M,,*44


: 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,171320.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171320.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171321.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171321.00,,,,,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,171322.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171322.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171323.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171323.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171324.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171324.00,,,,,0,00,,,M,,M,,*4A


: 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

: BluefinBatt Reply: $b6q0 d- 32.51  9.06 14.35 4.05 4.06 0 21662.07 02:17:46 m

: AshtechGps::processRecord() - $GPGGA,171325.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171325.00,,,,,0,00,,,M,,M,,*4B


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171326.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171326.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171327.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171327.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171328.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171328.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171329.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171329.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171330.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171330.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171331.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171331.00,,,,,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,171332.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171332.00,,,,,0,00,,,M,,M,,*4D


: 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,171333.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171333.00,,,,,0,00,,,M,,M,,*4C


: 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,171334.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171334.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

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

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  8.48 14.35 4.05 4.06 0 21661.18 02:17:56 m

: AshtechGps::processRecord() - $GPGGA,171335.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171335.00,,,,,0,00,,,M,,M,,*4A


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171336.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171336.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171337.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171337.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171338.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171338.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171339.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171339.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171340.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171340.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171341.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171341.00,,,,,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 = 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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171342.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171342.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171343.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171343.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171344.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171344.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  9.67 14.35 4.05 4.07 0 21660.56 02:18:06 m

: AshtechGps::processRecord() - $GPGGA,171345.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171345.00,,,,,0,00,,,M,,M,,*4D


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171346.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171346.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171347.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171347.00,,,,,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,171348.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171348.00,,,,,0,00,,,M,,M,,*40


: 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,N2.8,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171349.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171349.00,,,,,0,00,,,M,,M,,*41


: 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,171350.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171350.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171351.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171351.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171352.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171352.00,,,,,0,00,,,M,,M,,*4B


: 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,171353.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171353.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171354.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171354.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  9.56 14.35 4.05 4.07 0 21659.64 02:18:16 m

: AshtechGps::processRecord() - $GPGGA,171355.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171355.00,,,,,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,N1.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N1.9,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171356.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171356.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171357.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171357.00,,,,,0,00,,,M,,M,,*4E


: 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,171358.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171358.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171359.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171359.00,,,,,0,00,,,M,,M,,*40


: 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,171400.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171400.00,,,,,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,171401.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171401.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171402.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171402.00,,,,,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,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,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,171403.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171403.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171404.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171404.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  9.38 14.45 4.05 4.06 0 21659.01 02:18:26 m

: AshtechGps::processRecord() - $GPGGA,171405.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171405.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171406.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171406.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171407.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171407.00,,,,,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,171408.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171408.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171409.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171409.00,,,,,0,00,,,M,,M,,*42


: 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,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,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,171410.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171410.00,,,,,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,171411.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171411.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171412.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171413.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171413.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171414.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171414.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.51  8.08 14.45 4.05 4.06 0 21658.06 02:18:36 m

: AshtechGps::processRecord() - $GPGGA,171415.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171415.00,,,,,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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171416.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171416.00,,,,,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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,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,171417.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171417.00,,,,,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,171418.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171418.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171419.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171420.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171420.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171421.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171421.00,,,,,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,171422.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171422.00,,,,,0,00,,,M,,M,,*4B


: 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,171423.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171423.00,,,,,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,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171424.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171424.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  8.22 14.45 4.05 4.07 0 21657.40 02:18:46 m

: AshtechGps::processRecord() - $GPGGA,171425.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171425.00,,,,,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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171426.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171426.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171427.00,,,,,0,00,,,M,,M,,*4E


: 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,171428.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171428.00,,,,,0,00,,,M,,M,,*41


: 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,171429.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171429.00,,,,,0,00,,,M,,M,,*40


: 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,171430.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171430.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,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,171431.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171431.00,,,,,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,171432.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171432.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171433.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171434.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171434.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  9.78 14.45 4.05 4.07 0 21656.45 02:18:56 m

: AshtechGps::processRecord() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171435.00,,,,,0,00,,,M,,M,,*4D


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171436.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171437.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171438.00,,,,,0,00,,,M,,M,,*40


: 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,171439.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171439.00,,,,,0,00,,,M,,M,,*41


: 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,171440.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171440.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171441.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171441.00,,,,,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,171442.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171442.00,,,,,0,00,,,M,,M,,*4D


: 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,171443.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171443.00,,,,,0,00,,,M,,M,,*4C


: 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,171444.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171444.00,,,,,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,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.47  9.64 14.45 4.05 4.07 0 21655.83 02:19:06 m

: AshtechGps::processRecord() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171445.00,,,,,0,00,,,M,,M,,*4A


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171446.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171447.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171448.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171449.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171450.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171450.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171451.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,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,171452.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171452.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171453.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171454.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  9.16 14.45 4.05 4.07 0 21654.93 02:19:16 m

: AshtechGps::processRecord() - $GPGGA,171455.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171455.00,,,,,0,00,,,M,,M,,*4B


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171456.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171456.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171457.00,,,,,0,00,,,M,,M,,*49


: 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,171458.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171458.00,,,,,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,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,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,171459.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171459.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171500.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171500.00,,,,,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,171501.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171501.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171502.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171503.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171504.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171504.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  8.95 14.45 4.05 4.06 0 21654.24 02:19:26 m

: AshtechGps::processRecord() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171505.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171506.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171507.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171507.00,,,,,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,171508.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171508.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171509.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171510.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171510.00,,,,,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,171511.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171511.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171512.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171512.00,,,,,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,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,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,171513.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171513.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171514.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171514.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.43  9.06 14.45 4.05 4.06 0 21653.28 02:19:36 m

: AshtechGps::processRecord() - $GPGGA,171515.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171515.00,,,,,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
:  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,N6.2,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171516.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171516.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171517.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171517.00,,,,,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,171518.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171518.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171519.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171519.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,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,171520.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171520.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171521.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171521.00,,,,,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,171522.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171522.00,,,,,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
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171523.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171524.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171524.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  9.49 14.55 4.05 4.07 0 21652.63 02:19:46 m

: AshtechGps::processRecord() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171525.00,,,,,0,00,,,M,,M,,*4D


: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171526.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171526.00,,,,,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,N1.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.2,D0,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,171527.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171527.00,,,,,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,171528.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171528.00,,,,,0,00,,,M,,M,,*40


: 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,171529.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171529.00,,,,,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,N6.0,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171530.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171530.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171531.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171531.00,,,,,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,171532.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171532.00,,,,,0,00,,,M,,M,,*4B


: 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,171533.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171533.00,,,,,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,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171534.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171534.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.47  8.84 14.55 4.05 4.07 0 21651.73 02:19:56 m

: AshtechGps::processRecord() - $GPGGA,171535.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171535.00,,,,,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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171536.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171537.00,,,,,0,00,,,M,,M,,*4E


: 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,171538.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171538.00,,,,,0,00,,,M,,M,,*41


: 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,171539.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171539.00,,,,,0,00,,,M,,M,,*40


: 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,171540.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171540.00,,,,,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,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,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,171541.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171541.00,,,,,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,171542.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171542.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171543.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171543.00,,,,,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,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171544.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 32.47  8.62 14.55 4.05 4.06 0 21651.05 02:20:06 m

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

: AshtechGps::processRecord() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171545.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171546.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171547.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171547.00,,,,,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,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171548.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171548.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171549.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171549.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171550.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,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,171551.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171551.00,,,,,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,171552.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171552.00,,,,,0,00,,,M,,M,,*4D


: 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,171553.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171553.00,,,,,0,00,,,M,,M,,*4C


: 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,171554.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171554.00,,,,,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,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.43  9.06 14.55 4.05 4.06 0 21650.07 02:20:16 m

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

: AshtechGps::processRecord() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171555.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,171556.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171556.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171557.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171558.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171559.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171559.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171600.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171600.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171601.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,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,171602.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171602.00,,,,,0,00,,,M,,M,,*4B


: 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,171603.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171603.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171604.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171604.00,,,,,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,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.39  9.82 14.55 4.05 4.06 0 21649.44 02:20:26 m

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

: AshtechGps::processRecord() - $GPGGA,171605.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171605.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,171606.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171606.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171607.00,,,,,0,00,,,M,,M,,*4E


: 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,171608.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171608.00,,,,,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,N-0.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.9,D0,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,171609.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171609.00,,,,,0,00,,,M,,M,,*40


: 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,171610.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171610.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171611.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171611.00,,,,,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,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,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,171612.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171612.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171613.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171613.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171614.00,,,,,0,00,,,M,,M,,*4C


: 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

: BluefinBatt Reply: $b6q0 d- 32.39  9.24 14.55 4.05 4.06 0 21648.47 02:20:36 m

: AshtechGps::processRecord() - $GPGGA,171615.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171615.00,,,,,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

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

: Sonardyne - parsing R0.00

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

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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171616.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171616.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171617.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171617.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171618.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171619.00,,,,,0,00,,,M,,M,,*41


: 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,171620.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171620.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171621.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171621.00,,,,,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,171622.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171622.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171623.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,171624.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171624.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $b6q0 d- 32.47  8.30 14.55 4.05 4.06 0 21647.80 02:20:46 m

: AshtechGps::processRecord() - $GPGGA,171625.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171625.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171626.00,,,,,0,00,,,M,,M,,*4D


: 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

: AshtechGps::processRecord() - $GPGGA,171627.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171627.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171628.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171628.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171629.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,171630.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171630.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171631.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171631.00,,,,,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,171632.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171632.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171633.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171633.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171634.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171634.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $b6q0 d- 32.43  8.76 14.64 4.05 4.06 0 21646.86 02:20:56 m

: AshtechGps::processRecord() - $GPGGA,171635.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171635.00,,,,,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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171636.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171636.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171637.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171637.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171638.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171638.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171639.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171640.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171640.00,,,,,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,171641.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171641.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171642.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171642.00,,,,,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,171643.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171643.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171644.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 32.43  9.35 14.64 4.04 4.06 0 21646.21 02:21:06 m

: AshtechGps::processRecord() - $GPGGA,171645.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171645.00,,,,,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171646.00,,,,,0,00,,,M,,M,,*4B


: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171647.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171647.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171648.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171648.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171649.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171649.00,,,,,0,00,,,M,,M,,*44


: 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,171650.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171650.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171651.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171652.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171652.00,,,,,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,171653.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171653.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171654.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $b6q0 d- 32.43  8.40 14.64 4.04 4.06 0 21645.21 02:21:16 m

: AshtechGps::processRecord() - $GPGGA,171655.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171655.00,,,,,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171656.00,,,,,0,00,,,M,,M,,*4A


: 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

: AshtechGps::processRecord() - $GPGGA,171657.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171657.00,,,,,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
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171658.00,,,,,0,00,,,M,,M,,*44


: 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,171659.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171659.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171700.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171700.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171701.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171701.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171702.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171703.00,,,,,0,00,,,M,,M,,*4B


: 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,171704.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171704.00,,,,,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
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.43  8.76 14.64 4.04 4.06 0 21644.56 02:21:26 m

: AshtechGps::processRecord() - $GPGGA,171705.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171705.00,,,,,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171706.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171706.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171707.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171707.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171708.00,,,,,0,00,,,M,,M,,*40


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

:  Waypoint has set the state to finished.

: Waypoint (4085784.6, 598133.8), 
  reached at t = 492.20                                          (wplog)

: Vehicle Position is error is (-0.2, 0.2)

: LayeredControl::execute() -- (t = 492.196282) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 492.20                            (wplog)
  The current location (N,E) = 4085784.8      , 598133.5         (wplog)
  The next waypoint          = 4085572.0      , 598938.1         (wplog)
  The bearing to the next w.p. is 104.8 Degrees.

: LayeredControl::execute() -- (t = 492.206281) Behavior waypoint_homing has changed to state Active

: AshtechGps::processRecord() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171709.00,,,,,0,00,,,M,,M,,*41


: 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,171710.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171710.00,,,,,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,171711.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171711.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N0.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N0.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171712.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171713.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171714.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.47  7.46 14.64 4.04 4.06 0 21643.63 02:21:36 m

: AshtechGps::processRecord() - $GPGGA,171715.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171715.00,,,,,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171716.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171716.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171717.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,171718.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171718.00,,,,,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,N5.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171719.00,,,,,0,00,,,M,,M,,*40


: 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,171720.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171720.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171721.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,171722.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171722.00,,,,,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,171723.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171723.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171724.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $b6q0 d- 32.39  9.60 14.64 4.05 4.06 0 21642.98 02:21:46 m

: AshtechGps::processRecord() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171725.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171726.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171726.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171727.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R836.63,X-84.30,Y102.92,Z-825.99

: Sonardyne - parsing R836.63,X-84.30,Y102.92,Z-825.99

: Sonardyne - read R = 836.630000 from 836.63,X-84.30,Y102.92,Z-825.99

: Sonardyne - got all data, Vehicle coordinates,
    r=836.630000, x=825.990000, y=-84.300000, z=-102.920000 tat = 1600
: 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

: AshtechGps::processRecord() - $GPGGA,171728.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171728.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171729.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171729.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R835.89,X97.29,Y70.05,Z-827.24

: Sonardyne - parsing R835.89,X97.29,Y70.05,Z-827.24

: Sonardyne - read R = 835.890000 from 835.89,X97.29,Y70.05,Z-827.24

: Sonardyne - got all data, Vehicle coordinates,
    r=835.890000, x=827.240000, y=97.290000, z=-70.050000 tat = 1600
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171730.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171730.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,171731.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171731.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R833.45,X107.75,Y84.65,Z-822.11

: Sonardyne - parsing R833.45,X107.75,Y84.65,Z-822.11

: Sonardyne - read R = 833.450000 from 833.45,X107.75,Y84.65,Z-822.11

: Sonardyne - got all data, Vehicle coordinates,
    r=833.450000, x=822.110000, y=107.750000, z=-84.650000 tat = 1590
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171732.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171732.00,,,,,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,171733.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171733.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R830.05,X60.56,Y87.95,Z-823.15

: Sonardyne - parsing R830.05,X60.56,Y87.95,Z-823.15

: Sonardyne - read R = 830.050000 from 830.05,X60.56,Y87.95,Z-823.15

: Sonardyne - got all data, Vehicle coordinates,
    r=830.050000, x=823.150000, y=60.560000, z=-87.950000 tat = 1590
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171734.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171734.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $b6q0 d- 32.35 11.16 14.64 4.05 4.06 0 21641.92 02:21:56 m

: AshtechGps::processRecord() - $GPGGA,171735.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171735.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R825.24,X15.98,Y67.16,Z-822.35

: Sonardyne - parsing R825.24,X15.98,Y67.16,Z-822.35

: Sonardyne - read R = 825.240000 from 825.24,X15.98,Y67.16,Z-822.35

: Sonardyne - got all data, Vehicle coordinates,
    r=825.240000, x=822.350000, y=15.980000, z=-67.160000 tat = 1579
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171736.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171736.00,,,,,0,00,,,M,,M,,*4D


: 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

: AshtechGps::processRecord() - $GPGGA,171737.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171737.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R821.34,X-17.50,Y43.71,Z-819.99

: Sonardyne - parsing R821.34,X-17.50,Y43.71,Z-819.99

: Sonardyne - read R = 821.340000 from 821.34,X-17.50,Y43.71,Z-819.99

: Sonardyne - got all data, Vehicle coordinates,
    r=821.340000, x=819.990000, y=-17.500000, z=-43.710000 tat = 1580
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171738.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171738.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171739.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171739.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R819.19,X-39.70,Y73.62,Z-814.91

: Sonardyne - parsing R819.19,X-39.70,Y73.62,Z-814.91

: Sonardyne - read R = 819.190000 from 819.19,X-39.70,Y73.62,Z-814.91

: Sonardyne - got all data, Vehicle coordinates,
    r=819.190000, x=814.910000, y=-39.700000, z=-73.620000 tat = 1580
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171740.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171740.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,171741.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171741.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R817.35,X-57.09,Y90.96,Z-810.26

: Sonardyne - parsing R817.35,X-57.09,Y90.96,Z-810.26

: Sonardyne - read R = 817.350000 from 817.35,X-57.09,Y90.96,Z-810.26

: Sonardyne - got all data, Vehicle coordinates,
    r=817.350000, x=810.260000, y=-57.090000, z=-90.960000 tat = 1570
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171742.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171742.00,,,,,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,171743.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171743.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R815.49,X-64.26,Y130.33,Z-802.44

: Sonardyne - parsing R815.49,X-64.26,Y130.33,Z-802.44

: Sonardyne - read R = 815.490000 from 815.49,X-64.26,Y130.33,Z-802.44

: Sonardyne - got all data, Vehicle coordinates,
    r=815.490000, x=802.440000, y=-64.260000, z=-130.330000 tat = 1570
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171744.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171744.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $b6q0 d- 32.39  8.48 14.64 4.04 4.05 0 21641.23 02:22:06 m

: AshtechGps::processRecord() - $GPGGA,171745.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171745.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R812.92,X-72.10,Y140.67,Z-797.41

: Sonardyne - parsing R812.92,X-72.10,Y140.67,Z-797.41

: Sonardyne - read R = 812.920000 from 812.92,X-72.10,Y140.67,Z-797.41

: Sonardyne - got all data, Vehicle coordinates,
    r=812.920000, x=797.410000, y=-72.100000, z=-140.670000 tat = 1570
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171746.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171746.00,,,,,0,00,,,M,,M,,*4A


: 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

: AshtechGps::processRecord() - $GPGGA,171747.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171747.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R808.92,X-87.07,Y95.80,Z-798.50

: Sonardyne - parsing R808.92,X-87.07,Y95.80,Z-798.50

: Sonardyne - read R = 808.920000 from 808.92,X-87.07,Y95.80,Z-798.50

: Sonardyne - got all data, Vehicle coordinates,
    r=808.920000, x=798.500000, y=-87.070000, z=-95.800000 tat = 1560
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171748.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171748.00,,,,,0,00,,,M,,M,,*44


: 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,171749.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171749.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R808.12,X-81.12,Y133.79,Z-792.83

: Sonardyne - parsing R808.12,X-81.12,Y133.79,Z-792.83

: Sonardyne - read R = 808.120000 from 808.12,X-81.12,Y133.79,Z-792.83

: Sonardyne - got all data, Vehicle coordinates,
    r=808.120000, x=792.830000, y=-81.120000, z=-133.790000 tat = 1559
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171750.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171750.00,,,,,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,171751.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171751.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R800.14,X-87.92,Y13.29,Z-795.19

: Sonardyne - parsing R800.14,X-87.92,Y13.29,Z-795.19

: Sonardyne - read R = 800.140000 from 800.14,X-87.92,Y13.29,Z-795.19

: Sonardyne - got all data, Vehicle coordinates,
    r=800.140000, x=795.190000, y=-87.920000, z=-13.290000 tat = 1550
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171752.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171752.00,,,,,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,171753.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171753.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R799.71

: Sonardyne - parsing R799.71

: Sonardyne - read R = 799.710000 from 799.71

: Sonardyne - got range only (799.710000), tat = 1520
: Sonardyne - POSD response: 
POSD S120.3,N27.4,D8,U5,Q0.000547

: Sonardyne - POSD response: 
POSD S120.3,N27.4,D8,U5,Q0.000547

: 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,171754.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,171754.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 32.39  8.91 14.74 4.04 4.05 0 21640.24 02:22:16 m

: AshtechGps::processRecord() - $GPGGA,171755.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,171755.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R794.38,X-47.52,Y54.61,Z-791.08

: Sonardyne - parsing R794.38,X-47.52,Y54.61,Z-791.08

: Sonardyne - read R = 794.380000 from 794.38,X-47.52,Y54.61,Z-791.08

: Sonardyne - got all data, Vehicle coordinates,
    r=794.380000, x=791.080000, y=-47.520000, z=-54.610000 tat = 1540
: 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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171756.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171756.00,,,,,0,00,,,M,,M,,*4B


: 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

: AshtechGps::processRecord() - $GPGGA,171757.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171757.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R793.80,X-21.98,Y138.67,Z-781.29

: Sonardyne - parsing R793.80,X-21.98,Y138.67,Z-781.29

: Sonardyne - read R = 793.800000 from 793.80,X-21.98,Y138.67,Z-781.29

: Sonardyne - got all data, Vehicle coordinates,
    r=793.800000, x=781.290000, y=-21.980000, z=-138.670000 tat = 1540
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171758.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171758.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171759.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171759.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R789.99,X-24.35,Y91.71,Z-784.27

: Sonardyne - parsing R789.99,X-24.35,Y91.71,Z-784.27

: Sonardyne - read R = 789.990000 from 789.99,X-24.35,Y91.71,Z-784.27

: Sonardyne - got all data, Vehicle coordinates,
    r=789.990000, x=784.270000, y=-24.350000, z=-91.710000 tat = 1540
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171800.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171800.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171801.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171801.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R786.65,X-18.80,Y100.70,Z-779.96

: Sonardyne - parsing R786.65,X-18.80,Y100.70,Z-779.96

: Sonardyne - read R = 786.650000 from 786.65,X-18.80,Y100.70,Z-779.96

: Sonardyne - got all data, Vehicle coordinates,
    r=786.650000, x=779.960000, y=-18.800000, z=-100.700000 tat = 1530
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171802.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171802.00,,,,,0,00,,,M,,M,,*45


: 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,171803.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171803.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R782.29,X-12.51,Y114.60,Z-773.75

: Sonardyne - parsing R782.29,X-12.51,Y114.60,Z-773.75

: Sonardyne - read R = 782.290000 from 782.29,X-12.51,Y114.60,Z-773.75

: Sonardyne - got all data, Vehicle coordinates,
    r=782.290000, x=773.750000, y=-12.510000, z=-114.600000 tat = 1529
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171804.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171804.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.43  9.20 14.74 4.05 4.06 0 21639.60 02:22:26 m

: AshtechGps::processRecord() - $GPGGA,171805.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171805.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R777.78,X-34.49,Y51.50,Z-775.31

: Sonardyne - parsing R777.78,X-34.49,Y51.50,Z-775.31

: Sonardyne - read R = 777.780000 from 777.78,X-34.49,Y51.50,Z-775.31

: Sonardyne - got all data, Vehicle coordinates,
    r=777.780000, x=775.310000, y=-34.490000, z=-51.500000 tat = 1520
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171806.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171806.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,171807.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171807.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R774.68,X-40.63,Y33.55,Z-772.89

: Sonardyne - parsing R774.68,X-40.63,Y33.55,Z-772.89

: Sonardyne - read R = 774.680000 from 774.68,X-40.63,Y33.55,Z-772.89

: Sonardyne - got all data, Vehicle coordinates,
    r=774.680000, x=772.890000, y=-40.630000, z=-33.550000 tat = 1520
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171808.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171808.00,,,,,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,171809.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171809.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R773.17,X-27.90,Y109.24,Z-764.91

: Sonardyne - parsing R773.17,X-27.90,Y109.24,Z-764.91

: Sonardyne - read R = 773.170000 from 773.17,X-27.90,Y109.24,Z-764.91

: Sonardyne - got all data, Vehicle coordinates,
    r=773.170000, x=764.910000, y=-27.900000, z=-109.240000 tat = 1520
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171810.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171810.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,171811.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171811.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R769.37,X-26.29,Y91.98,Z-763.40

: Sonardyne - parsing R769.37,X-26.29,Y91.98,Z-763.40

: Sonardyne - read R = 769.370000 from 769.37,X-26.29,Y91.98,Z-763.40

: Sonardyne - got all data, Vehicle coordinates,
    r=769.370000, x=763.400000, y=-26.290000, z=-91.980000 tat = 1510
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171812.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171812.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,171813.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171813.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171814.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171814.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.43  8.19 14.74 4.05 4.06 0 21638.65 02:22:36 m

: AshtechGps::processRecord() - $GPGGA,171815.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171815.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171816.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171816.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R761.16,X-2.80,Y70.00,Z-757.93

: Sonardyne - parsing R761.16,X-2.80,Y70.00,Z-757.93

: Sonardyne - read R = 761.160000 from 761.16,X-2.80,Y70.00,Z-757.93

: Sonardyne - got all data, Vehicle coordinates,
    r=761.160000, x=757.930000, y=-2.800000, z=-70.000000 tat = 1500
: 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

: AshtechGps::processRecord() - $GPGGA,171817.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171817.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,171818.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171818.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R756.34,X-3.84,Y28.18,Z-755.81

: Sonardyne - parsing R756.34,X-3.84,Y28.18,Z-755.81

: Sonardyne - read R = 756.340000 from 756.34,X-3.84,Y28.18,Z-755.81

: Sonardyne - got all data, Vehicle coordinates,
    r=756.340000, x=755.810000, y=-3.840000, z=-28.180000 tat = 1489
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171819.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171819.00,,,,,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,171820.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171820.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R751.70,X-4.73,Y18.85,Z-751.45

: Sonardyne - parsing R751.70,X-4.73,Y18.85,Z-751.45

: Sonardyne - read R = 751.700000 from 751.70,X-4.73,Y18.85,Z-751.45

: Sonardyne - got all data, Vehicle coordinates,
    r=751.700000, x=751.450000, y=-4.730000, z=-18.850000 tat = 1480
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171821.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171821.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,171822.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171822.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R749.26,X-4.04,Y52.28,Z-747.42

: Sonardyne - parsing R749.26,X-4.04,Y52.28,Z-747.42

: Sonardyne - read R = 749.260000 from 749.26,X-4.04,Y52.28,Z-747.42

: Sonardyne - got all data, Vehicle coordinates,
    r=749.260000, x=747.420000, y=-4.040000, z=-52.280000 tat = 1480
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171823.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171823.00,,,,,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,171824.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171824.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R746.51,X-13.47,Y44.21,Z-745.08

: Sonardyne - parsing R746.51,X-13.47,Y44.21,Z-745.08

: Sonardyne - read R = 746.510000 from 746.51,X-13.47,Y44.21,Z-745.08

: Sonardyne - got all data, Vehicle coordinates,
    r=746.510000, x=745.080000, y=-13.470000, z=-44.210000 tat = 1480
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.39  9.46 14.74 4.04 4.05 0 21638.03 02:22:46 m

: AshtechGps::processRecord() - $GPGGA,171825.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171825.00,,,,,0,00,,,M,,M,,*40


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171826.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171826.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R744.86

: Sonardyne - parsing R744.86

: Sonardyne - read R = 744.860000 from 744.86

: Sonardyne - got range only (744.860000), tat = 1450
: Sonardyne - POSD response: 
POSD S113.7,N19.1,D-110,U1,Q0.010759

: Sonardyne - POSD response: 
POSD S113.7,N19.1,D-110,U1,Q0.010759

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171827.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171827.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171828.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171828.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R742.56,X-10.10,Y77.05,Z-738.48

: Sonardyne - parsing R742.56,X-10.10,Y77.05,Z-738.48

: Sonardyne - read R = 742.560000 from 742.56,X-10.10,Y77.05,Z-738.48

: Sonardyne - got all data, Vehicle coordinates,
    r=742.560000, x=738.480000, y=-10.100000, z=-77.050000 tat = 1470
: 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,171829.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171829.00,,,,,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,171830.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171830.00,,,,,0,00,,,M,,M,,*44


: 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,171831.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171831.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,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,171832.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171832.00,,,,,0,00,,,M,,M,,*46


: 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,171833.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171833.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R731.95,X-3.30,Y43.57,Z-730.64

: Sonardyne - parsing R731.95,X-3.30,Y43.57,Z-730.64

: Sonardyne - read R = 731.950000 from 731.95,X-3.30,Y43.57,Z-730.64

: Sonardyne - got all data, Vehicle coordinates,
    r=731.950000, x=730.640000, y=-3.300000, z=-43.570000 tat = 1459
: 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,171834.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171834.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.39  9.27 14.74 4.04 4.05 0 21637.07 02:22:56 m

: AshtechGps::processRecord() - $GPGGA,171835.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171835.00,,,,,0,00,,,M,,M,,*41


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171836.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171836.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171837.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171837.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171838.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171838.00,,,,,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,171839.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171839.00,,,,,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 = 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,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,171840.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171840.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171841.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171841.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R719.61,X-2.96,Y55.46,Z-717.46

: Sonardyne - parsing R719.61,X-2.96,Y55.46,Z-717.46

: Sonardyne - read R = 719.610000 from 719.61,X-2.96,Y55.46,Z-717.46

: Sonardyne - got all data, Vehicle coordinates,
    r=719.610000, x=717.460000, y=-2.960000, z=-55.460000 tat = 1440
: 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,171842.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171842.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,171843.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171843.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R718.19,X-1.02,Y41.74,Z-716.98

: Sonardyne - parsing R718.19,X-1.02,Y41.74,Z-716.98

: Sonardyne - read R = 718.190000 from 718.19,X-1.02,Y41.74,Z-716.98

: Sonardyne - got all data, Vehicle coordinates,
    r=718.190000, x=716.980000, y=-1.020000, z=-41.740000 tat = 1440
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171844.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171844.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R714.63,X5.90,Y72.49,Z-710.92

: Sonardyne - parsing R714.63,X5.90,Y72.49,Z-710.92

: Sonardyne - read R = 714.630000 from 714.63,X5.90,Y72.49,Z-710.92

: Sonardyne - got all data, Vehicle coordinates,
    r=714.630000, x=710.920000, y=5.900000, z=-72.490000 tat = 1430
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.39  9.02 14.74 4.04 4.05 0 21636.44 02:23:06 m

: AshtechGps::processRecord() - $GPGGA,171845.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171845.00,,,,,0,00,,,M,,M,,*46


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171846.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171846.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R711.39,X8.61,Y68.23,Z-708.06

: Sonardyne - parsing R711.39,X8.61,Y68.23,Z-708.06

: Sonardyne - read R = 711.390000 from 711.39,X8.61,Y68.23,Z-708.06

: Sonardyne - got all data, Vehicle coordinates,
    r=711.390000, x=708.060000, y=8.610000, z=-68.230000 tat = 1430
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171847.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171847.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R708.26,X0.57,Y50.38,Z-706.47

: Sonardyne - parsing R708.26,X0.57,Y50.38,Z-706.47

: Sonardyne - read R = 708.260000 from 708.26,X0.57,Y50.38,Z-706.47

: Sonardyne - got all data, Vehicle coordinates,
    r=708.260000, x=706.470000, y=0.570000, z=-50.380000 tat = 1419
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171848.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171848.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171849.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171849.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R705.33,X7.23,Y62.53,Z-702.52

: Sonardyne - parsing R705.33,X7.23,Y62.53,Z-702.52

: Sonardyne - read R = 705.330000 from 705.33,X7.23,Y62.53,Z-702.52

: Sonardyne - got all data, Vehicle coordinates,
    r=705.330000, x=702.520000, y=7.230000, z=-62.530000 tat = 1420
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171850.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171850.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R702.72,X-4.39,Y23.86,Z-702.30

: Sonardyne - parsing R702.72,X-4.39,Y23.86,Z-702.30

: Sonardyne - read R = 702.720000 from 702.72,X-4.39,Y23.86,Z-702.30

: Sonardyne - got all data, Vehicle coordinates,
    r=702.720000, x=702.300000, y=-4.390000, z=-23.860000 tat = 1420
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171851.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171851.00,,,,,0,00,,,M,,M,,*43


: 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,171852.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171852.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R700.52,X-1.80,Y46.14,Z-699.00

: Sonardyne - parsing R700.52,X-1.80,Y46.14,Z-699.00

: Sonardyne - read R = 700.520000 from 700.52,X-1.80,Y46.14,Z-699.00

: Sonardyne - got all data, Vehicle coordinates,
    r=700.520000, x=699.000000, y=-1.800000, z=-46.140000 tat = 1420
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171853.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171853.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171854.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171854.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.39  8.87 14.74 4.04 4.05 0 21635.51 02:23:16 m

: AshtechGps::processRecord() - $GPGGA,171855.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171855.00,,,,,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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171856.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171856.00,,,,,0,00,,,M,,M,,*44


: 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

: AshtechGps::processRecord() - $GPGGA,171857.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171857.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R692.69,X-6.96,Y58.57,Z-690.17

: Sonardyne - parsing R692.69,X-6.96,Y58.57,Z-690.17

: Sonardyne - read R = 692.690000 from 692.69,X-6.96,Y58.57,Z-690.17

: Sonardyne - got all data, Vehicle coordinates,
    r=692.690000, x=690.170000, y=-6.960000, z=-58.570000 tat = 1410
: 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

: AshtechGps::processRecord() - $GPGGA,171858.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171858.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R690.30,X-10.06,Y52.32,Z-688.24

: Sonardyne - parsing R690.30,X-10.06,Y52.32,Z-688.24

: Sonardyne - read R = 690.300000 from 690.30,X-10.06,Y52.32,Z-688.24

: Sonardyne - got all data, Vehicle coordinates,
    r=690.300000, x=688.240000, y=-10.060000, z=-52.320000 tat = 1400
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171859.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171859.00,,,,,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,171900.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171900.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R688.84,X-18.40,Y-16.65,Z-688.40

: Sonardyne - parsing R688.84,X-18.40,Y-16.65,Z-688.40

: Sonardyne - read R = 688.840000 from 688.84,X-18.40,Y-16.65,Z-688.40

: Sonardyne - got all data, Vehicle coordinates,
    r=688.840000, x=688.400000, y=-18.400000, z=16.650000 tat = 1400
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171901.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171901.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R685.85,X13.02,Y99.31,Z-678.49

: Sonardyne - parsing R685.85,X13.02,Y99.31,Z-678.49

: Sonardyne - read R = 685.850000 from 685.85,X13.02,Y99.31,Z-678.49

: Sonardyne - got all data, Vehicle coordinates,
    r=685.850000, x=678.490000, y=13.020000, z=-99.310000 tat = 1389
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171902.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171902.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R683.56,X3.37,Y40.49,Z-682.36

: AshtechGps::processRecord() - $GPGGA,171903.00,,,,,0,00,,,M,,M,,*45

: Sonardyne - parsing R683.56,X3.37,Y40.49,Z-682.36

: GpsUtils::parseFix() - $GPGGA,171903.00,,,,,0,00,,,M,,M,,*45


: Sonardyne - read R = 683.560000 from 683.56,X3.37,Y40.49,Z-682.36

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - got all data, Vehicle coordinates,
    r=683.560000, x=682.360000, y=3.370000, z=-40.490000 tat = 1390
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171904.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171904.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R680.87,X6.94,Y41.10,Z-679.59

: Sonardyne - parsing R680.87,X6.94,Y41.10,Z-679.59

: Sonardyne - read R = 680.870000 from 680.87,X6.94,Y41.10,Z-679.59

: Sonardyne - got all data, Vehicle coordinates,
    r=680.870000, x=679.590000, y=6.940000, z=-41.100000 tat = 1390
: BluefinBatt Reply: $b6q0 d- 32.35  9.53 14.74 4.04 4.05 0 21634.94 02:23:26 m

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

: AshtechGps::processRecord() - $GPGGA,171905.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171905.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

:  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 R677.52,X-4.14,Y-0.32,Z-677.51

: Sonardyne - parsing R677.52,X-4.14,Y-0.32,Z-677.51

: Sonardyne - read R = 677.520000 from 677.52,X-4.14,Y-0.32,Z-677.51

: AshtechGps::processRecord() - $GPGGA,171906.00,,,,,0,00,,,M,,M,,*40

: Sonardyne - got all data, Vehicle coordinates,
    r=677.520000, x=677.510000, y=-4.140000, z=0.320000 tat = 1380
: GpsUtils::parseFix() - $GPGGA,171906.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,171907.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171907.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R674.02,X-5.32,Y2.98,Z-674.00

: Sonardyne - parsing R674.02,X-5.32,Y2.98,Z-674.00

: Sonardyne - read R = 674.020000 from 674.02,X-5.32,Y2.98,Z-674.00

: Sonardyne - got all data, Vehicle coordinates,
    r=674.020000, x=674.000000, y=-5.320000, z=-2.980000 tat = 1380
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171908.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171908.00,,,,,0,00,,,M,,M,,*4E


: 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 R670.95,X-5.62,Y0.17,Z-670.93

: Sonardyne - parsing R670.95,X-5.62,Y0.17,Z-670.93

: Sonardyne - read R = 670.950000 from 670.95,X-5.62,Y0.17,Z-670.93

: Sonardyne - got all data, Vehicle coordinates,
    r=670.950000, x=670.930000, y=-5.620000, z=-0.170000 tat = 1370
: AshtechGps::processRecord() - $GPGGA,171909.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171909.00,,,,,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,171910.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171910.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R668.96,X-2.58,Y16.26,Z-668.75

: Sonardyne - parsing R668.96,X-2.58,Y16.26,Z-668.75

: Sonardyne - read R = 668.960000 from 668.96,X-2.58,Y16.26,Z-668.75

: Sonardyne - got all data, Vehicle coordinates,
    r=668.960000, x=668.750000, y=-2.580000, z=-16.260000 tat = 1370
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171911.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171911.00,,,,,0,00,,,M,,M,,*46


: 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 R666.53,X4.45,Y45.93,Z-664.93

: Sonardyne - parsing R666.53,X4.45,Y45.93,Z-664.93

: Sonardyne - read R = 666.530000 from 666.53,X4.45,Y45.93,Z-664.93

: Sonardyne - got all data, Vehicle coordinates,
    r=666.530000, x=664.930000, y=4.450000, z=-45.930000 tat = 1370
: AshtechGps::processRecord() - $GPGGA,171912.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171912.00,,,,,0,00,,,M,,M,,*45


: 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,171913.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171913.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R665.02,X8.09,Y56.78,Z-662.54

: Sonardyne - parsing R665.02,X8.09,Y56.78,Z-662.54

: Sonardyne - read R = 665.020000 from 665.02,X8.09,Y56.78,Z-662.54

: Sonardyne - got all data, Vehicle coordinates,
    r=665.020000, x=662.540000, y=8.090000, z=-56.780000 tat = 1360
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171914.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171914.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 32.35  9.75 14.74 4.04 4.05 0 21634.00 02:23:36 m

:  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 R663.71,X6.28,Y44.96,Z-662.16

: Sonardyne - parsing R663.71,X6.28,Y44.96,Z-662.16

: Sonardyne - read R = 663.710000 from 663.71,X6.28,Y44.96,Z-662.16

: Sonardyne - got all data, Vehicle coordinates,
    r=663.710000, x=662.160000, y=6.280000, z=-44.960000 tat = 1360
: AshtechGps::processRecord() - $GPGGA,171915.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171915.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,171916.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171916.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R661.97,X13.65,Y59.92,Z-659.11

: Sonardyne - parsing R661.97,X13.65,Y59.92,Z-659.11

: Sonardyne - read R = 661.970000 from 661.97,X13.65,Y59.92,Z-659.11

: Sonardyne - got all data, Vehicle coordinates,
    r=661.970000, x=659.110000, y=13.650000, z=-59.920000 tat = 1359
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171917.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171917.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R659.69,X19.32,Y82.76,Z-654.19

: Sonardyne - parsing R659.69,X19.32,Y82.76,Z-654.19

: Sonardyne - read R = 659.690000 from 659.69,X19.32,Y82.76,Z-654.19

: Sonardyne - got all data, Vehicle coordinates,
    r=659.690000, x=654.190000, y=19.320000, z=-82.760000 tat = 1360
: AshtechGps::processRecord() - $GPGGA,171918.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,171918.00,,,,,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,171919.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,171919.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R655.85,X3.68,Y38.50,Z-654.71

: Sonardyne - parsing R655.85,X3.68,Y38.50,Z-654.71

: Sonardyne - read R = 655.850000 from 655.85,X3.68,Y38.50,Z-654.71

: Sonardyne - got all data, Vehicle coordinates,
    r=655.850000, x=654.710000, y=3.680000, z=-38.500000 tat = 1350
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171920.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171920.00,,,,,0,00,,,M,,M,,*44


: 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,171921.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171921.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171922.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171922.00,,,,,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,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,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,171923.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171923.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,171924.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171924.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R644.32,X-10.23,Y5.92,Z-644.21

: Sonardyne - parsing R644.32,X-10.23,Y5.92,Z-644.21

: Sonardyne - read R = 644.320000 from 644.32,X-10.23,Y5.92,Z-644.21

: Sonardyne - got all data, Vehicle coordinates,
    r=644.320000, x=644.210000, y=-10.230000, z=-5.920000 tat = 1340
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $b6q0 d- 32.43  7.82 14.74 4.05 4.06 0 21633.42 02:23:46 m

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

: AshtechGps::processRecord() - $GPGGA,171925.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171925.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: Sonardyne - POS response: 
POS V4,1 R642.38,X-9.24,Y29.65,Z-641.63

: Sonardyne - parsing R642.38,X-9.24,Y29.65,Z-641.63

: Sonardyne - read R = 642.380000 from 642.38,X-9.24,Y29.65,Z-641.63

: Sonardyne - got all data, Vehicle coordinates,
    r=642.380000, x=641.630000, y=-9.240000, z=-29.650000 tat = 1340
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171926.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171926.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,171927.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171927.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R642.50,X-11.83,Y23.61,Z-641.96

: Sonardyne - parsing R642.50,X-11.83,Y23.61,Z-641.96

: Sonardyne - read R = 642.500000 from 642.50,X-11.83,Y23.61,Z-641.96

: Sonardyne - got all data, Vehicle coordinates,
    r=642.500000, x=641.960000, y=-11.830000, z=-23.610000 tat = 1340
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171928.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171928.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R640.28,X0.35,Y60.35,Z-637.43

: Sonardyne - parsing R640.28,X0.35,Y60.35,Z-637.43

: Sonardyne - read R = 640.280000 from 640.28,X0.35,Y60.35,Z-637.43

: Sonardyne - got all data, Vehicle coordinates,
    r=640.280000, x=637.430000, y=0.350000, z=-60.350000 tat = 1330
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171929.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171929.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171930.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R638.66,X-0.24,Y39.16,Z-637.46

: Sonardyne - parsing R638.66,X-0.24,Y39.16,Z-637.46

: Sonardyne - read R = 638.660000 from 638.66,X-0.24,Y39.16,Z-637.46

: Sonardyne - got all data, Vehicle coordinates,
    r=638.660000, x=637.460000, y=-0.240000, z=-39.160000 tat = 1329
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171931.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R636.41,X12.17,Y68.86,Z-632.55

: Sonardyne - parsing R636.41,X12.17,Y68.86,Z-632.55

: Sonardyne - read R = 636.410000 from 636.41,X12.17,Y68.86,Z-632.55

: Sonardyne - got all data, Vehicle coordinates,
    r=636.410000, x=632.550000, y=12.170000, z=-68.860000 tat = 1330
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171932.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171933.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R632.97,X7.86,Y46.53,Z-631.21

: Sonardyne - parsing R632.97,X7.86,Y46.53,Z-631.21

: Sonardyne - read R = 632.970000 from 632.97,X7.86,Y46.53,Z-631.21

: Sonardyne - got all data, Vehicle coordinates,
    r=632.970000, x=631.210000, y=7.860000, z=-46.530000 tat = 1320
: AshtechGps::processRecord() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171934.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 32.35  9.42 14.74 4.05 4.06 0 21632.44 02:23:56 m

: Sonardyne - POS response: 
POS V4,1 R628.85,X1.79,Y35.36,Z-627.85

: Sonardyne - parsing R628.85,X1.79,Y35.36,Z-627.85

: Sonardyne - read R = 628.850000 from 628.85,X1.79,Y35.36,Z-627.85

: Sonardyne - got all data, Vehicle coordinates,
    r=628.850000, x=627.850000, y=1.790000, z=-35.360000 tat = 1320
: AshtechGps::processRecord() - $GPGGA,171935.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171935.00,,,,,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

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

: AshtechGps::processRecord() - $GPGGA,171936.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171936.00,,,,,0,00,,,M,,M,,*43


: 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 R625.75,X-0.81,Y10.01,Z-625.67

: Sonardyne - parsing R625.75,X-0.81,Y10.01,Z-625.67

: Sonardyne - read R = 625.750000 from 625.75,X-0.81,Y10.01,Z-625.67

: Sonardyne - got all data, Vehicle coordinates,
    r=625.750000, x=625.670000, y=-0.810000, z=-10.010000 tat = 1310
: AshtechGps::processRecord() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171937.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R621.86,X-2.10,Y15.57,Z-621.66

: Sonardyne - parsing R621.86,X-2.10,Y15.57,Z-621.66

: Sonardyne - read R = 621.860000 from 621.86,X-2.10,Y15.57,Z-621.66

: Sonardyne - got all data, Vehicle coordinates,
    r=621.860000, x=621.660000, y=-2.100000, z=-15.570000 tat = 1310
: AshtechGps::processRecord() - $GPGGA,171938.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,171938.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,171939.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,171939.00,,,,,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 R619.79,X-6.17,Y5.73,Z-619.74

: Sonardyne - parsing R619.79,X-6.17,Y5.73,Z-619.74

: Sonardyne - read R = 619.790000 from 619.79,X-6.17,Y5.73,Z-619.74

: Sonardyne - got all data, Vehicle coordinates,
    r=619.790000, x=619.740000, y=-6.170000, z=-5.730000 tat = 1300
: AshtechGps::processRecord() - $GPGGA,171940.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171940.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R618.34,X-9.00,Y6.84,Z-618.24

: Sonardyne - parsing R618.34,X-9.00,Y6.84,Z-618.24

: Sonardyne - read R = 618.340000 from 618.34,X-9.00,Y6.84,Z-618.24

: Sonardyne - got all data, Vehicle coordinates,
    r=618.340000, x=618.240000, y=-9.000000, z=-6.840000 tat = 1300
: AshtechGps::processRecord() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171941.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171942.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R617.32,X-5.09,Y41.59,Z-615.89

: Sonardyne - parsing R617.32,X-5.09,Y41.59,Z-615.89

: Sonardyne - read R = 617.320000 from 617.32,X-5.09,Y41.59,Z-615.89

: Sonardyne - got all data, Vehicle coordinates,
    r=617.320000, x=615.890000, y=-5.090000, z=-41.590000 tat = 1300
: AshtechGps::processRecord() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171943.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R616.13,X-6.89,Y44.55,Z-614.48

: Sonardyne - parsing R616.13,X-6.89,Y44.55,Z-614.48

: Sonardyne - read R = 616.130000 from 616.13,X-6.89,Y44.55,Z-614.48

: Sonardyne - got all data, Vehicle coordinates,
    r=616.130000, x=614.480000, y=-6.890000, z=-44.550000 tat = 1300
: AshtechGps::processRecord() - $GPGGA,171944.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171944.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.35  8.91 14.74 4.04 4.05 0 21631.75 02:24:06 m

: AshtechGps::processRecord() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171945.00,,,,,0,00,,,M,,M,,*47


: 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 R613.38,X-4.57,Y58.71,Z-610.54

: Sonardyne - parsing R613.38,X-4.57,Y58.71,Z-610.54

: Sonardyne - read R = 613.380000 from 613.38,X-4.57,Y58.71,Z-610.54

: Sonardyne - got all data, Vehicle coordinates,
    r=613.380000, x=610.540000, y=-4.570000, z=-58.710000 tat = 1299
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171946.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R610.35,X7.09,Y64.46,Z-606.89

: Sonardyne - parsing R610.35,X7.09,Y64.46,Z-606.89

: Sonardyne - read R = 610.350000 from 610.35,X7.09,Y64.46,Z-606.89

: Sonardyne - got all data, Vehicle coordinates,
    r=610.350000, x=606.890000, y=7.090000, z=-64.460000 tat = 1290
: AshtechGps::processRecord() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171947.00,,,,,0,00,,,M,,M,,*45


: 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

: AshtechGps::processRecord() - $GPGGA,171948.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171948.00,,,,,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 R558.31,X0.14,Y53.97,Z-555.69

: Sonardyne - parsing R558.31,X0.14,Y53.97,Z-555.69

: Sonardyne - read R = 558.310000 from 558.31,X0.14,Y53.97,Z-555.69

: Sonardyne - got all data, Vehicle coordinates,
    r=558.310000, x=555.690000, y=0.140000, z=-53.970000 tat = 1270
: AshtechGps::processRecord() - $GPGGA,171949.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171949.00,,,,,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 R605.16,X5.33,Y56.64,Z-602.48

: Sonardyne - parsing R605.16,X5.33,Y56.64,Z-602.48

: Sonardyne - read R = 605.160000 from 605.16,X5.33,Y56.64,Z-602.48

: Sonardyne - got all data, Vehicle coordinates,
    r=605.160000, x=602.480000, y=5.330000, z=-56.640000 tat = 1290
: AshtechGps::processRecord() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,171950.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,171951.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R600.13,X-0.03,Y29.16,Z-599.43

: Sonardyne - parsing R600.13,X-0.03,Y29.16,Z-599.43

: Sonardyne - read R = 600.130000 from 600.13,X-0.03,Y29.16,Z-599.43

: Sonardyne - got all data, Vehicle coordinates,
    r=600.130000, x=599.430000, y=-0.030000, z=-29.160000 tat = 1280
: AshtechGps::processRecord() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,171952.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R597.78,X-0.87,Y15.59,Z-597.58

: Sonardyne - parsing R597.78,X-0.87,Y15.59,Z-597.58

: Sonardyne - read R = 597.780000 from 597.78,X-0.87,Y15.59,Z-597.58

: Sonardyne - got all data, Vehicle coordinates,
    r=597.780000, x=597.580000, y=-0.870000, z=-15.590000 tat = 1280
: AshtechGps::processRecord() - $GPGGA,171953.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,171953.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,171954.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,171954.00,,,,,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 R595.45,X-6.92,Y-14.06,Z-595.25

: Sonardyne - parsing R595.45,X-6.92,Y-14.06,Z-595.25

: Sonardyne - read R = 595.450000 from 595.45,X-6.92,Y-14.06,Z-595.25

: Sonardyne - got all data, Vehicle coordinates,
    r=595.450000, x=595.250000, y=-6.920000, z=14.060000 tat = 1270
: BluefinBatt Reply: $b6q0 d- 32.39  8.19 14.74 4.04 4.05 0 21630.74 02:24:16 m

: AshtechGps::processRecord() - $GPGGA,171955.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,171955.00,,,,,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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: Sonardyne - POS response: 
POS V4,1 R593.64,X-1.04,Y20.23,Z-593.30

: Sonardyne - parsing R593.64,X-1.04,Y20.23,Z-593.30

: Sonardyne - read R = 593.640000 from 593.64,X-1.04,Y20.23,Z-593.30

: Sonardyne - got all data, Vehicle coordinates,
    r=593.640000, x=593.300000, y=-1.040000, z=-20.230000 tat = 1270
: AshtechGps::processRecord() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,171956.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,171957.00,,,,,0,00,,,M,,M,,*44


: 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 R591.45,X-3.59,Y16.97,Z-591.20

: Sonardyne - parsing R591.45,X-3.59,Y16.97,Z-591.20

: Sonardyne - read R = 591.450000 from 591.45,X-3.59,Y16.97,Z-591.20

: Sonardyne - got all data, Vehicle coordinates,
    r=591.450000, x=591.200000, y=-3.590000, z=-16.970000 tat = 1270
: AshtechGps::processRecord() - $GPGGA,171958.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,171958.00,,,,,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 R589.29,X-1.91,Y40.39,Z-587.90

: Sonardyne - parsing R589.29,X-1.91,Y40.39,Z-587.90

: Sonardyne - read R = 589.290000 from 589.29,X-1.91,Y40.39,Z-587.90

: Sonardyne - got all data, Vehicle coordinates,
    r=589.290000, x=587.900000, y=-1.910000, z=-40.390000 tat = 1260
: AshtechGps::processRecord() - $GPGGA,171959.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,171959.00,,,,,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,172000.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172000.00,,,,,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 R586.95,X-0.44,Y56.86,Z-584.19

: Sonardyne - parsing R586.95,X-0.44,Y56.86,Z-584.19

: Sonardyne - read R = 586.950000 from 586.95,X-0.44,Y56.86,Z-584.19

: Sonardyne - got all data, Vehicle coordinates,
    r=586.950000, x=584.190000, y=-0.440000, z=-56.860000 tat = 1259
: AshtechGps::processRecord() - $GPGGA,172001.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172001.00,,,,,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 R584.33,X-2.10,Y59.09,Z-581.33

: Sonardyne - parsing R584.33,X-2.10,Y59.09,Z-581.33

: Sonardyne - read R = 584.330000 from 584.33,X-2.10,Y59.09,Z-581.33

: Sonardyne - got all data, Vehicle coordinates,
    r=584.330000, x=581.330000, y=-2.100000, z=-59.090000 tat = 1260
: AshtechGps::processRecord() - $GPGGA,172002.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172002.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172003.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172003.00,,,,,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,172004.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172004.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $b6q0 d- 32.35  9.78 14.74 4.04 4.05 0 21630.11 02:24:26 m

: AshtechGps::processRecord() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172005.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172006.00,,,,,0,00,,,M,,M,,*4A


: 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 R575.95,X-6.37,Y24.50,Z-575.39

: Sonardyne - parsing R575.95,X-6.37,Y24.50,Z-575.39

: Sonardyne - read R = 575.950000 from 575.95,X-6.37,Y24.50,Z-575.39

: Sonardyne - got all data, Vehicle coordinates,
    r=575.950000, x=575.390000, y=-6.370000, z=-24.500000 tat = 1250
: AshtechGps::processRecord() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172007.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: AshtechGps::processRecord() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172008.00,,,,,0,00,,,M,,M,,*44


: 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 R573.18,X-9.79,Y-2.05,Z-573.09

: Sonardyne - parsing R573.18,X-9.79,Y-2.05,Z-573.09

: Sonardyne - read R = 573.180000 from 573.18,X-9.79,Y-2.05,Z-573.09

: Sonardyne - got all data, Vehicle coordinates,
    r=573.180000, x=573.090000, y=-9.790000, z=2.050000 tat = 1240
: AshtechGps::processRecord() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172009.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R572.41,X-2.11,Y-8.21,Z-572.34

: Sonardyne - parsing R572.41,X-2.11,Y-8.21,Z-572.34

: Sonardyne - read R = 572.410000 from 572.41,X-2.11,Y-8.21,Z-572.34

: Sonardyne - got all data, Vehicle coordinates,
    r=572.410000, x=572.340000, y=-2.110000, z=8.210000 tat = 1240
: AshtechGps::processRecord() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172010.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,172011.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172011.00,,,,,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 R567.99,X0.62,Y9.87,Z-567.90

: Sonardyne - parsing R567.99,X0.62,Y9.87,Z-567.90

: Sonardyne - read R = 567.990000 from 567.99,X0.62,Y9.87,Z-567.90

: Sonardyne - got all data, Vehicle coordinates,
    r=567.990000, x=567.900000, y=0.620000, z=-9.870000 tat = 1230
: AshtechGps::processRecord() - $GPGGA,172012.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172012.00,,,,,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 R565.20,X0.19,Y13.64,Z-565.03

: Sonardyne - parsing R565.20,X0.19,Y13.64,Z-565.03

: Sonardyne - read R = 565.200000 from 565.20,X0.19,Y13.64,Z-565.03

: Sonardyne - got all data, Vehicle coordinates,
    r=565.200000, x=565.030000, y=0.190000, z=-13.640000 tat = 1230
: AshtechGps::processRecord() - $GPGGA,172013.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172013.00,,,,,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,172014.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172014.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R562.63,X-1.47,Y16.85,Z-562.38

: Sonardyne - parsing R562.63,X-1.47,Y16.85,Z-562.38

: Sonardyne - read R = 562.630000 from 562.63,X-1.47,Y16.85,Z-562.38

: Sonardyne - got all data, Vehicle coordinates,
    r=562.630000, x=562.380000, y=-1.470000, z=-16.850000 tat = 1229
: BluefinBatt Reply: $b6q0 d- 32.43  8.19 14.74 4.04 4.05 0 21629.14 02:24:36 m

: AshtechGps::processRecord() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172015.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R560.57,X3.26,Y38.03,Z-559.27

: Sonardyne - parsing R560.57,X3.26,Y38.03,Z-559.27

: Sonardyne - read R = 560.570000 from 560.57,X3.26,Y38.03,Z-559.27

: Sonardyne - got all data, Vehicle coordinates,
    r=560.570000, x=559.270000, y=3.260000, z=-38.030000 tat = 1230
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172016.00,,,,,0,00,,,M,,M,,*4B


: 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,172017.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172017.00,,,,,0,00,,,M,,M,,*4A


: 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 R558.34,X0.96,Y37.20,Z-557.10

: Sonardyne - parsing R558.34,X0.96,Y37.20,Z-557.10

: Sonardyne - read R = 558.340000 from 558.34,X0.96,Y37.20,Z-557.10

: Sonardyne - got all data, Vehicle coordinates,
    r=558.340000, x=557.100000, y=0.960000, z=-37.200000 tat = 1220
: AshtechGps::processRecord() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172018.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R557.51,X3.17,Y37.70,Z-556.22

: Sonardyne - parsing R557.51,X3.17,Y37.70,Z-556.22

: Sonardyne - read R = 557.510000 from 557.51,X3.17,Y37.70,Z-556.22

: Sonardyne - got all data, Vehicle coordinates,
    r=557.510000, x=556.220000, y=3.170000, z=-37.700000 tat = 1220
: AshtechGps::processRecord() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172019.00,,,,,0,00,,,M,,M,,*44


: 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,172020.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172020.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R554.55,X5.55,Y52.37,Z-552.04

: Sonardyne - parsing R554.55,X5.55,Y52.37,Z-552.04

: Sonardyne - read R = 554.550000 from 554.55,X5.55,Y52.37,Z-552.04

: Sonardyne - got all data, Vehicle coordinates,
    r=554.550000, x=552.040000, y=5.550000, z=-52.370000 tat = 1220
: AshtechGps::processRecord() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172021.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R551.93,X-0.72,Y28.19,Z-551.21

: Sonardyne - parsing R551.93,X-0.72,Y28.19,Z-551.21

: Sonardyne - read R = 551.930000 from 551.93,X-0.72,Y28.19,Z-551.21

: Sonardyne - got all data, Vehicle coordinates,
    r=551.930000, x=551.210000, y=-0.720000, z=-28.190000 tat = 1210
: AshtechGps::processRecord() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172022.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,172023.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172023.00,,,,,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 R548.98,X4.45,Y41.90,Z-547.36

: Sonardyne - parsing R548.98,X4.45,Y41.90,Z-547.36

: Sonardyne - read R = 548.980000 from 548.98,X4.45,Y41.90,Z-547.36

: Sonardyne - got all data, Vehicle coordinates,
    r=548.980000, x=547.360000, y=4.450000, z=-41.900000 tat = 1210
: AshtechGps::processRecord() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172024.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R545.85,X-3.41,Y8.32,Z-545.77

: Sonardyne - parsing R545.85,X-3.41,Y8.32,Z-545.77

: Sonardyne - read R = 545.850000 from 545.85,X-3.41,Y8.32,Z-545.77

: Sonardyne - got all data, Vehicle coordinates,
    r=545.850000, x=545.770000, y=-3.410000, z=-8.320000 tat = 1210
: BluefinBatt Reply: $b6q0 d- 32.35  9.53 14.74 4.04 4.05 0 21628.57 02:24:46 m

: AshtechGps::processRecord() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172025.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172026.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172026.00,,,,,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 R544.59,X-4.35,Y4.44,Z-544.55

: Sonardyne - parsing R544.59,X-4.35,Y4.44,Z-544.55

: Sonardyne - read R = 544.590000 from 544.59,X-4.35,Y4.44,Z-544.55

: Sonardyne - got all data, Vehicle coordinates,
    r=544.590000, x=544.550000, y=-4.350000, z=-4.440000 tat = 1200
: AshtechGps::processRecord() - $GPGGA,172027.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172027.00,,,,,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 R539.81,X-5.63,Y-1.71,Z-539.78

: Sonardyne - parsing R539.81,X-5.63,Y-1.71,Z-539.78

: Sonardyne - read R = 539.810000 from 539.81,X-5.63,Y-1.71,Z-539.78

: Sonardyne - got all data, Vehicle coordinates,
    r=539.810000, x=539.780000, y=-5.630000, z=1.710000 tat = 1200
: AshtechGps::processRecord() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172028.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172029.00,,,,,0,00,,,M,,M,,*47


: 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 R537.44,X-8.15,Y-12.05,Z-537.24

: Sonardyne - parsing R537.44,X-8.15,Y-12.05,Z-537.24

: Sonardyne - read R = 537.440000 from 537.44,X-8.15,Y-12.05,Z-537.24

: Sonardyne - got all data, Vehicle coordinates,
    r=537.440000, x=537.240000, y=-8.150000, z=12.050000 tat = 1199
: AshtechGps::processRecord() - $GPGGA,172030.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172030.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R534.97,X-2.78,Y9.34,Z-534.88

: Sonardyne - parsing R534.97,X-2.78,Y9.34,Z-534.88

: Sonardyne - read R = 534.970000 from 534.97,X-2.78,Y9.34,Z-534.88

: Sonardyne - got all data, Vehicle coordinates,
    r=534.970000, x=534.880000, y=-2.780000, z=-9.340000 tat = 1190
: AshtechGps::processRecord() - $GPGGA,172031.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172031.00,,,,,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,172032.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172032.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R533.29,X1.33,Y28.06,Z-532.55

: Sonardyne - parsing R533.29,X1.33,Y28.06,Z-532.55

: Sonardyne - read R = 533.290000 from 533.29,X1.33,Y28.06,Z-532.55

: Sonardyne - got all data, Vehicle coordinates,
    r=533.290000, x=532.550000, y=1.330000, z=-28.060000 tat = 1190
: AshtechGps::processRecord() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172033.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R530.85

: Sonardyne - parsing R530.85

: Sonardyne - read R = 530.850000 from 530.85

: Sonardyne - got range only (530.850000), tat = 1160
: Sonardyne - POSD response: 
POSD S130.2,N22.7,D32,U5,Q0.000665

: Sonardyne - POSD response: 
POSD S130.2,N22.7,D32,U5,Q0.000665

: AshtechGps::processRecord() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172034.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $b6q0 d- 32.35  9.31 14.74 4.04 4.05 0 21627.64 02:24:56 m

: AshtechGps::processRecord() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172035.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R528.90,X2.19,Y15.30,Z-528.68

: Sonardyne - parsing R528.90,X2.19,Y15.30,Z-528.68

: Sonardyne - read R = 528.900000 from 528.90,X2.19,Y15.30,Z-528.68

: Sonardyne - got all data, Vehicle coordinates,
    r=528.900000, x=528.680000, y=2.190000, z=-15.300000 tat = 1180
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172036.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172036.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172037.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172037.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172038.00,,,,,0,00,,,M,,M,,*47


: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-26.3,N17.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-26.3,N17.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172039.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,172040.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172040.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R520.81,X2.37,Y36.34,Z-519.54

: Sonardyne - parsing R520.81,X2.37,Y36.34,Z-519.54

: Sonardyne - read R = 520.810000 from 520.81,X2.37,Y36.34,Z-519.54

: Sonardyne - got all data, Vehicle coordinates,
    r=520.810000, x=519.540000, y=2.370000, z=-36.340000 tat = 1170
:  wdt = 00895,  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,172041.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172041.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R517.55,X4.30,Y48.47,Z-515.26

: Sonardyne - parsing R517.55,X4.30,Y48.47,Z-515.26

: Sonardyne - read R = 517.550000 from 517.55,X4.30,Y48.47,Z-515.26

: Sonardyne - got all data, Vehicle coordinates,
    r=517.550000, x=515.260000, y=4.300000, z=-48.470000 tat = 1170
: AshtechGps::processRecord() - $GPGGA,172042.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172042.00,,,,,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,172043.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172043.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R514.68,X-5.46,Y7.87,Z-514.59

: Sonardyne - parsing R514.68,X-5.46,Y7.87,Z-514.59

: Sonardyne - read R = 514.680000 from 514.68,X-5.46,Y7.87,Z-514.59

: Sonardyne - got all data, Vehicle coordinates,
    r=514.680000, x=514.590000, y=-5.460000, z=-7.870000 tat = 1160
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172044.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R511.77,X-2.54,Y24.93,Z-511.15

: Sonardyne - parsing R511.77,X-2.54,Y24.93,Z-511.15

: Sonardyne - read R = 511.770000 from 511.77,X-2.54,Y24.93,Z-511.15

: Sonardyne - got all data, Vehicle coordinates,
    r=511.770000, x=511.150000, y=-2.540000, z=-24.930000 tat = 1160
: BluefinBatt Reply: $b6q0 d- 32.39  8.30 14.74 4.04 4.05 0 21626.97 02:25:06 m

: AshtechGps::processRecord() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172045.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172046.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R509.29,X-5.94,Y12.57,Z-509.10

: Sonardyne - parsing R509.29,X-5.94,Y12.57,Z-509.10

: Sonardyne - read R = 509.290000 from 509.29,X-5.94,Y12.57,Z-509.10

: Sonardyne - got all data, Vehicle coordinates,
    r=509.290000, x=509.100000, y=-5.940000, z=-12.570000 tat = 1160
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172047.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172047.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172048.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172049.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172050.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,172051.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172051.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R501.34,X6.69,Y42.51,Z-499.49

: Sonardyne - parsing R501.34,X6.69,Y42.51,Z-499.49

: Sonardyne - read R = 501.340000 from 501.34,X6.69,Y42.51,Z-499.49

: Sonardyne - got all data, Vehicle coordinates,
    r=501.340000, x=499.490000, y=6.690000, z=-42.510000 tat = 1150
:  wdt = 00894,  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,172052.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172052.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R500.68,X10.80,Y70.83,Z-495.52

: Sonardyne - parsing R500.68,X10.80,Y70.83,Z-495.52

: Sonardyne - read R = 500.680000 from 500.68,X10.80,Y70.83,Z-495.52

: Sonardyne - got all data, Vehicle coordinates,
    r=500.680000, x=495.520000, y=10.800000, z=-70.830000 tat = 1150
: AshtechGps::processRecord() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172053.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172054.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R497.24,X2.29,Y48.35,Z-494.88

: Sonardyne - parsing R497.24,X2.29,Y48.35,Z-494.88

: Sonardyne - read R = 497.240000 from 497.24,X2.29,Y48.35,Z-494.88

: Sonardyne - got all data, Vehicle coordinates,
    r=497.240000, x=494.880000, y=2.290000, z=-48.350000 tat = 1140
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.39  8.66 14.74 4.04 4.05 0 21625.99 02:25:16 m

: AshtechGps::processRecord() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172055.00,,,,,0,00,,,M,,M,,*4C


: 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 R494.99,X-0.66,Y48.56,Z-492.60

: Sonardyne - parsing R494.99,X-0.66,Y48.56,Z-492.60

: Sonardyne - read R = 494.990000 from 494.99,X-0.66,Y48.56,Z-492.60

: Sonardyne - got all data, Vehicle coordinates,
    r=494.990000, x=492.600000, y=-0.660000, z=-48.560000 tat = 1140
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172056.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172056.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172057.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172057.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172058.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172059.00,,,,,0,00,,,M,,M,,*40


: 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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,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,172100.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172100.00,,,,,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 R484.86,X-7.34,Y19.45,Z-484.41

: Sonardyne - parsing R484.86,X-7.34,Y19.45,Z-484.41

: Sonardyne - read R = 484.860000 from 484.86,X-7.34,Y19.45,Z-484.41

: Sonardyne - got all data, Vehicle coordinates,
    r=484.860000, x=484.410000, y=-7.340000, z=-19.450000 tat = 1120
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172101.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172102.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R481.90,X-7.87,Y5.07,Z-481.80

: Sonardyne - parsing R481.90,X-7.87,Y5.07,Z-481.80

: Sonardyne - read R = 481.900000 from 481.90,X-7.87,Y5.07,Z-481.80

: Sonardyne - got all data, Vehicle coordinates,
    r=481.900000, x=481.800000, y=-7.870000, z=-5.070000 tat = 1120
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172103.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172103.00,,,,,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 R479.94,X-7.71,Y-1.93,Z-479.88

: Sonardyne - parsing R479.94,X-7.71,Y-1.93,Z-479.88

: Sonardyne - read R = 479.940000 from 479.94,X-7.71,Y-1.93,Z-479.88

: Sonardyne - got all data, Vehicle coordinates,
    r=479.940000, x=479.880000, y=-7.710000, z=1.930000 tat = 1120
: AshtechGps::processRecord() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172104.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 32.35  9.75 14.74 4.03 4.05 0 21625.35 02:25:26 m

: AshtechGps::processRecord() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172105.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172106.00,,,,,0,00,,,M,,M,,*4B


: 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,172107.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172107.00,,,,,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,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172108.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R472.81,X8.64,Y24.91,Z-472.07

: Sonardyne - parsing R472.81,X8.64,Y24.91,Z-472.07

: Sonardyne - read R = 472.810000 from 472.81,X8.64,Y24.91,Z-472.07

: Sonardyne - got all data, Vehicle coordinates,
    r=472.810000, x=472.070000, y=8.640000, z=-24.910000 tat = 1110
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172109.00,,,,,0,00,,,M,,M,,*44


: 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,172110.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172110.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R470.43,X14.94,Y43.33,Z-468.20

: Sonardyne - parsing R470.43,X14.94,Y43.33,Z-468.20

: Sonardyne - read R = 470.430000 from 470.43,X14.94,Y43.33,Z-468.20

: Sonardyne - got all data, Vehicle coordinates,
    r=470.430000, x=468.200000, y=14.940000, z=-43.330000 tat = 1100
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172111.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172111.00,,,,,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 R467.13,X15.62,Y57.61,Z-463.31

: Sonardyne - parsing R467.13,X15.62,Y57.61,Z-463.31

: Sonardyne - read R = 467.130000 from 467.13,X15.62,Y57.61,Z-463.31

: Sonardyne - got all data, Vehicle coordinates,
    r=467.130000, x=463.310000, y=15.620000, z=-57.610000 tat = 1100
: AshtechGps::processRecord() - $GPGGA,172112.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172112.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172113.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R464.08,X7.81,Y46.78,Z-461.65

: Sonardyne - parsing R464.08,X7.81,Y46.78,Z-461.65

: Sonardyne - read R = 464.080000 from 464.08,X7.81,Y46.78,Z-461.65

: Sonardyne - got all data, Vehicle coordinates,
    r=464.080000, x=461.650000, y=7.810000, z=-46.780000 tat = 1089
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172114.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R462.08,X-8.74,Y-14.67,Z-461.76

: Sonardyne - parsing R462.08,X-8.74,Y-14.67,Z-461.76

: Sonardyne - read R = 462.080000 from 462.08,X-8.74,Y-14.67,Z-461.76

: Sonardyne - got all data, Vehicle coordinates,
    r=462.080000, x=461.760000, y=-8.740000, z=14.670000 tat = 1100
: BluefinBatt Reply: $b6q0 d- 32.35  8.95 14.74 4.03 4.05 0 21624.41 02:25:36 m

: AshtechGps::processRecord() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172115.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172116.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R458.65,X-2.33,Y22.43,Z-458.09

: Sonardyne - parsing R458.65,X-2.33,Y22.43,Z-458.09

: Sonardyne - read R = 458.650000 from 458.65,X-2.33,Y22.43,Z-458.09

: Sonardyne - got all data, Vehicle coordinates,
    r=458.650000, x=458.090000, y=-2.330000, z=-22.430000 tat = 1090
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172117.00,,,,,0,00,,,M,,M,,*4B


: 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 R456.31,X-3.10,Y27.26,Z-455.49

: Sonardyne - parsing R456.31,X-3.10,Y27.26,Z-455.49

: Sonardyne - read R = 456.310000 from 456.31,X-3.10,Y27.26,Z-455.49

: Sonardyne - got all data, Vehicle coordinates,
    r=456.310000, x=455.490000, y=-3.100000, z=-27.260000 tat = 1090
: AshtechGps::processRecord() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172118.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172119.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R453.92,X-8.47,Y-2.08,Z-453.84

: Sonardyne - parsing R453.92,X-8.47,Y-2.08,Z-453.84

: Sonardyne - read R = 453.920000 from 453.92,X-8.47,Y-2.08,Z-453.84

: Sonardyne - got all data, Vehicle coordinates,
    r=453.920000, x=453.840000, y=-8.470000, z=2.080000 tat = 1130
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172120.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172120.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R452.88,X-1.11,Y22.42,Z-452.32

: Sonardyne - parsing R452.88,X-1.11,Y22.42,Z-452.32

: Sonardyne - read R = 452.880000 from 452.88,X-1.11,Y22.42,Z-452.32

: Sonardyne - got all data, Vehicle coordinates,
    r=452.880000, x=452.320000, y=-1.110000, z=-22.420000 tat = 1080
: AshtechGps::processRecord() - $GPGGA,172121.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172121.00,,,,,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,172122.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172122.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R449.45,X1.68,Y29.08,Z-448.51

: Sonardyne - parsing R449.45,X1.68,Y29.08,Z-448.51

: Sonardyne - read R = 449.450000 from 449.45,X1.68,Y29.08,Z-448.51

: Sonardyne - got all data, Vehicle coordinates,
    r=449.450000, x=448.510000, y=1.680000, z=-29.080000 tat = 1080
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172123.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R446.70,X-1.00,Y14.34,Z-446.47

: Sonardyne - parsing R446.70,X-1.00,Y14.34,Z-446.47

: Sonardyne - read R = 446.700000 from 446.70,X-1.00,Y14.34,Z-446.47

: Sonardyne - got all data, Vehicle coordinates,
    r=446.700000, x=446.470000, y=-1.000000, z=-14.340000 tat = 1070
: AshtechGps::processRecord() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172124.00,,,,,0,00,,,M,,M,,*4B


: 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

: BluefinBatt Reply: $b6q0 d- 32.35  8.58 14.74 4.04 4.05 0 21623.75 02:25:46 m

: AshtechGps::processRecord() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172125.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R443.34,X-0.43,Y20.51,Z-442.87

: Sonardyne - parsing R443.34,X-0.43,Y20.51,Z-442.87

: Sonardyne - read R = 443.340000 from 443.34,X-0.43,Y20.51,Z-442.87

: Sonardyne - got all data, Vehicle coordinates,
    r=443.340000, x=442.870000, y=-0.430000, z=-20.510000 tat = 1070
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172126.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172126.00,,,,,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 R440.38,X1.90,Y29.60,Z-439.38

: Sonardyne - parsing R440.38,X1.90,Y29.60,Z-439.38

: Sonardyne - read R = 440.380000 from 440.38,X1.90,Y29.60,Z-439.38

: Sonardyne - got all data, Vehicle coordinates,
    r=440.380000, x=439.380000, y=1.900000, z=-29.600000 tat = 1060
: AshtechGps::processRecord() - $GPGGA,172127.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172127.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172128.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R437.74,X-1.11,Y25.07,Z-437.02

: Sonardyne - parsing R437.74,X-1.11,Y25.07,Z-437.02

: Sonardyne - read R = 437.740000 from 437.74,X-1.11,Y25.07,Z-437.02

: Sonardyne - got all data, Vehicle coordinates,
    r=437.740000, x=437.020000, y=-1.110000, z=-25.070000 tat = 1059
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172129.00,,,,,0,00,,,M,,M,,*46


: 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 R435.55,X-1.91,Y30.63,Z-434.47

: Sonardyne - parsing R435.55,X-1.91,Y30.63,Z-434.47

: Sonardyne - read R = 435.550000 from 435.55,X-1.91,Y30.63,Z-434.47

: Sonardyne - got all data, Vehicle coordinates,
    r=435.550000, x=434.470000, y=-1.910000, z=-30.630000 tat = 1060
: AshtechGps::processRecord() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172130.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172131.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R433.63,X-3.68,Y30.63,Z-432.54

: Sonardyne - parsing R433.63,X-3.68,Y30.63,Z-432.54

: Sonardyne - read R = 433.630000 from 433.63,X-3.68,Y30.63,Z-432.54

: Sonardyne - got all data, Vehicle coordinates,
    r=433.630000, x=432.540000, y=-3.680000, z=-30.630000 tat = 1060
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172132.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R431.57,X-3.70,Y23.45,Z-430.92

: Sonardyne - parsing R431.57,X-3.70,Y23.45,Z-430.92

: Sonardyne - read R = 431.570000 from 431.57,X-3.70,Y23.45,Z-430.92

: Sonardyne - got all data, Vehicle coordinates,
    r=431.570000, x=430.920000, y=-3.700000, z=-23.450000 tat = 1050
: AshtechGps::processRecord() - $GPGGA,172133.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172133.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172134.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R429.41,X2.73,Y32.43,Z-428.17

: Sonardyne - parsing R429.41,X2.73,Y32.43,Z-428.17

: Sonardyne - read R = 429.410000 from 429.41,X2.73,Y32.43,Z-428.17

: Sonardyne - got all data, Vehicle coordinates,
    r=429.410000, x=428.170000, y=2.730000, z=-32.430000 tat = 1050
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.32  9.49 14.84 4.04 4.05 0 21622.82 02:25:56 m

: AshtechGps::processRecord() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172135.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R426.98,X7.22,Y38.38,Z-425.19

: Sonardyne - parsing R426.98,X7.22,Y38.38,Z-425.19

: Sonardyne - read R = 426.980000 from 426.98,X7.22,Y38.38,Z-425.19

: Sonardyne - got all data, Vehicle coordinates,
    r=426.980000, x=425.190000, y=7.220000, z=-38.380000 tat = 1050
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172136.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172136.00,,,,,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,172137.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172137.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R424.31,X-2.31,Y-1.12,Z-424.30

: Sonardyne - parsing R424.31,X-2.31,Y-1.12,Z-424.30

: Sonardyne - read R = 424.310000 from 424.31,X-2.31,Y-1.12,Z-424.30

: Sonardyne - got all data, Vehicle coordinates,
    r=424.310000, x=424.300000, y=-2.310000, z=1.120000 tat = 1040
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172138.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172138.00,,,,,0,00,,,M,,M,,*46


: 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 R421.60,X8.20,Y36.88,Z-419.90

: Sonardyne - parsing R421.60,X8.20,Y36.88,Z-419.90

: Sonardyne - read R = 421.600000 from 421.60,X8.20,Y36.88,Z-419.90

: Sonardyne - got all data, Vehicle coordinates,
    r=421.600000, x=419.900000, y=8.200000, z=-36.880000 tat = 1040
: AshtechGps::processRecord() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172139.00,,,,,0,00,,,M,,M,,*47


: 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,172140.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172140.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R418.38,X7.68,Y41.66,Z-416.23

: Sonardyne - parsing R418.38,X7.68,Y41.66,Z-416.23

: Sonardyne - read R = 418.380000 from 418.38,X7.68,Y41.66,Z-416.23

: Sonardyne - got all data, Vehicle coordinates,
    r=418.380000, x=416.230000, y=7.680000, z=-41.660000 tat = 1030
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172141.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172141.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R415.64,X-1.07,Y13.30,Z-415.42

: Sonardyne - parsing R415.64,X-1.07,Y13.30,Z-415.42

: Sonardyne - read R = 415.640000 from 415.64,X-1.07,Y13.30,Z-415.42

: Sonardyne - got all data, Vehicle coordinates,
    r=415.640000, x=415.420000, y=-1.070000, z=-13.300000 tat = 1030
: AshtechGps::processRecord() - $GPGGA,172142.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172142.00,,,,,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,172143.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172143.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R412.82,X-3.85,Y10.10,Z-412.68

: Sonardyne - parsing R412.82,X-3.85,Y10.10,Z-412.68

: Sonardyne - read R = 412.820000 from 412.82,X-3.85,Y10.10,Z-412.68

: Sonardyne - got all data, Vehicle coordinates,
    r=412.820000, x=412.680000, y=-3.850000, z=-10.100000 tat = 1030
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172144.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R410.32,X-3.43,Y11.46,Z-410.14

: Sonardyne - parsing R410.32,X-3.43,Y11.46,Z-410.14

: Sonardyne - read R = 410.320000 from 410.32,X-3.43,Y11.46,Z-410.14

: Sonardyne - got all data, Vehicle coordinates,
    r=410.320000, x=410.140000, y=-3.430000, z=-11.460000 tat = 1020
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.32  9.35 14.84 4.04 4.05 0 21622.16 02:26:06 m

: AshtechGps::processRecord() - $GPGGA,172145.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172145.00,,,,,0,00,,,M,,M,,*4C


: 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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172146.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172146.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172147.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172147.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172148.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172148.00,,,,,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,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172149.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172149.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R403.55,X4.19,Y25.00,Z-402.76

: Sonardyne - parsing R403.55,X4.19,Y25.00,Z-402.76

: Sonardyne - read R = 403.550000 from 403.55,X4.19,Y25.00,Z-402.76

: Sonardyne - got all data, Vehicle coordinates,
    r=403.550000, x=402.760000, y=4.190000, z=-25.000000 tat = 1020
:  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,172150.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172150.00,,,,,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,172151.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172151.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R401.01,X13.92,Y49.70,Z-397.68

: Sonardyne - parsing R401.01,X13.92,Y49.70,Z-397.68

: Sonardyne - read R = 401.010000 from 401.01,X13.92,Y49.70,Z-397.68

: Sonardyne - got all data, Vehicle coordinates,
    r=401.010000, x=397.680000, y=13.920000, z=-49.700000 tat = 1010
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172152.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172152.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R398.59,X11.78,Y50.97,Z-395.14

: Sonardyne - parsing R398.59,X11.78,Y50.97,Z-395.14

: Sonardyne - read R = 398.590000 from 398.59,X11.78,Y50.97,Z-395.14

: Sonardyne - got all data, Vehicle coordinates,
    r=398.590000, x=395.140000, y=11.780000, z=-50.970000 tat = 1010
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172153.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172153.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,172154.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172154.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R396.28,X7.61,Y45.24,Z-393.61

: Sonardyne - parsing R396.28,X7.61,Y45.24,Z-393.61

: Sonardyne - read R = 396.280000 from 396.28,X7.61,Y45.24,Z-393.61

: Sonardyne - got all data, Vehicle coordinates,
    r=396.280000, x=393.610000, y=7.610000, z=-45.240000 tat = 1000
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.39  8.30 14.84 4.04 4.05 0 21621.19 02:26:16 m

: AshtechGps::processRecord() - $GPGGA,172155.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172155.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R393.47,X1.19,Y33.49,Z-392.04

: Sonardyne - parsing R393.47,X1.19,Y33.49,Z-392.04

: Sonardyne - read R = 393.470000 from 393.47,X1.19,Y33.49,Z-392.04

: Sonardyne - got all data, Vehicle coordinates,
    r=393.470000, x=392.040000, y=1.190000, z=-33.490000 tat = 1000
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172156.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172156.00,,,,,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,172157.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172157.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R390.49,X0.25,Y36.78,Z-388.76

: Sonardyne - parsing R390.49,X0.25,Y36.78,Z-388.76

: Sonardyne - read R = 390.490000 from 390.49,X0.25,Y36.78,Z-388.76

: Sonardyne - got all data, Vehicle coordinates,
    r=390.490000, x=388.760000, y=0.250000, z=-36.780000 tat = 999
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172158.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172158.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R388.02,X-7.71,Y15.08,Z-387.65

: Sonardyne - parsing R388.02,X-7.71,Y15.08,Z-387.65

: Sonardyne - read R = 388.020000 from 388.02,X-7.71,Y15.08,Z-387.65

: Sonardyne - got all data, Vehicle coordinates,
    r=388.020000, x=387.650000, y=-7.710000, z=-15.080000 tat = 990
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172159.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172159.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,172200.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172200.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R387.59,X-11.75,Y-10.92,Z-387.26

: Sonardyne - parsing R387.59,X-11.75,Y-10.92,Z-387.26

: Sonardyne - read R = 387.590000 from 387.59,X-11.75,Y-10.92,Z-387.26

: Sonardyne - got all data, Vehicle coordinates,
    r=387.590000, x=387.260000, y=-11.750000, z=10.920000 tat = 990
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172201.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172201.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R382.46,X-2.84,Y17.78,Z-382.04

: Sonardyne - parsing R382.46,X-2.84,Y17.78,Z-382.04

: Sonardyne - read R = 382.460000 from 382.46,X-2.84,Y17.78,Z-382.04

: Sonardyne - got all data, Vehicle coordinates,
    r=382.460000, x=382.040000, y=-2.840000, z=-17.780000 tat = 990
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172202.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172202.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,172203.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172203.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R379.93,X1.84,Y23.77,Z-379.18

: Sonardyne - parsing R379.93,X1.84,Y23.77,Z-379.18

: Sonardyne - read R = 379.930000 from 379.93,X1.84,Y23.77,Z-379.18

: Sonardyne - got all data, Vehicle coordinates,
    r=379.930000, x=379.180000, y=1.840000, z=-23.770000 tat = 980
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172204.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172204.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R377.34,X0.54,Y17.62,Z-376.92

: Sonardyne - parsing R377.34,X0.54,Y17.62,Z-376.92

: Sonardyne - read R = 377.340000 from 377.34,X0.54,Y17.62,Z-376.92

: Sonardyne - got all data, Vehicle coordinates,
    r=377.340000, x=376.920000, y=0.540000, z=-17.620000 tat = 980
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.35  9.02 14.84 4.04 4.05 0 21620.56 02:26:26 m

: AshtechGps::processRecord() - $GPGGA,172205.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172205.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172206.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172206.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R374.95,X4.61,Y33.84,Z-373.39

: Sonardyne - parsing R374.95,X4.61,Y33.84,Z-373.39

: Sonardyne - read R = 374.950000 from 374.95,X4.61,Y33.84,Z-373.39

: Sonardyne - got all data, Vehicle coordinates,
    r=374.950000, x=373.390000, y=4.610000, z=-33.840000 tat = 980
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172207.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172207.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R373.70

: Sonardyne - parsing R373.70

: Sonardyne - read R = 373.700000 from 373.70

: Sonardyne - got range only (373.700000), tat = 950
: Sonardyne - POSD response: 
POSD S128.0,N24.9,D-30,U5,Q0.000136

: Sonardyne - POSD response: 
POSD S128.0,N24.9,D-30,U5,Q0.000136

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172208.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172208.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R372.28,X3.11,Y31.12,Z-370.96

: Sonardyne - parsing R372.28,X3.11,Y31.12,Z-370.96

: Sonardyne - read R = 372.280000 from 372.28,X3.11,Y31.12,Z-370.96

: Sonardyne - got all data, Vehicle coordinates,
    r=372.280000, x=370.960000, y=3.110000, z=-31.120000 tat = 970
: 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

: AshtechGps::processRecord() - $GPGGA,172209.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172209.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R371.55,X2.18,Y37.02,Z-369.70

: Sonardyne - parsing R371.55,X2.18,Y37.02,Z-369.70

: Sonardyne - read R = 371.550000 from 371.55,X2.18,Y37.02,Z-369.70

: Sonardyne - got all data, Vehicle coordinates,
    r=371.550000, x=369.700000, y=2.180000, z=-37.020000 tat = 970
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172210.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172210.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R370.10,X3.53,Y46.97,Z-367.09

: Sonardyne - parsing R370.10,X3.53,Y46.97,Z-367.09

: Sonardyne - read R = 370.100000 from 370.10,X3.53,Y46.97,Z-367.09

: Sonardyne - got all data, Vehicle coordinates,
    r=370.100000, x=367.090000, y=3.530000, z=-46.970000 tat = 970
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172211.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172211.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R368.47,X-2.75,Y32.31,Z-367.04

: Sonardyne - parsing R368.47,X-2.75,Y32.31,Z-367.04

: Sonardyne - read R = 368.470000 from 368.47,X-2.75,Y32.31,Z-367.04

: Sonardyne - got all data, Vehicle coordinates,
    r=368.470000, x=367.040000, y=-2.750000, z=-32.310000 tat = 969
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172212.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172212.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R366.86,X1.04,Y54.98,Z-362.71

: Sonardyne - parsing R366.86,X1.04,Y54.98,Z-362.71

: Sonardyne - read R = 366.860000 from 366.86,X1.04,Y54.98,Z-362.71

: Sonardyne - got all data, Vehicle coordinates,
    r=366.860000, x=362.710000, y=1.040000, z=-54.980000 tat = 960
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172213.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172213.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R366.32,X-8.67,Y7.80,Z-366.13

: Sonardyne - parsing R366.32,X-8.67,Y7.80,Z-366.13

: Sonardyne - read R = 366.320000 from 366.32,X-8.67,Y7.80,Z-366.13

: Sonardyne - got all data, Vehicle coordinates,
    r=366.320000, x=366.130000, y=-8.670000, z=-7.800000 tat = 960
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172214.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172214.00,,,,,0,00,,,M,,M,,*4B


: 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

: BluefinBatt Reply: $b6q0 d- 32.39  8.08 14.84 4.04 4.05 0 21619.65 02:26:36 m

: AshtechGps::processRecord() - $GPGGA,172215.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172215.00,,,,,0,00,,,M,,M,,*4A


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

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,172216.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172216.00,,,,,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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172217.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172217.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172218.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172218.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R354.02,X1.23,Y19.27,Z-353.50

: Sonardyne - parsing R354.02,X1.23,Y19.27,Z-353.50

: Sonardyne - read R = 354.020000 from 354.02,X1.23,Y19.27,Z-353.50

: Sonardyne - got all data, Vehicle coordinates,
    r=354.020000, x=353.500000, y=1.230000, z=-19.270000 tat = 950
: 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

: AshtechGps::processRecord() - $GPGGA,172219.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172219.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R352.34,X-0.75,Y2.02,Z-352.33

: Sonardyne - parsing R352.34,X-0.75,Y2.02,Z-352.33

: Sonardyne - read R = 352.340000 from 352.34,X-0.75,Y2.02,Z-352.33

: Sonardyne - got all data, Vehicle coordinates,
    r=352.340000, x=352.330000, y=-0.750000, z=-2.020000 tat = 940
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172220.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172220.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R350.89,X1.04,Y12.51,Z-350.67

: Sonardyne - parsing R350.89,X1.04,Y12.51,Z-350.67

: Sonardyne - read R = 350.890000 from 350.89,X1.04,Y12.51,Z-350.67

: Sonardyne - got all data, Vehicle coordinates,
    r=350.890000, x=350.670000, y=1.040000, z=-12.510000 tat = 940
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172221.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172221.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R349.86,X-5.32,Y-8.86,Z-349.70

: Sonardyne - parsing R349.86,X-5.32,Y-8.86,Z-349.70

: Sonardyne - read R = 349.860000 from 349.86,X-5.32,Y-8.86,Z-349.70

: Sonardyne - got all data, Vehicle coordinates,
    r=349.860000, x=349.700000, y=-5.320000, z=8.860000 tat = 940
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172222.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172222.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R349.69,X-2.95,Y2.80,Z-349.67

: Sonardyne - parsing R349.69,X-2.95,Y2.80,Z-349.67

: Sonardyne - read R = 349.690000 from 349.69,X-2.95,Y2.80,Z-349.67

: Sonardyne - got all data, Vehicle coordinates,
    r=349.690000, x=349.670000, y=-2.950000, z=-2.800000 tat = 940
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172223.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172223.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R348.44,X2.70,Y28.14,Z-347.29

: Sonardyne - parsing R348.44,X2.70,Y28.14,Z-347.29

: Sonardyne - read R = 348.440000 from 348.44,X2.70,Y28.14,Z-347.29

: Sonardyne - got all data, Vehicle coordinates,
    r=348.440000, x=347.290000, y=2.700000, z=-28.140000 tat = 940
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172224.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172224.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R347.99,X1.69,Y21.16,Z-347.34

: Sonardyne - parsing R347.99,X1.69,Y21.16,Z-347.34

: Sonardyne - read R = 347.990000 from 347.99,X1.69,Y21.16,Z-347.34

: Sonardyne - got all data, Vehicle coordinates,
    r=347.990000, x=347.340000, y=1.690000, z=-21.160000 tat = 940
: BluefinBatt Reply: $b6q0 d- 32.32  8.11 14.84 4.04 4.05 0 21619.04 02:26:46 m

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

: AshtechGps::processRecord() - $GPGGA,172225.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172225.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R346.72,X6.04,Y39.47,Z-344.41

: Sonardyne - parsing R346.72,X6.04,Y39.47,Z-344.41

: Sonardyne - read R = 346.720000 from 346.72,X6.04,Y39.47,Z-344.41

: Sonardyne - got all data, Vehicle coordinates,
    r=346.720000, x=344.410000, y=6.040000, z=-39.470000 tat = 940
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,172226.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172226.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R345.77,X6.48,Y37.66,Z-343.66

: Sonardyne - parsing R345.77,X6.48,Y37.66,Z-343.66

: Sonardyne - read R = 345.770000 from 345.77,X6.48,Y37.66,Z-343.66

: Sonardyne - got all data, Vehicle coordinates,
    r=345.770000, x=343.660000, y=6.480000, z=-37.660000 tat = 939
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172227.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172227.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R343.74,X6.68,Y35.16,Z-341.87

: Sonardyne - parsing R343.74,X6.68,Y35.16,Z-341.87

: Sonardyne - read R = 343.740000 from 343.74,X6.68,Y35.16,Z-341.87

: Sonardyne - got all data, Vehicle coordinates,
    r=343.740000, x=341.870000, y=6.680000, z=-35.160000 tat = 930
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172228.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172228.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R341.35,X10.13,Y46.00,Z-338.09

: Sonardyne - parsing R341.35,X10.13,Y46.00,Z-338.09

: Sonardyne - read R = 341.350000 from 341.35,X10.13,Y46.00,Z-338.09

: Sonardyne - got all data, Vehicle coordinates,
    r=341.350000, x=338.090000, y=10.130000, z=-46.000000 tat = 930
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172229.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172229.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R338.99,X8.79,Y39.89,Z-336.52

: Sonardyne - parsing R338.99,X8.79,Y39.89,Z-336.52

: Sonardyne - read R = 338.990000 from 338.99,X8.79,Y39.89,Z-336.52

: Sonardyne - got all data, Vehicle coordinates,
    r=338.990000, x=336.520000, y=8.790000, z=-39.890000 tat = 930
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172230.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172230.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R336.55,X4.77,Y32.73,Z-334.92

: Sonardyne - parsing R336.55,X4.77,Y32.73,Z-334.92

: Sonardyne - read R = 336.550000 from 336.55,X4.77,Y32.73,Z-334.92

: Sonardyne - got all data, Vehicle coordinates,
    r=336.550000, x=334.920000, y=4.770000, z=-32.730000 tat = 920
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172231.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172231.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R337.03

: Sonardyne - parsing R337.03

: Sonardyne - read R = 337.030000 from 337.03

: Sonardyne - got range only (337.030000), tat = 900
: Sonardyne - POSD response: 
POSD S126.1,N27.0,D-48,U1,Q0.007356

: Sonardyne - POSD response: 
POSD S126.1,N27.0,D-48,U1,Q0.007356

: 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,172232.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172232.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R330.33,X-3.56,Y-5.86,Z-330.26

: Sonardyne - parsing R330.33,X-3.56,Y-5.86,Z-330.26

: Sonardyne - read R = 330.330000 from 330.33,X-3.56,Y-5.86,Z-330.26

: Sonardyne - got all data, Vehicle coordinates,
    r=330.330000, x=330.260000, y=-3.560000, z=5.860000 tat = 920
: 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,172233.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172233.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R328.52,X-1.44,Y6.64,Z-328.45

: Sonardyne - parsing R328.52,X-1.44,Y6.64,Z-328.45

: Sonardyne - read R = 328.520000 from 328.52,X-1.44,Y6.64,Z-328.45

: Sonardyne - got all data, Vehicle coordinates,
    r=328.520000, x=328.450000, y=-1.440000, z=-6.640000 tat = 910
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172234.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172234.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R328.00,X-12.46,Y-47.42,Z-324.31

: Sonardyne - parsing R328.00,X-12.46,Y-47.42,Z-324.31

: Sonardyne - read R = 328.000000 from 328.00,X-12.46,Y-47.42,Z-324.31

: Sonardyne - got all data, Vehicle coordinates,
    r=328.000000, x=324.310000, y=-12.460000, z=47.420000 tat = 910
: BluefinBatt Reply: $b6q0 d- 32.32  8.98 14.84 4.04 4.05 0 21618.10 02:26:56 m

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

: AshtechGps::processRecord() - $GPGGA,172235.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172235.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R324.88,X-1.94,Y4.51,Z-324.84

: Sonardyne - parsing R324.88,X-1.94,Y4.51,Z-324.84

: Sonardyne - read R = 324.880000 from 324.88,X-1.94,Y4.51,Z-324.84

: Sonardyne - got all data, Vehicle coordinates,
    r=324.880000, x=324.840000, y=-1.940000, z=-4.510000 tat = 910
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,172236.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172236.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R324.30,X-0.16,Y10.22,Z-324.14

: Sonardyne - parsing R324.30,X-0.16,Y10.22,Z-324.14

: Sonardyne - read R = 324.300000 from 324.30,X-0.16,Y10.22,Z-324.14

: Sonardyne - got all data, Vehicle coordinates,
    r=324.300000, x=324.140000, y=-0.160000, z=-10.220000 tat = 910
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172237.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172237.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R323.38,X0.08,Y16.15,Z-322.98

: Sonardyne - parsing R323.38,X0.08,Y16.15,Z-322.98

: Sonardyne - read R = 323.380000 from 323.38,X0.08,Y16.15,Z-322.98

: Sonardyne - got all data, Vehicle coordinates,
    r=323.380000, x=322.980000, y=0.080000, z=-16.150000 tat = 910
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172238.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172238.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R322.38,X-1.14,Y14.44,Z-322.06

: Sonardyne - parsing R322.38,X-1.14,Y14.44,Z-322.06

: Sonardyne - read R = 322.380000 from 322.38,X-1.14,Y14.44,Z-322.06

: Sonardyne - got all data, Vehicle coordinates,
    r=322.380000, x=322.060000, y=-1.140000, z=-14.440000 tat = 910
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172239.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172239.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R324.53,X-10.23,Y-19.63,Z-323.77

: Sonardyne - parsing R324.53,X-10.23,Y-19.63,Z-323.77

: Sonardyne - read R = 324.530000 from 324.53,X-10.23,Y-19.63,Z-323.77

: Sonardyne - got all data, Vehicle coordinates,
    r=324.530000, x=323.770000, y=-10.230000, z=19.630000 tat = 910
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172240.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172240.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R320.51,X8.87,Y54.50,Z-315.71

: Sonardyne - parsing R320.51,X8.87,Y54.50,Z-315.71

: Sonardyne - read R = 320.510000 from 320.51,X8.87,Y54.50,Z-315.71

: Sonardyne - got all data, Vehicle coordinates,
    r=320.510000, x=315.710000, y=8.870000, z=-54.500000 tat = 899
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172241.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172241.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R320.14,X14.19,Y72.03,Z-311.61

: Sonardyne - parsing R320.14,X14.19,Y72.03,Z-311.61

: Sonardyne - read R = 320.140000 from 320.14,X14.19,Y72.03,Z-311.61

: Sonardyne - got all data, Vehicle coordinates,
    r=320.140000, x=311.610000, y=14.190000, z=-72.030000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172242.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172242.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R317.52,X8.45,Y51.58,Z-313.19

: Sonardyne - parsing R317.52,X8.45,Y51.58,Z-313.19

: Sonardyne - read R = 317.520000 from 317.52,X8.45,Y51.58,Z-313.19

: Sonardyne - got all data, Vehicle coordinates,
    r=317.520000, x=313.190000, y=8.450000, z=-51.580000 tat = 900
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172243.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172243.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R315.62,X8.32,Y56.08,Z-310.48

: Sonardyne - parsing R315.62,X8.32,Y56.08,Z-310.48

: Sonardyne - read R = 315.620000 from 315.62,X8.32,Y56.08,Z-310.48

: Sonardyne - got all data, Vehicle coordinates,
    r=315.620000, x=310.480000, y=8.320000, z=-56.080000 tat = 900
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172244.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172244.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R313.09,X-0.21,Y22.64,Z-312.27

: Sonardyne - parsing R313.09,X-0.21,Y22.64,Z-312.27

: Sonardyne - read R = 313.090000 from 313.09,X-0.21,Y22.64,Z-312.27

: Sonardyne - got all data, Vehicle coordinates,
    r=313.090000, x=312.270000, y=-0.210000, z=-22.640000 tat = 890
: BluefinBatt Reply: $b6q0 d- 32.32  9.16 14.84 4.03 4.05 0 21617.38 02:27:06 m

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

: AshtechGps::processRecord() - $GPGGA,172245.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172245.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R312.14,X5.91,Y36.53,Z-309.94

: Sonardyne - parsing R312.14,X5.91,Y36.53,Z-309.94

: Sonardyne - read R = 312.140000 from 312.14,X5.91,Y36.53,Z-309.94

: Sonardyne - got all data, Vehicle coordinates,
    r=312.140000, x=309.940000, y=5.910000, z=-36.530000 tat = 890
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,172246.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172246.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.68,X-0.20,Y20.49,Z-308.00

: Sonardyne - parsing R308.68,X-0.20,Y20.49,Z-308.00

: Sonardyne - read R = 308.680000 from 308.68,X-0.20,Y20.49,Z-308.00

: Sonardyne - got all data, Vehicle coordinates,
    r=308.680000, x=308.000000, y=-0.200000, z=-20.490000 tat = 890
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172247.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172247.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.40,X-2.49,Y11.05,Z-306.20

: Sonardyne - parsing R306.40,X-2.49,Y11.05,Z-306.20

: Sonardyne - read R = 306.400000 from 306.40,X-2.49,Y11.05,Z-306.20

: Sonardyne - got all data, Vehicle coordinates,
    r=306.400000, x=306.200000, y=-2.490000, z=-11.050000 tat = 880
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172248.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172248.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.36,X-6.27,Y-4.39,Z-304.26

: Sonardyne - parsing R304.36,X-6.27,Y-4.39,Z-304.26

: Sonardyne - read R = 304.360000 from 304.36,X-6.27,Y-4.39,Z-304.26

: Sonardyne - got all data, Vehicle coordinates,
    r=304.360000, x=304.260000, y=-6.270000, z=4.390000 tat = 880
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172249.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172249.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R302.56,X-6.74,Y-4.37,Z-302.45

: Sonardyne - parsing R302.56,X-6.74,Y-4.37,Z-302.45

: Sonardyne - read R = 302.560000 from 302.56,X-6.74,Y-4.37,Z-302.45

: Sonardyne - got all data, Vehicle coordinates,
    r=302.560000, x=302.450000, y=-6.740000, z=4.370000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172250.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172250.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R300.70

: Sonardyne - parsing R300.70

: Sonardyne - read R = 300.700000 from 300.70

: Sonardyne - got range only (300.700000), tat = 850
: Sonardyne - POSD response: 
POSD S125.7,N25.1,D-11,U2,Q0.000373

: Sonardyne - POSD response: 
POSD S125.7,N25.1,D-11,U2,Q0.000373

: 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,172251.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172251.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.20,X-5.30,Y1.38,Z-299.15

: Sonardyne - parsing R299.20,X-5.30,Y1.38,Z-299.15

: Sonardyne - read R = 299.200000 from 299.20,X-5.30,Y1.38,Z-299.15

: Sonardyne - got all data, Vehicle coordinates,
    r=299.200000, x=299.150000, y=-5.300000, z=-1.380000 tat = 870
: 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,172252.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172252.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.45

: Sonardyne - parsing R298.45

: Sonardyne - read R = 298.450000 from 298.45

: Sonardyne - got range only (298.450000), tat = 850
: Sonardyne - POSD response: 
POSD S137.1,N29.6,D65,U3,Q0.009323

: Sonardyne - POSD response: 
POSD S137.1,N29.6,D65,U3,Q0.009323

: 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,172253.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172253.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R296.91,X0.25,Y22.94,Z-296.03

: Sonardyne - parsing R296.91,X0.25,Y22.94,Z-296.03

: Sonardyne - read R = 296.910000 from 296.91,X0.25,Y22.94,Z-296.03

: Sonardyne - got all data, Vehicle coordinates,
    r=296.910000, x=296.030000, y=0.250000, z=-22.940000 tat = 870
: 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,172254.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172254.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R295.66,X0.60,Y21.68,Z-294.86

: Sonardyne - parsing R295.66,X0.60,Y21.68,Z-294.86

: Sonardyne - read R = 295.660000 from 295.66,X0.60,Y21.68,Z-294.86

: Sonardyne - got all data, Vehicle coordinates,
    r=295.660000, x=294.860000, y=0.600000, z=-21.680000 tat = 870
: BluefinBatt Reply: $b6q0 d- 32.35  8.51 14.84 4.03 4.05 0 21616.45 02:27:16 m

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

: AshtechGps::processRecord() - $GPGGA,172255.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172255.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R294.59,X-2.29,Y15.27,Z-294.19

: Sonardyne - parsing R294.59,X-2.29,Y15.27,Z-294.19

: Sonardyne - read R = 294.590000 from 294.59,X-2.29,Y15.27,Z-294.19

: Sonardyne - got all data, Vehicle coordinates,
    r=294.590000, x=294.190000, y=-2.290000, z=-15.270000 tat = 869
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172256.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172256.00,,,,,0,00,,,M,,M,,*4D


:  wdt = 00890,  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 R293.39,X2.52,Y26.85,Z-292.15

: Sonardyne - parsing R293.39,X2.52,Y26.85,Z-292.15

: Sonardyne - read R = 293.390000 from 293.39,X2.52,Y26.85,Z-292.15

: Sonardyne - got all data, Vehicle coordinates,
    r=293.390000, x=292.150000, y=2.520000, z=-26.850000 tat = 870
: AshtechGps::processRecord() - $GPGGA,172257.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172257.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R292.03,X9.14,Y43.98,Z-288.56

: Sonardyne - parsing R292.03,X9.14,Y43.98,Z-288.56

: Sonardyne - read R = 292.030000 from 292.03,X9.14,Y43.98,Z-288.56

: Sonardyne - got all data, Vehicle coordinates,
    r=292.030000, x=288.560000, y=9.140000, z=-43.980000 tat = 860
: AshtechGps::processRecord() - $GPGGA,172258.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172258.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R290.75

: Sonardyne - parsing R290.75

: Sonardyne - read R = 290.750000 from 290.75

: Sonardyne - got range only (290.750000), tat = 840
: Sonardyne - POSD response: 
POSD S134.6,N26.4,D40,U2,Q0.000308

: Sonardyne - POSD response: 
POSD S134.6,N26.4,D40,U2,Q0.000308

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172259.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172259.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R289.73,X5.38,Y41.57,Z-286.68

: Sonardyne - parsing R289.73,X5.38,Y41.57,Z-286.68

: Sonardyne - read R = 289.730000 from 289.73,X5.38,Y41.57,Z-286.68

: Sonardyne - got all data, Vehicle coordinates,
    r=289.730000, x=286.680000, y=5.380000, z=-41.570000 tat = 860
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172300.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172300.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R288.71

: Sonardyne - parsing R288.71

: Sonardyne - read R = 288.710000 from 288.71

: Sonardyne - got range only (288.710000), tat = 840
: Sonardyne - POSD response: 
POSD S134.5,N23.5,D-144,U5,Q0.000852

: Sonardyne - POSD response: 
POSD S134.5,N23.5,D-144,U5,Q0.000852

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172301.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172301.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R285.00,X1.38,Y36.47,Z-282.66

: Sonardyne - parsing R285.00,X1.38,Y36.47,Z-282.66

: Sonardyne - read R = 285.000000 from 285.00,X1.38,Y36.47,Z-282.66

: Sonardyne - got all data, Vehicle coordinates,
    r=285.000000, x=282.660000, y=1.380000, z=-36.470000 tat = 850
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172302.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172302.00,,,,,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 R283.16,X-4.94,Y21.99,Z-282.26

: Sonardyne - parsing R283.16,X-4.94,Y21.99,Z-282.26

: Sonardyne - read R = 283.160000 from 283.16,X-4.94,Y21.99,Z-282.26

: Sonardyne - got all data, Vehicle coordinates,
    r=283.160000, x=282.260000, y=-4.940000, z=-21.990000 tat = 850
: AshtechGps::processRecord() - $GPGGA,172303.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172303.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R280.60,X-5.83,Y20.90,Z-279.76

: Sonardyne - parsing R280.60,X-5.83,Y20.90,Z-279.76

: Sonardyne - read R = 280.600000 from 280.60,X-5.83,Y20.90,Z-279.76

: Sonardyne - got all data, Vehicle coordinates,
    r=280.600000, x=279.760000, y=-5.830000, z=-20.900000 tat = 850
: AshtechGps::processRecord() - $GPGGA,172304.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172304.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R278.26,X-6.20,Y10.52,Z-278.00

: Sonardyne - parsing R278.26,X-6.20,Y10.52,Z-278.00

: Sonardyne - read R = 278.260000 from 278.26,X-6.20,Y10.52,Z-278.00

: Sonardyne - got all data, Vehicle coordinates,
    r=278.260000, x=278.000000, y=-6.200000, z=-10.520000 tat = 850
: BluefinBatt Reply: $b6q0 d- 32.35  9.02 14.84 4.03 4.05 0 21615.83 02:27:26 m

: AshtechGps::processRecord() - $GPGGA,172305.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172305.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R276.03,X-4.86,Y13.62,Z-275.65

: Sonardyne - parsing R276.03,X-4.86,Y13.62,Z-275.65

: Sonardyne - read R = 276.030000 from 276.03,X-4.86,Y13.62,Z-275.65

: Sonardyne - got all data, Vehicle coordinates,
    r=276.030000, x=275.650000, y=-4.860000, z=-13.620000 tat = 840
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172306.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172306.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R274.06,X-5.65,Y5.61,Z-273.94

: Sonardyne - parsing R274.06,X-5.65,Y5.61,Z-273.94

: Sonardyne - read R = 274.060000 from 274.06,X-5.65,Y5.61,Z-273.94

: Sonardyne - got all data, Vehicle coordinates,
    r=274.060000, x=273.940000, y=-5.650000, z=-5.610000 tat = 840
: AshtechGps::processRecord() - $GPGGA,172307.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172307.00,,,,,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 R272.29,X-4.59,Y11.34,Z-272.01

: Sonardyne - parsing R272.29,X-4.59,Y11.34,Z-272.01

: Sonardyne - read R = 272.290000 from 272.29,X-4.59,Y11.34,Z-272.01

: Sonardyne - got all data, Vehicle coordinates,
    r=272.290000, x=272.010000, y=-4.590000, z=-11.340000 tat = 840
: AshtechGps::processRecord() - $GPGGA,172308.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172308.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R270.80,X-6.51,Y2.35,Z-270.71

: Sonardyne - parsing R270.80,X-6.51,Y2.35,Z-270.71

: Sonardyne - read R = 270.800000 from 270.80,X-6.51,Y2.35,Z-270.71

: Sonardyne - got all data, Vehicle coordinates,
    r=270.800000, x=270.710000, y=-6.510000, z=-2.350000 tat = 840
: AshtechGps::processRecord() - $GPGGA,172309.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172309.00,,,,,0,00,,,M,,M,,*46


: 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 R271.11

: Sonardyne - parsing R271.11

: Sonardyne - read R = 271.110000 from 271.11

: Sonardyne - got range only (271.110000), tat = 809
: Sonardyne - POSD response: 
POSD S134.0,N25.0,D-69,U3,Q0.015947

: Sonardyne - POSD response: 
POSD S134.0,N25.0,D-69,U3,Q0.015947

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172310.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172310.00,,,,,0,00,,,M,,M,,*4E


: 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 R268.58,X-1.18,Y18.65,Z-267.93

: Sonardyne - parsing R268.58,X-1.18,Y18.65,Z-267.93

: Sonardyne - read R = 268.580000 from 268.58,X-1.18,Y18.65,Z-267.93

: Sonardyne - got all data, Vehicle coordinates,
    r=268.580000, x=267.930000, y=-1.180000, z=-18.650000 tat = 830
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172311.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172311.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R267.45,X2.29,Y28.44,Z-265.92

: Sonardyne - parsing R267.45,X2.29,Y28.44,Z-265.92

: Sonardyne - read R = 267.450000 from 267.45,X2.29,Y28.44,Z-265.92

: Sonardyne - got all data, Vehicle coordinates,
    r=267.450000, x=265.920000, y=2.290000, z=-28.440000 tat = 830
: AshtechGps::processRecord() - $GPGGA,172312.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172312.00,,,,,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 R266.45

: Sonardyne - parsing R266.45

: Sonardyne - read R = 266.450000 from 266.45

: Sonardyne - got range only (266.450000), tat = 810
: Sonardyne - POSD response: 
POSD S126.6,N29.5,D18,U5,Q0.000412

: Sonardyne - POSD response: 
POSD S126.6,N29.5,D18,U5,Q0.000412

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172313.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172313.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R265.45,X6.33,Y43.26,Z-261.82

: Sonardyne - parsing R265.45,X6.33,Y43.26,Z-261.82

: Sonardyne - read R = 265.450000 from 265.45,X6.33,Y43.26,Z-261.82

: Sonardyne - got all data, Vehicle coordinates,
    r=265.450000, x=261.820000, y=6.330000, z=-43.260000 tat = 830
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172314.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172314.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R264.06,X4.83,Y31.31,Z-262.15

: Sonardyne - parsing R264.06,X4.83,Y31.31,Z-262.15

: Sonardyne - read R = 264.060000 from 264.06,X4.83,Y31.31,Z-262.15

: Sonardyne - got all data, Vehicle coordinates,
    r=264.060000, x=262.150000, y=4.830000, z=-31.310000 tat = 830
: BluefinBatt Reply: $b6q0 d- 32.32  9.53 14.84 4.03 4.05 0 21614.87 02:27:36 m

: AshtechGps::processRecord() - $GPGGA,172315.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172315.00,,,,,0,00,,,M,,M,,*4B


: 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 R262.34,X8.56,Y46.75,Z-258.00

: Sonardyne - parsing R262.34,X8.56,Y46.75,Z-258.00

: Sonardyne - read R = 262.340000 from 262.34,X8.56,Y46.75,Z-258.00

: Sonardyne - got all data, Vehicle coordinates,
    r=262.340000, x=258.000000, y=8.560000, z=-46.750000 tat = 820
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172316.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172316.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R261.01,X8.05,Y39.88,Z-257.82

: Sonardyne - parsing R261.01,X8.05,Y39.88,Z-257.82

: Sonardyne - read R = 261.010000 from 261.01,X8.05,Y39.88,Z-257.82

: Sonardyne - got all data, Vehicle coordinates,
    r=261.010000, x=257.820000, y=8.050000, z=-39.880000 tat = 820
: AshtechGps::processRecord() - $GPGGA,172317.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172317.00,,,,,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 R258.42,X2.07,Y19.22,Z-257.69

: Sonardyne - parsing R258.42,X2.07,Y19.22,Z-257.69

: Sonardyne - read R = 258.420000 from 258.42,X2.07,Y19.22,Z-257.69

: Sonardyne - got all data, Vehicle coordinates,
    r=258.420000, x=257.690000, y=2.070000, z=-19.220000 tat = 820
: AshtechGps::processRecord() - $GPGGA,172318.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,172318.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R256.27,X4.58,Y29.37,Z-254.54

: Sonardyne - parsing R256.27,X4.58,Y29.37,Z-254.54

: Sonardyne - read R = 256.270000 from 256.27,X4.58,Y29.37,Z-254.54

: Sonardyne - got all data, Vehicle coordinates,
    r=256.270000, x=254.540000, y=4.580000, z=-29.370000 tat = 820
: AshtechGps::processRecord() - $GPGGA,172319.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,172319.00,,,,,0,00,,,M,,M,,*47


: 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 R254.53,X0.86,Y14.67,Z-254.11

: Sonardyne - parsing R254.53,X0.86,Y14.67,Z-254.11

: Sonardyne - read R = 254.530000 from 254.53,X0.86,Y14.67,Z-254.11

: Sonardyne - got all data, Vehicle coordinates,
    r=254.530000, x=254.110000, y=0.860000, z=-14.670000 tat = 810
: AshtechGps::processRecord() - $GPGGA,172320.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172320.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R251.88,X0.09,Y15.02,Z-251.43

: Sonardyne - parsing R251.88,X0.09,Y15.02,Z-251.43

: Sonardyne - read R = 251.880000 from 251.88,X0.09,Y15.02,Z-251.43

: Sonardyne - got all data, Vehicle coordinates,
    r=251.880000, x=251.430000, y=0.090000, z=-15.020000 tat = 810
: AshtechGps::processRecord() - $GPGGA,172321.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172321.00,,,,,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 R249.85,X-1.36,Y7.63,Z-249.73

: Sonardyne - parsing R249.85,X-1.36,Y7.63,Z-249.73

: Sonardyne - read R = 249.850000 from 249.85,X-1.36,Y7.63,Z-249.73

: Sonardyne - got all data, Vehicle coordinates,
    r=249.850000, x=249.730000, y=-1.360000, z=-7.630000 tat = 810
: AshtechGps::processRecord() - $GPGGA,172322.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172322.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R248.07,X-0.92,Y7.42,Z-247.95

: Sonardyne - parsing R248.07,X-0.92,Y7.42,Z-247.95

: Sonardyne - read R = 248.070000 from 248.07,X-0.92,Y7.42,Z-247.95

: Sonardyne - got all data, Vehicle coordinates,
    r=248.070000, x=247.950000, y=-0.920000, z=-7.420000 tat = 800
: AshtechGps::processRecord() - $GPGGA,172323.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172323.00,,,,,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 R246.26,X-3.05,Y-5.70,Z-246.17

: Sonardyne - parsing R246.26,X-3.05,Y-5.70,Z-246.17

: Sonardyne - read R = 246.260000 from 246.26,X-3.05,Y-5.70,Z-246.17

: Sonardyne - got all data, Vehicle coordinates,
    r=246.260000, x=246.170000, y=-3.050000, z=5.700000 tat = 800
: AshtechGps::processRecord() - $GPGGA,172324.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172324.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R244.83,X-1.33,Y3.80,Z-244.79

: Sonardyne - parsing R244.83,X-1.33,Y3.80,Z-244.79

: Sonardyne - read R = 244.830000 from 244.83,X-1.33,Y3.80,Z-244.79

: Sonardyne - got all data, Vehicle coordinates,
    r=244.830000, x=244.790000, y=-1.330000, z=-3.800000 tat = 799
: BluefinBatt Reply: $b6q0 d- 32.39  7.86 14.84 4.03 4.05 0 21614.22 02:27:46 m

: AshtechGps::processRecord() - $GPGGA,172325.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172325.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R243.36,X-1.11,Y3.41,Z-243.33

: Sonardyne - parsing R243.36,X-1.11,Y3.41,Z-243.33

: Sonardyne - read R = 243.360000 from 243.36,X-1.11,Y3.41,Z-243.33

: Sonardyne - got all data, Vehicle coordinates,
    r=243.360000, x=243.330000, y=-1.110000, z=-3.410000 tat = 800
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172326.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172326.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R241.88,X-1.62,Y1.72,Z-241.87

: Sonardyne - parsing R241.88,X-1.62,Y1.72,Z-241.87

: Sonardyne - read R = 241.880000 from 241.88,X-1.62,Y1.72,Z-241.87

: Sonardyne - got all data, Vehicle coordinates,
    r=241.880000, x=241.870000, y=-1.620000, z=-1.720000 tat = 800
: AshtechGps::processRecord() - $GPGGA,172327.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172327.00,,,,,0,00,,,M,,M,,*4A


: 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 R241.19,X4.59,Y29.10,Z-239.38

: Sonardyne - parsing R241.19,X4.59,Y29.10,Z-239.38

: Sonardyne - read R = 241.190000 from 241.19,X4.59,Y29.10,Z-239.38

: Sonardyne - got all data, Vehicle coordinates,
    r=241.190000, x=239.380000, y=4.590000, z=-29.100000 tat = 800
: AshtechGps::processRecord() - $GPGGA,172328.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172328.00,,,,,0,00,,,M,,M,,*45


: 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 R239.11,X0.93,Y15.15,Z-238.63

: Sonardyne - parsing R239.11,X0.93,Y15.15,Z-238.63

: Sonardyne - read R = 239.110000 from 239.11,X0.93,Y15.15,Z-238.63

: Sonardyne - got all data, Vehicle coordinates,
    r=239.110000, x=238.630000, y=0.930000, z=-15.150000 tat = 790
: AshtechGps::processRecord() - $GPGGA,172329.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172329.00,,,,,0,00,,,M,,M,,*44


: 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 R237.64,X3.65,Y29.10,Z-235.82

: Sonardyne - parsing R237.64,X3.65,Y29.10,Z-235.82

: Sonardyne - read R = 237.640000 from 237.64,X3.65,Y29.10,Z-235.82

: Sonardyne - got all data, Vehicle coordinates,
    r=237.640000, x=235.820000, y=3.650000, z=-29.100000 tat = 790
: AshtechGps::processRecord() - $GPGGA,172330.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172330.00,,,,,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 R236.15,X3.88,Y30.41,Z-234.15

: Sonardyne - parsing R236.15,X3.88,Y30.41,Z-234.15

: Sonardyne - read R = 236.150000 from 236.15,X3.88,Y30.41,Z-234.15

: Sonardyne - got all data, Vehicle coordinates,
    r=236.150000, x=234.150000, y=3.880000, z=-30.410000 tat = 790
: AshtechGps::processRecord() - $GPGGA,172331.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172331.00,,,,,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 R235.11,X7.43,Y46.38,Z-230.37

: Sonardyne - parsing R235.11,X7.43,Y46.38,Z-230.37

: Sonardyne - read R = 235.110000 from 235.11,X7.43,Y46.38,Z-230.37

: Sonardyne - got all data, Vehicle coordinates,
    r=235.110000, x=230.370000, y=7.430000, z=-46.380000 tat = 790
: AshtechGps::processRecord() - $GPGGA,172332.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172332.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R233.19,X2.95,Y39.03,Z-229.88

: Sonardyne - parsing R233.19,X2.95,Y39.03,Z-229.88

: Sonardyne - read R = 233.190000 from 233.19,X2.95,Y39.03,Z-229.88

: Sonardyne - got all data, Vehicle coordinates,
    r=233.190000, x=229.880000, y=2.950000, z=-39.030000 tat = 780
: AshtechGps::processRecord() - $GPGGA,172333.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172333.00,,,,,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 R231.73,X3.19,Y40.26,Z-228.18

: Sonardyne - parsing R231.73,X3.19,Y40.26,Z-228.18

: Sonardyne - read R = 231.730000 from 231.73,X3.19,Y40.26,Z-228.18

: Sonardyne - got all data, Vehicle coordinates,
    r=231.730000, x=228.180000, y=3.190000, z=-40.260000 tat = 780
: AshtechGps::processRecord() - $GPGGA,172334.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172334.00,,,,,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 R230.09,X1.64,Y37.57,Z-227.00

: Sonardyne - parsing R230.09,X1.64,Y37.57,Z-227.00

: Sonardyne - read R = 230.090000 from 230.09,X1.64,Y37.57,Z-227.00

: Sonardyne - got all data, Vehicle coordinates,
    r=230.090000, x=227.000000, y=1.640000, z=-37.570000 tat = 780
: BluefinBatt Reply: $b6q0 d- 32.28  9.49 14.84 4.03 4.05 0 21613.25 02:27:56 m

: AshtechGps::processRecord() - $GPGGA,172335.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172335.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R232.81

: Sonardyne - parsing R232.81

: Sonardyne - read R = 232.810000 from 232.81

: Sonardyne - got range only (232.810000), tat = 760
: Sonardyne - POSD response: 
POSD S129.6,N25.9,D-74,U4,Q0.013049

: Sonardyne - POSD response: 
POSD S129.6,N25.9,D-74,U4,Q0.013049

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172336.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172336.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R226.95

: Sonardyne - parsing R226.95

: Sonardyne - read R = 226.950000 from 226.95

: Sonardyne - got range only (226.950000), tat = 750
: Sonardyne - POSD response: 
POSD S125.7,N20.7,D-48,U3,Q0.000152

: Sonardyne - POSD response: 
POSD S125.7,N20.7,D-48,U3,Q0.000152

: AshtechGps::processRecord() - $GPGGA,172337.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172337.00,,,,,0,00,,,M,,M,,*4B


: 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 R224.32,X-5.70,Y13.94,Z-223.81

: Sonardyne - parsing R224.32,X-5.70,Y13.94,Z-223.81

: Sonardyne - read R = 224.320000 from 224.32,X-5.70,Y13.94,Z-223.81

: Sonardyne - got all data, Vehicle coordinates,
    r=224.320000, x=223.810000, y=-5.700000, z=-13.940000 tat = 770
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172338.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172338.00,,,,,0,00,,,M,,M,,*44


: 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 R222.33,X-6.71,Y9.54,Z-222.02

: Sonardyne - parsing R222.33,X-6.71,Y9.54,Z-222.02

: Sonardyne - read R = 222.330000 from 222.33,X-6.71,Y9.54,Z-222.02

: Sonardyne - got all data, Vehicle coordinates,
    r=222.330000, x=222.020000, y=-6.710000, z=-9.540000 tat = 770
: AshtechGps::processRecord() - $GPGGA,172339.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172339.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R220.35,X-5.69,Y9.47,Z-220.07

: Sonardyne - parsing R220.35,X-5.69,Y9.47,Z-220.07

: Sonardyne - read R = 220.350000 from 220.35,X-5.69,Y9.47,Z-220.07

: Sonardyne - got all data, Vehicle coordinates,
    r=220.350000, x=220.070000, y=-5.690000, z=-9.470000 tat = 770
: AshtechGps::processRecord() - $GPGGA,172340.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172340.00,,,,,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 R218.51,X-6.06,Y6.03,Z-218.34

: Sonardyne - parsing R218.51,X-6.06,Y6.03,Z-218.34

: Sonardyne - read R = 218.510000 from 218.51,X-6.06,Y6.03,Z-218.34

: Sonardyne - got all data, Vehicle coordinates,
    r=218.510000, x=218.340000, y=-6.060000, z=-6.030000 tat = 760
: AshtechGps::processRecord() - $GPGGA,172341.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172341.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R216.78,X-5.47,Y3.21,Z-216.69

: Sonardyne - parsing R216.78,X-5.47,Y3.21,Z-216.69

: Sonardyne - read R = 216.780000 from 216.78,X-5.47,Y3.21,Z-216.69

: Sonardyne - got all data, Vehicle coordinates,
    r=216.780000, x=216.690000, y=-5.470000, z=-3.210000 tat = 760
: AshtechGps::processRecord() - $GPGGA,172342.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172342.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R220.24

: Sonardyne - parsing R220.24

: Sonardyne - read R = 220.240000 from 220.24

: Sonardyne - got range only (220.240000), tat = 740
: Sonardyne - POSD response: 
POSD S129.2,N26.8,D-52,U1,Q0.005038

: Sonardyne - POSD response: 
POSD S129.2,N26.8,D-52,U1,Q0.005038

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172343.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172343.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R213.59,X-6.68,Y-2.79,Z-213.47

: Sonardyne - parsing R213.59,X-6.68,Y-2.79,Z-213.47

: Sonardyne - read R = 213.590000 from 213.59,X-6.68,Y-2.79,Z-213.47

: Sonardyne - got all data, Vehicle coordinates,
    r=213.590000, x=213.470000, y=-6.680000, z=2.790000 tat = 810
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172344.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172344.00,,,,,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 R212.24,X-3.03,Y10.14,Z-211.97

: Sonardyne - parsing R212.24,X-3.03,Y10.14,Z-211.97

: Sonardyne - read R = 212.240000 from 212.24,X-3.03,Y10.14,Z-211.97

: Sonardyne - got all data, Vehicle coordinates,
    r=212.240000, x=211.970000, y=-3.030000, z=-10.140000 tat = 760
: BluefinBatt Reply: $b6q0 d- 32.24 10.58 14.84 4.03 4.05 0 21612.62 02:28:06 m

: AshtechGps::processRecord() - $GPGGA,172345.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172345.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R211.09

: Sonardyne - parsing R211.09

: Sonardyne - read R = 211.090000 from 211.09

: Sonardyne - got range only (211.090000), tat = 730
: Sonardyne - POSD response: 
POSD S+142.9,N30.4,D16,U1,Q0.000356

: Sonardyne - POSD response: 
POSD S+142.9,N30.4,D16,U1,Q0.000356

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172346.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172346.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R209.53,X0.01,Y16.52,Z-208.88

: Sonardyne - parsing R209.53,X0.01,Y16.52,Z-208.88

: Sonardyne - read R = 209.530000 from 209.53,X0.01,Y16.52,Z-208.88

: Sonardyne - got all data, Vehicle coordinates,
    r=209.530000, x=208.880000, y=0.010000, z=-16.520000 tat = 750
: Sonardyne - POSD response: 
POSD S+140.7,N24.4,D-60,U8,Q0.000079

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172347.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172347.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R212.68

: Sonardyne - parsing R212.68

: Sonardyne - read R = 212.680000 from 212.68

: Sonardyne - got range only (212.680000), tat = 730
: Sonardyne - POSD response: 
POSD S131.1,N27.0,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.1,N27.0,D-46,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172348.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172348.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R206.94,X0.89,Y16.87,Z-206.25

: Sonardyne - parsing R206.94,X0.89,Y16.87,Z-206.25

: Sonardyne - read R = 206.940000 from 206.94,X0.89,Y16.87,Z-206.25

: Sonardyne - got all data, Vehicle coordinates,
    r=206.940000, x=206.250000, y=0.890000, z=-16.870000 tat = 750
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172349.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172349.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R205.63,X4.47,Y29.33,Z-203.48

: Sonardyne - parsing R205.63,X4.47,Y29.33,Z-203.48

: Sonardyne - read R = 205.630000 from 205.63,X4.47,Y29.33,Z-203.48

: Sonardyne - got all data, Vehicle coordinates,
    r=205.630000, x=203.480000, y=4.470000, z=-29.330000 tat = 750
: AshtechGps::processRecord() - $GPGGA,172350.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172350.00,,,,,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 R204.42,X5.77,Y35.75,Z-201.19

: Sonardyne - parsing R204.42,X5.77,Y35.75,Z-201.19

: Sonardyne - read R = 204.420000 from 204.42,X5.77,Y35.75,Z-201.19

: Sonardyne - got all data, Vehicle coordinates,
    r=204.420000, x=201.190000, y=5.770000, z=-35.750000 tat = 750
: AshtechGps::processRecord() - $GPGGA,172351.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172351.00,,,,,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 R202.85

: Sonardyne - parsing R202.85

: Sonardyne - read R = 202.850000 from 202.85

: Sonardyne - got range only (202.850000), tat = 720
: Sonardyne - POSD response: 
POSD S137.7,N24.7,D62,U5,Q0.001301

: Sonardyne - POSD response: 
POSD S137.7,N24.7,D62,U5,Q0.001301

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172352.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172352.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R200.94

: Sonardyne - parsing R200.94

: Sonardyne - read R = 200.940000 from 200.94

: Sonardyne - got range only (200.940000), tat = 720
: Sonardyne - POSD response: 
POSD S136.3,N27.9,D-52,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.3,N27.9,D-52,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172353.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172353.00,,,,,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 R198.91,X-2.00,Y21.01,Z-197.79

: Sonardyne - parsing R198.91,X-2.00,Y21.01,Z-197.79

: Sonardyne - read R = 198.910000 from 198.91,X-2.00,Y21.01,Z-197.79

: Sonardyne - got all data, Vehicle coordinates,
    r=198.910000, x=197.790000, y=-2.000000, z=-21.010000 tat = 739
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172354.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172354.00,,,,,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 R196.94,X-4.64,Y10.64,Z-196.60

: Sonardyne - parsing R196.94,X-4.64,Y10.64,Z-196.60

: Sonardyne - read R = 196.940000 from 196.94,X-4.64,Y10.64,Z-196.60

: Sonardyne - got all data, Vehicle coordinates,
    r=196.940000, x=196.600000, y=-4.640000, z=-10.640000 tat = 740
: BluefinBatt Reply: $b6q0 d- 32.32  9.60 14.94 4.03 4.05 0 21611.64 02:28:16 m

: AshtechGps::processRecord() - $GPGGA,172355.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172355.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R194.59

: Sonardyne - parsing R194.59

: Sonardyne - read R = 194.590000 from 194.59

: Sonardyne - got range only (194.590000), tat = 710
: Sonardyne - POSD response: 
POSD S136.1,N23.3,D57,U3,Q0.000175

: Sonardyne - POSD response: 
POSD S136.1,N23.3,D57,U3,Q0.000175

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172356.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172356.00,,,,,0,00,,,M,,M,,*4C


: 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 R192.44,X-4.53,Y3.13,Z-192.36

: Sonardyne - parsing R192.44,X-4.53,Y3.13,Z-192.36

: Sonardyne - read R = 192.440000 from 192.44,X-4.53,Y3.13,Z-192.36

: Sonardyne - got all data, Vehicle coordinates,
    r=192.440000, x=192.360000, y=-4.530000, z=-3.130000 tat = 730
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172357.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172357.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R190.47,X-3.10,Y6.40,Z-190.34

: Sonardyne - parsing R190.47,X-3.10,Y6.40,Z-190.34

: Sonardyne - read R = 190.470000 from 190.47,X-3.10,Y6.40,Z-190.34

: Sonardyne - got all data, Vehicle coordinates,
    r=190.470000, x=190.340000, y=-3.100000, z=-6.400000 tat = 730
: AshtechGps::processRecord() - $GPGGA,172358.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172358.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R188.61,X-5.15,Y-5.46,Z-188.46

: Sonardyne - parsing R188.61,X-5.15,Y-5.46,Z-188.46

: Sonardyne - read R = 188.610000 from 188.61,X-5.15,Y-5.46,Z-188.46

: Sonardyne - got all data, Vehicle coordinates,
    r=188.610000, x=188.460000, y=-5.150000, z=5.460000 tat = 730
: AshtechGps::processRecord() - $GPGGA,172359.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172359.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R186.78,X-3.57,Y-1.19,Z-186.74

: Sonardyne - parsing R186.78,X-3.57,Y-1.19,Z-186.74

: Sonardyne - read R = 186.780000 from 186.78,X-3.57,Y-1.19,Z-186.74

: Sonardyne - got all data, Vehicle coordinates,
    r=186.780000, x=186.740000, y=-3.570000, z=1.190000 tat = 720
: AshtechGps::processRecord() - $GPGGA,172400.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172400.00,,,,,0,00,,,M,,M,,*48


: 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 R185.04,X-2.96,Y-0.81,Z-185.01

: Sonardyne - parsing R185.04,X-2.96,Y-0.81,Z-185.01

: Sonardyne - read R = 185.040000 from 185.04,X-2.96,Y-0.81,Z-185.01

: Sonardyne - got all data, Vehicle coordinates,
    r=185.040000, x=185.010000, y=-2.960000, z=0.810000 tat = 720
: AshtechGps::processRecord() - $GPGGA,172401.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172401.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R183.64,X-1.80,Y3.65,Z-183.60

: Sonardyne - parsing R183.64,X-1.80,Y3.65,Z-183.60

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

: Sonardyne - read R = 183.640000 from 183.64,X-1.80,Y3.65,Z-183.60

: Sonardyne - got all data, Vehicle coordinates,
    r=183.640000, x=183.600000, y=-1.800000, z=-3.650000 tat = 720
: AshtechGps::processRecord() - $GPGGA,172402.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172402.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R182.26

: Sonardyne - parsing R182.26

: Sonardyne - read R = 182.260000 from 182.26

: Sonardyne - got range only (182.260000), tat = 690
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+140.7,N29.2,D27,U5,Q0.000473

: Sonardyne - POSD response: 
POSD S+140.7,N29.2,D27,U5,Q0.000473

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,172403.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172403.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R181.45,X2.54,Y10.50,Z-181.13

: Sonardyne - parsing R181.45,X2.54,Y10.50,Z-181.13

: Sonardyne - read R = 181.450000 from 181.45,X2.54,Y10.50,Z-181.13

: Sonardyne - got all data, Vehicle coordinates,
    r=181.450000, x=181.130000, y=2.540000, z=-10.500000 tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S137.5,N26.6,D21,U6,Q0.000360

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172404.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172404.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R179.64,X5.37,Y19.99,Z-178.45

: Sonardyne - parsing R179.64,X5.37,Y19.99,Z-178.45

: Sonardyne - read R = 179.640000 from 179.64,X5.37,Y19.99,Z-178.45

: Sonardyne - got all data, Vehicle coordinates,
    r=179.640000, x=178.450000, y=5.370000, z=-19.990000 tat = 710
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.28  9.46 14.84 4.03 4.05 0 21611.02 02:28:26 m

: AshtechGps::processRecord() - $GPGGA,172405.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172405.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R178.20,X6.61,Y23.51,Z-176.52

: Sonardyne - parsing R178.20,X6.61,Y23.51,Z-176.52

: Sonardyne - read R = 178.200000 from 178.20,X6.61,Y23.51,Z-176.52

: Sonardyne - got all data, Vehicle coordinates,
    r=178.200000, x=176.520000, y=6.610000, z=-23.510000 tat = 710
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172406.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172406.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R176.98,X3.96,Y18.89,Z-175.93

: Sonardyne - parsing R176.98,X3.96,Y18.89,Z-175.93

: Sonardyne - read R = 176.980000 from 176.98,X3.96,Y18.89,Z-175.93

: Sonardyne - got all data, Vehicle coordinates,
    r=176.980000, x=175.930000, y=3.960000, z=-18.890000 tat = 710
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172407.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172407.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R175.80,X5.15,Y19.37,Z-174.65

: Sonardyne - parsing R175.80,X5.15,Y19.37,Z-174.65

: Sonardyne - read R = 175.800000 from 175.80,X5.15,Y19.37,Z-174.65

: Sonardyne - got all data, Vehicle coordinates,
    r=175.800000, x=174.650000, y=5.150000, z=-19.370000 tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172408.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172408.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R174.49,X5.64,Y20.18,Z-173.23

: Sonardyne - parsing R174.49,X5.64,Y20.18,Z-173.23

: Sonardyne - read R = 174.490000 from 174.49,X5.64,Y20.18,Z-173.23

: Sonardyne - got all data, Vehicle coordinates,
    r=174.490000, x=173.230000, y=5.640000, z=-20.180000 tat = 709
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172409.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172409.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R172.65,X3.88,Y14.20,Z-172.02

: Sonardyne - parsing R172.65,X3.88,Y14.20,Z-172.02

: Sonardyne - read R = 172.650000 from 172.65,X3.88,Y14.20,Z-172.02

: Sonardyne - got all data, Vehicle coordinates,
    r=172.650000, x=172.020000, y=3.880000, z=-14.200000 tat = 700
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172410.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172410.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R170.63,X1.55,Y7.12,Z-170.48

: Sonardyne - parsing R170.63,X1.55,Y7.12,Z-170.48

: Sonardyne - read R = 170.630000 from 170.63,X1.55,Y7.12,Z-170.48

: Sonardyne - got all data, Vehicle coordinates,
    r=170.630000, x=170.480000, y=1.550000, z=-7.120000 tat = 700
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172411.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172411.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R168.60,X0.33,Y1.78,Z-168.59

: Sonardyne - parsing R168.60,X0.33,Y1.78,Z-168.59

: Sonardyne - read R = 168.600000 from 168.60,X0.33,Y1.78,Z-168.59

: Sonardyne - got all data, Vehicle coordinates,
    r=168.600000, x=168.590000, y=0.330000, z=-1.780000 tat = 700
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172412.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172412.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.41,X-0.04,Y-3.02,Z-166.38

: Sonardyne - parsing R166.41,X-0.04,Y-3.02,Z-166.38

: Sonardyne - read R = 166.410000 from 166.41,X-0.04,Y-3.02,Z-166.38

: Sonardyne - got all data, Vehicle coordinates,
    r=166.410000, x=166.380000, y=-0.040000, z=3.020000 tat = 690
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172413.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172413.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R167.35,X12.25,Y30.22,Z-164.14

: Sonardyne - parsing R167.35,X12.25,Y30.22,Z-164.14

: Sonardyne - read R = 167.350000 from 167.35,X12.25,Y30.22,Z-164.14

: Sonardyne - got all data, Vehicle coordinates,
    r=167.350000, x=164.140000, y=12.250000, z=-30.220000 tat = 700
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172414.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172414.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.96

: Sonardyne - parsing R162.96

: Sonardyne - read R = 162.960000 from 162.96

: Sonardyne - got range only (162.960000), tat = 670
: Sonardyne - POSD response: 
POSD S134.3,N18.5,D13,U2,Q0.003241

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

: Sonardyne - POSD response: 
POSD S134.3,N18.5,D13,U2,Q0.003241

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $b6q0 d- 32.32  8.87 14.94 4.03 4.05 0 21610.15 02:28:36 m

: AshtechGps::processRecord() - $GPGGA,172415.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172415.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.09,X-5.19,Y-5.56,Z-159.91

: Sonardyne - parsing R160.09,X-5.19,Y-5.56,Z-159.91

: Sonardyne - read R = 160.090000 from 160.09,X-5.19,Y-5.56,Z-159.91

: Sonardyne - got all data, Vehicle coordinates,
    r=160.090000, x=159.910000, y=-5.190000, z=5.560000 tat = 690
:  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!
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172416.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172416.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.98,X-6.26,Y1.03,Z-157.85

: Sonardyne - parsing R157.98,X-6.26,Y1.03,Z-157.85

: Sonardyne - read R = 157.980000 from 157.98,X-6.26,Y1.03,Z-157.85

: Sonardyne - got all data, Vehicle coordinates,
    r=157.980000, x=157.850000, y=-6.260000, z=-1.030000 tat = 680
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172417.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172417.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.08

: Sonardyne - parsing R156.08

: Sonardyne - read R = 156.080000 from 156.08

: Sonardyne - got range only (156.080000), tat = 660
: Sonardyne - POSD response: 
POSD S+144.3,N34.3,D87,U5,Q0.000093

: Sonardyne - POSD response: 
POSD S+144.3,N34.3,D87,U5,Q0.000093

:  wdt = 00899,  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,172418.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172418.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.72,X-3.48,Y7.78,Z-154.49

: Sonardyne - parsing R154.72,X-3.48,Y7.78,Z-154.49

: Sonardyne - read R = 154.720000 from 154.72,X-3.48,Y7.78,Z-154.49

: Sonardyne - got all data, Vehicle coordinates,
    r=154.720000, x=154.490000, y=-3.480000, z=-7.780000 tat = 680
: Sonardyne - POSD response: 
POSD S139.4,N24.9,D-74,U8,Q0.000130

:  wdt = 00898,  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,172419.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172419.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.35,X-1.19,Y14.86,Z-152.62

: Sonardyne - parsing R153.35,X-1.19,Y14.86,Z-152.62

: Sonardyne - read R = 153.350000 from 153.35,X-1.19,Y14.86,Z-152.62

: Sonardyne - got all data, Vehicle coordinates,
    r=153.350000, x=152.620000, y=-1.190000, z=-14.860000 tat = 680
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172420.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172420.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.46,X0.63,Y20.40,Z-151.09

: Sonardyne - parsing R152.46,X0.63,Y20.40,Z-151.09

: Sonardyne - read R = 152.460000 from 152.46,X0.63,Y20.40,Z-151.09

: Sonardyne - got all data, Vehicle coordinates,
    r=152.460000, x=151.090000, y=0.630000, z=-20.400000 tat = 680
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172421.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172421.00,,,,,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,172422.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172422.00,,,,,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,172423.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172423.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172424.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172424.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  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 R149.54

: Sonardyne - parsing R149.54

: Sonardyne - read R = 149.540000 from 149.54

: Sonardyne - got range only (149.540000), tat = 650
: Sonardyne - POSD response: 
POSD S+141.0,N28.5,D14,U3,Q0.004060

: BluefinBatt Reply: $b6q0 d- 32.32  9.85 14.94 4.03 4.05 0 21609.52 02:28:46 m

: Sonardyne - POSD response: 
POSD S+141.0,N28.5,D14,U3,Q0.004060

: AshtechGps::processRecord() - $GPGGA,172425.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172425.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R146.88,X1.58,Y11.47,Z-146.42

: Sonardyne - parsing R146.88,X1.58,Y11.47,Z-146.42

: Sonardyne - read R = 146.880000 from 146.88,X1.58,Y11.47,Z-146.42

: Sonardyne - got all data, Vehicle coordinates,
    r=146.880000, x=146.420000, y=1.580000, z=-11.470000 tat = 670
: Sonardyne - POSD response: 
POSD S+144.4,N31.6,D-29,U8,Q0.000097

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172426.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172426.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R148.08

: Sonardyne - parsing R148.08

: Sonardyne - read R = 148.080000 from 148.08

: Sonardyne - got range only (148.080000), tat = 650
: Sonardyne - POSD response: 
POSD S136.6,N19.7,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.6,N19.7,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172427.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172427.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R145.83,X7.45,Y41.66,Z-139.55

: Sonardyne - parsing R145.83,X7.45,Y41.66,Z-139.55

: Sonardyne - read R = 145.830000 from 145.83,X7.45,Y41.66,Z-139.55

: Sonardyne - got all data, Vehicle coordinates,
    r=145.830000, x=139.550000, y=7.450000, z=-41.660000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172428.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172428.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R143.21,X1.96,Y17.53,Z-142.11

: Sonardyne - parsing R143.21,X1.96,Y17.53,Z-142.11

: Sonardyne - read R = 143.210000 from 143.21,X1.96,Y17.53,Z-142.11

: Sonardyne - got all data, Vehicle coordinates,
    r=143.210000, x=142.110000, y=1.960000, z=-17.530000 tat = 660
: AshtechGps::processRecord() - $GPGGA,172429.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172429.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R137.51,X-2.09,Y2.59,Z-137.47

: Sonardyne - parsing R137.51,X-2.09,Y2.59,Z-137.47

: Sonardyne - read R = 137.510000 from 137.51,X-2.09,Y2.59,Z-137.47

: Sonardyne - got all data, Vehicle coordinates,
    r=137.510000, x=137.470000, y=-2.090000, z=-2.590000 tat = 660
: AshtechGps::processRecord() - $GPGGA,172430.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172430.00,,,,,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 R134.97,X-2.50,Y-1.31,Z-134.94

: Sonardyne - parsing R134.97,X-2.50,Y-1.31,Z-134.94

: Sonardyne - read R = 134.970000 from 134.97,X-2.50,Y-1.31,Z-134.94

: Sonardyne - got all data, Vehicle coordinates,
    r=134.970000, x=134.940000, y=-2.500000, z=1.310000 tat = 650
: AshtechGps::processRecord() - $GPGGA,172431.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172431.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R135.86

: Sonardyne - parsing R135.86

: Sonardyne - read R = 135.860000 from 135.86

: Sonardyne - got range only (135.860000), tat = 630
: Sonardyne - POSD response: 
POSD S127.4,N27.3,D-14,U4,Q0.003649

: Sonardyne - POSD response: 
POSD S127.4,N27.3,D-14,U4,Q0.003649

: AshtechGps::processRecord() - $GPGGA,172432.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172432.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R130.47,X-1.59,Y0.79,Z-130.45

: Sonardyne - parsing R130.47,X-1.59,Y0.79,Z-130.45

: Sonardyne - read R = 130.470000 from 130.47,X-1.59,Y0.79,Z-130.45

: Sonardyne - got all data, Vehicle coordinates,
    r=130.470000, x=130.450000, y=-1.590000, z=-0.790000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172433.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172433.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R128.89,X-0.86,Y4.13,Z-128.82

: Sonardyne - parsing R128.89,X-0.86,Y4.13,Z-128.82

: Sonardyne - read R = 128.890000 from 128.89,X-0.86,Y4.13,Z-128.82

: Sonardyne - got all data, Vehicle coordinates,
    r=128.890000, x=128.820000, y=-0.860000, z=-4.130000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172434.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172434.00,,,,,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 R127.56,X-0.70,Y6.16,Z-127.41

: Sonardyne - parsing R127.56,X-0.70,Y6.16,Z-127.41

: Sonardyne - read R = 127.560000 from 127.56,X-0.70,Y6.16,Z-127.41

: Sonardyne - got all data, Vehicle coordinates,
    r=127.560000, x=127.410000, y=-0.700000, z=-6.160000 tat = 640
: BluefinBatt Reply: $b6q0 d- 32.32 10.21 14.84 4.03 4.05 0 21608.59 02:28:56 m

: AshtechGps::processRecord() - $GPGGA,172435.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172435.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R126.68,X-1.17,Y6.45,Z-126.51

: Sonardyne - parsing R126.68,X-1.17,Y6.45,Z-126.51

: Sonardyne - read R = 126.680000 from 126.68,X-1.17,Y6.45,Z-126.51

: Sonardyne - got all data, Vehicle coordinates,
    r=126.680000, x=126.510000, y=-1.170000, z=-6.450000 tat = 640
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172436.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172436.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R125.91,X0.48,Y13.12,Z-125.23

: Sonardyne - parsing R125.91,X0.48,Y13.12,Z-125.23

: Sonardyne - read R = 125.910000 from 125.91,X0.48,Y13.12,Z-125.23

: Sonardyne - got all data, Vehicle coordinates,
    r=125.910000, x=125.230000, y=0.480000, z=-13.120000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172437.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172437.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R125.32,X-0.18,Y13.33,Z-124.61

: Sonardyne - parsing R125.32,X-0.18,Y13.33,Z-124.61

: Sonardyne - read R = 125.320000 from 125.32,X-0.18,Y13.33,Z-124.61

: Sonardyne - got all data, Vehicle coordinates,
    r=125.320000, x=124.610000, y=-0.180000, z=-13.330000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172438.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172438.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R124.79,X-0.56,Y14.18,Z-123.98

: Sonardyne - parsing R124.79,X-0.56,Y14.18,Z-123.98

: Sonardyne - read R = 124.790000 from 124.79,X-0.56,Y14.18,Z-123.98

: Sonardyne - got all data, Vehicle coordinates,
    r=124.790000, x=123.980000, y=-0.560000, z=-14.180000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172439.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172439.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R123.92,X-0.13,Y16.86,Z-122.76

: Sonardyne - parsing R123.92,X-0.13,Y16.86,Z-122.76

: Sonardyne - read R = 123.920000 from 123.92,X-0.13,Y16.86,Z-122.76

: Sonardyne - got all data, Vehicle coordinates,
    r=123.920000, x=122.760000, y=-0.130000, z=-16.860000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172440.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172440.00,,,,,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 R122.68,X0.17,Y18.36,Z-121.29

: Sonardyne - parsing R122.68,X0.17,Y18.36,Z-121.29

: Sonardyne - read R = 122.680000 from 122.68,X0.17,Y18.36,Z-121.29

: Sonardyne - got all data, Vehicle coordinates,
    r=122.680000, x=121.290000, y=0.170000, z=-18.360000 tat = 640
: AshtechGps::processRecord() - $GPGGA,172441.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172441.00,,,,,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 R121.05

: Sonardyne - parsing R121.05

: Sonardyne - read R = 121.050000 from 121.05

: Sonardyne - got range only (121.050000), tat = 610
: Sonardyne - POSD response: 
POSD S+143.1,N26.5,D-55,U5,Q0.000334

: Sonardyne - POSD response: 
POSD S+143.1,N26.5,D-55,U5,Q0.000334

: AshtechGps::processRecord() - $GPGGA,172442.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172442.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R119.09,X-0.93,Y14.52,Z-118.20

: Sonardyne - parsing R119.09,X-0.93,Y14.52,Z-118.20

: Sonardyne - read R = 119.090000 from 119.09,X-0.93,Y14.52,Z-118.20

: Sonardyne - got all data, Vehicle coordinates,
    r=119.090000, x=118.200000, y=-0.930000, z=-14.520000 tat = 630
: Sonardyne - POSD response: 
POSD S+143.4,N23.0,D-145,U8,Q0.000203

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172443.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172443.00,,,,,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 R120.01

: Sonardyne - parsing R120.01

: Sonardyne - read R = 120.010000 from 120.01

: Sonardyne - got range only (120.010000), tat = 660
: Sonardyne - POSD response: 
POSD S137.1,N26.3,D-28,U1,Q0.006755

: Sonardyne - POSD response: 
POSD S137.1,N26.3,D-28,U1,Q0.006755

: AshtechGps::processRecord() - $GPGGA,172444.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172444.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  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 R114.02,X-2.18,Y5.37,Z-113.88

: Sonardyne - parsing R114.02,X-2.18,Y5.37,Z-113.88

: Sonardyne - read R = 114.020000 from 114.02,X-2.18,Y5.37,Z-113.88

: Sonardyne - got all data, Vehicle coordinates,
    r=114.020000, x=113.880000, y=-2.180000, z=-5.370000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $b6q0 d- 32.28  9.35 14.84 4.03 4.05 0 21607.89 02:29:06 m

: AshtechGps::processRecord() - $GPGGA,172445.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172445.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R111.31,X-2.63,Y3.44,Z-111.22

: Sonardyne - parsing R111.31,X-2.63,Y3.44,Z-111.22

: Sonardyne - read R = 111.310000 from 111.31,X-2.63,Y3.44,Z-111.22

: Sonardyne - got all data, Vehicle coordinates,
    r=111.310000, x=111.220000, y=-2.630000, z=-3.440000 tat = 620
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172446.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172446.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R108.61,X-1.86,Y0.26,Z-108.60

: Sonardyne - parsing R108.61,X-1.86,Y0.26,Z-108.60

: Sonardyne - read R = 108.610000 from 108.61,X-1.86,Y0.26,Z-108.60

: Sonardyne - got all data, Vehicle coordinates,
    r=108.610000, x=108.600000, y=-1.860000, z=-0.260000 tat = 620
: AshtechGps::processRecord() - $GPGGA,172447.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172447.00,,,,,0,00,,,M,,M,,*4B


: 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 R110.23

: Sonardyne - parsing R110.23

: Sonardyne - read R = 110.230000 from 110.23

: Sonardyne - got range only (110.230000), tat = 600
: Sonardyne - POSD response: 
POSD S129.7,N21.7,D-116,U2,Q0.001781

: Sonardyne - POSD response: 
POSD S129.7,N21.7,D-116,U2,Q0.001781

: AshtechGps::processRecord() - $GPGGA,172448.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172448.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  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 R103.97,X-1.39,Y-3.66,Z-103.90

: Sonardyne - parsing R103.97,X-1.39,Y-3.66,Z-103.90

: Sonardyne - read R = 103.970000 from 103.97,X-1.39,Y-3.66,Z-103.90

: Sonardyne - got all data, Vehicle coordinates,
    r=103.970000, x=103.900000, y=-1.390000, z=3.660000 tat = 610
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172449.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172449.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,172450.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172450.00,,,,,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,172451.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172451.00,,,,,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,172452.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172452.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N13.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.3,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,172453.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172453.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,172454.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172454.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.32  8.48 14.94 4.03 4.05 0 21606.95 02:29:16 m

: AshtechGps::processRecord() - $GPGGA,172455.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172455.00,,,,,0,00,,,M,,M,,*48


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

: 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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172456.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172456.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R97.42

: Sonardyne - parsing R97.42

: Sonardyne - read R = 97.420000 from 97.42

: Sonardyne - got range only (97.420000), tat = 580
: Sonardyne - POSD response: 
POSD S+143.8,N28.5,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.8,N28.5,D-14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172457.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172457.00,,,,,0,00,,,M,,M,,*4A


: 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 R94.73,X0.92,Y12.89,Z-93.85

: Sonardyne - parsing R94.73,X0.92,Y12.89,Z-93.85

: Sonardyne - read R = 94.730000 from 94.73,X0.92,Y12.89,Z-93.85

: Sonardyne - got all data, Vehicle coordinates,
    r=94.730000, x=93.850000, y=0.920000, z=-12.890000 tat = 600
: Sonardyne - POSD response: 
POSD S+144.1,N30.5,D62,U6,Q0.000426

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,172458.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172458.00,,,,,0,00,,,M,,M,,*45


: 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 R92.67,X0.88,Y11.47,Z-91.96

: Sonardyne - parsing R92.67,X0.88,Y11.47,Z-91.96

: Sonardyne - read R = 92.670000 from 92.67,X0.88,Y11.47,Z-91.96

: Sonardyne - got all data, Vehicle coordinates,
    r=92.670000, x=91.960000, y=0.880000, z=-11.470000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.2,N30.8,D-47,U8,Q0.000223

: AshtechGps::processRecord() - $GPGGA,172459.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172459.00,,,,,0,00,,,M,,M,,*44


: 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 R90.05,X1.08,Y9.27,Z-89.56

: Sonardyne - parsing R90.05,X1.08,Y9.27,Z-89.56

: Sonardyne - read R = 90.050000 from 90.05,X1.08,Y9.27,Z-89.56

: Sonardyne - got all data, Vehicle coordinates,
    r=90.050000, x=89.560000, y=1.080000, z=-9.270000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.1,N24.7,D-75,U7,Q0.000277

: AshtechGps::processRecord() - $GPGGA,172500.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172500.00,,,,,0,00,,,M,,M,,*49


: 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 R87.24,X1.22,Y6.22,Z-87.01

: Sonardyne - parsing R87.24,X1.22,Y6.22,Z-87.01

: Sonardyne - read R = 87.240000 from 87.24,X1.22,Y6.22,Z-87.01

: Sonardyne - got all data, Vehicle coordinates,
    r=87.240000, x=87.010000, y=1.220000, z=-6.220000 tat = 580
: Sonardyne - POSD response: 
POSD S+143.6,N20.7,D-99,U8,Q0.000123

: AshtechGps::processRecord() - $GPGGA,172501.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172501.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R84.08,X0.51,Y1.74,Z-84.06

: Sonardyne - parsing R84.08,X0.51,Y1.74,Z-84.06

: Sonardyne - read R = 84.080000 from 84.08,X0.51,Y1.74,Z-84.06

: Sonardyne - got all data, Vehicle coordinates,
    r=84.080000, x=84.060000, y=0.510000, z=-1.740000 tat = 580
: Sonardyne - POSD response: 
POSD S+143.9,N26.8,D-48,U8,Q0.000121

: AshtechGps::processRecord() - $GPGGA,172502.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172502.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R81.53,X0.46,Y1.07,Z-81.52

: Sonardyne - parsing R81.53,X0.46,Y1.07,Z-81.52

: Sonardyne - read R = 81.530000 from 81.53,X0.46,Y1.07,Z-81.52

: Sonardyne - got all data, Vehicle coordinates,
    r=81.530000, x=81.520000, y=0.460000, z=-1.070000 tat = 580
: Sonardyne - POSD response: 
POSD S+143.8,N24.1,D-70,U8,Q0.000203

: AshtechGps::processRecord() - $GPGGA,172503.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172503.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R79.31,X0.45,Y-0.33,Z-79.30

: Sonardyne - parsing R79.31,X0.45,Y-0.33,Z-79.30

: Sonardyne - read R = 79.310000 from 79.31,X0.45,Y-0.33,Z-79.30

: Sonardyne - got all data, Vehicle coordinates,
    r=79.310000, x=79.300000, y=0.450000, z=0.330000 tat = 570
: Sonardyne - POSD response: 
POSD S+143.5,N23.4,D-51,U8,Q0.000069

: AshtechGps::processRecord() - $GPGGA,172504.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172504.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 32.32  9.67 14.94 4.03 4.04 0 21606.36 02:29:26 m

: AshtechGps::processRecord() - $GPGGA,172505.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172505.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172506.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172506.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,172507.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172507.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,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,172508.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172508.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.35,X-1.67,Y5.26,Z-74.14

: Sonardyne - parsing R74.35,X-1.67,Y5.26,Z-74.14

: Sonardyne - read R = 74.350000 from 74.35,X-1.67,Y5.26,Z-74.14

: Sonardyne - got all data, Vehicle coordinates,
    r=74.350000, x=74.140000, y=-1.670000, z=-5.260000 tat = 570
: 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

: AshtechGps::processRecord() - $GPGGA,172509.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172509.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.89,X-1.64,Y6.83,Z-73.55

: Sonardyne - parsing R73.89,X-1.64,Y6.83,Z-73.55

: Sonardyne - read R = 73.890000 from 73.89,X-1.64,Y6.83,Z-73.55

: Sonardyne - got all data, Vehicle coordinates,
    r=73.890000, x=73.550000, y=-1.640000, z=-6.830000 tat = 570
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172510.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172510.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.10,X-0.91,Y8.21,Z-72.63

: Sonardyne - parsing R73.10,X-0.91,Y8.21,Z-72.63

: Sonardyne - read R = 73.100000 from 73.10,X-0.91,Y8.21,Z-72.63

: Sonardyne - got all data, Vehicle coordinates,
    r=73.100000, x=72.630000, y=-0.910000, z=-8.210000 tat = 570
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172511.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172511.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.12,X-0.53,Y8.92,Z-71.57

: Sonardyne - parsing R72.12,X-0.53,Y8.92,Z-71.57

: Sonardyne - read R = 72.120000 from 72.12,X-0.53,Y8.92,Z-71.57

: Sonardyne - got all data, Vehicle coordinates,
    r=72.120000, x=71.570000, y=-0.530000, z=-8.920000 tat = 570
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172512.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172512.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R70.48,X0.06,Y9.47,Z-69.84

: Sonardyne - parsing R70.48,X0.06,Y9.47,Z-69.84

: Sonardyne - read R = 70.480000 from 70.48,X0.06,Y9.47,Z-69.84

: Sonardyne - got all data, Vehicle coordinates,
    r=70.480000, x=69.840000, y=0.060000, z=-9.470000 tat = 560
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172513.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172513.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.68,X0.61,Y8.81,Z-68.11

: Sonardyne - parsing R68.68,X0.61,Y8.81,Z-68.11

: Sonardyne - read R = 68.680000 from 68.68,X0.61,Y8.81,Z-68.11

: Sonardyne - got all data, Vehicle coordinates,
    r=68.680000, x=68.110000, y=0.610000, z=-8.810000 tat = 560
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172514.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172514.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.45,X0.64,Y7.77,Z-65.99

: Sonardyne - parsing R66.45,X0.64,Y7.77,Z-65.99

: Sonardyne - read R = 66.450000 from 66.45,X0.64,Y7.77,Z-65.99

: Sonardyne - got all data, Vehicle coordinates,
    r=66.450000, x=65.990000, y=0.640000, z=-7.770000 tat = 560
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.28  9.96 14.94 4.03 4.04 0 21605.40 02:29:36 m

: AshtechGps::processRecord() - $GPGGA,172515.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172515.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.84,X1.12,Y5.96,Z-63.55

: Sonardyne - parsing R63.84,X1.12,Y5.96,Z-63.55

: Sonardyne - read R = 63.840000 from 63.84,X1.12,Y5.96,Z-63.55

: Sonardyne - got all data, Vehicle coordinates,
    r=63.840000, x=63.550000, y=1.120000, z=-5.960000 tat = 550
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172516.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172516.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R61.40,X1.13,Y4.23,Z-61.24

: Sonardyne - parsing R61.40,X1.13,Y4.23,Z-61.24

: Sonardyne - read R = 61.400000 from 61.40,X1.13,Y4.23,Z-61.24

: Sonardyne - got all data, Vehicle coordinates,
    r=61.400000, x=61.240000, y=1.130000, z=-4.230000 tat = 550
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172517.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172517.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R58.81,X0.93,Y2.55,Z-58.75

: Sonardyne - parsing R58.81,X0.93,Y2.55,Z-58.75

: Sonardyne - read R = 58.810000 from 58.81,X0.93,Y2.55,Z-58.75

: Sonardyne - got all data, Vehicle coordinates,
    r=58.810000, x=58.750000, y=0.930000, z=-2.550000 tat = 550
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172518.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,172518.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.69,X0.71,Y1.24,Z-56.67

: Sonardyne - parsing R56.69,X0.71,Y1.24,Z-56.67

: Sonardyne - read R = 56.690000 from 56.69,X0.71,Y1.24,Z-56.67

: Sonardyne - got all data, Vehicle coordinates,
    r=56.690000, x=56.670000, y=0.710000, z=-1.240000 tat = 540
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172519.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,172519.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.68,X0.39,Y0.32,Z-54.68

: Sonardyne - parsing R54.68,X0.39,Y0.32,Z-54.68

: Sonardyne - read R = 54.680000 from 54.68,X0.39,Y0.32,Z-54.68

: Sonardyne - got all data, Vehicle coordinates,
    r=54.680000, x=54.680000, y=0.390000, z=-0.320000 tat = 540
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172520.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172520.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.09,X-0.11,Y-0.02,Z-53.09

: Sonardyne - parsing R53.09,X-0.11,Y-0.02,Z-53.09

: Sonardyne - read R = 53.090000 from 53.09,X-0.11,Y-0.02,Z-53.09

: Sonardyne - got all data, Vehicle coordinates,
    r=53.090000, x=53.090000, y=-0.110000, z=0.020000 tat = 540
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172521.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172521.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R51.58,X-0.50,Y0.36,Z-51.58

: Sonardyne - parsing R51.58,X-0.50,Y0.36,Z-51.58

: Sonardyne - read R = 51.580000 from 51.58,X-0.50,Y0.36,Z-51.58

: Sonardyne - got all data, Vehicle coordinates,
    r=51.580000, x=51.580000, y=-0.500000, z=-0.360000 tat = 539
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172522.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172522.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.57,X-0.88,Y1.28,Z-50.55

: Sonardyne - parsing R50.57,X-0.88,Y1.28,Z-50.55

: Sonardyne - read R = 50.570000 from 50.57,X-0.88,Y1.28,Z-50.55

: Sonardyne - got all data, Vehicle coordinates,
    r=50.570000, x=50.550000, y=-0.880000, z=-1.280000 tat = 540
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172523.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172523.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.54,X-1.15,Y1.92,Z-49.49

: Sonardyne - parsing R49.54,X-1.15,Y1.92,Z-49.49

: Sonardyne - read R = 49.540000 from 49.54,X-1.15,Y1.92,Z-49.49

: Sonardyne - got all data, Vehicle coordinates,
    r=49.540000, x=49.490000, y=-1.150000, z=-1.920000 tat = 540
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172524.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172524.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R48.59,X-1.31,Y2.55,Z-48.51

: Sonardyne - parsing R48.59,X-1.31,Y2.55,Z-48.51

: Sonardyne - read R = 48.590000 from 48.59,X-1.31,Y2.55,Z-48.51

: Sonardyne - got all data, Vehicle coordinates,
    r=48.590000, x=48.510000, y=-1.310000, z=-2.550000 tat = 530
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.28  8.95 14.94 4.03 4.05 0 21604.73 02:29:46 m

: AshtechGps::processRecord() - $GPGGA,172525.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172525.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.43,X-1.24,Y3.20,Z-47.31

: Sonardyne - parsing R47.43,X-1.24,Y3.20,Z-47.31

: Sonardyne - read R = 47.430000 from 47.43,X-1.24,Y3.20,Z-47.31

: Sonardyne - got all data, Vehicle coordinates,
    r=47.430000, x=47.310000, y=-1.240000, z=-3.200000 tat = 530
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172526.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172526.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R46.07,X-1.01,Y3.94,Z-45.89

: Sonardyne - parsing R46.07,X-1.01,Y3.94,Z-45.89

: Sonardyne - read R = 46.070000 from 46.07,X-1.01,Y3.94,Z-45.89

: Sonardyne - got all data, Vehicle coordinates,
    r=46.070000, x=45.890000, y=-1.010000, z=-3.940000 tat = 530
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172527.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172527.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R44.56,X-0.67,Y4.42,Z-44.34

: Sonardyne - parsing R44.56,X-0.67,Y4.42,Z-44.34

: Sonardyne - read R = 44.560000 from 44.56,X-0.67,Y4.42,Z-44.34

: Sonardyne - got all data, Vehicle coordinates,
    r=44.560000, x=44.340000, y=-0.670000, z=-4.420000 tat = 530
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172528.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172528.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.91,X-0.28,Y4.70,Z-42.65

: Sonardyne - parsing R42.91,X-0.28,Y4.70,Z-42.65

: Sonardyne - read R = 42.910000 from 42.91,X-0.28,Y4.70,Z-42.65

: Sonardyne - got all data, Vehicle coordinates,
    r=42.910000, x=42.650000, y=-0.280000, z=-4.700000 tat = 530
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172529.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172529.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.02,X0.04,Y4.53,Z-40.77

: Sonardyne - parsing R41.02,X0.04,Y4.53,Z-40.77

: Sonardyne - read R = 41.020000 from 41.02,X0.04,Y4.53,Z-40.77

: Sonardyne - got all data, Vehicle coordinates,
    r=41.020000, x=40.770000, y=0.040000, z=-4.530000 tat = 520
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172530.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172530.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.02,X0.31,Y4.16,Z-38.80

: Sonardyne - parsing R39.02,X0.31,Y4.16,Z-38.80

: Sonardyne - read R = 39.020000 from 39.02,X0.31,Y4.16,Z-38.80

: Sonardyne - got all data, Vehicle coordinates,
    r=39.020000, x=38.800000, y=0.310000, z=-4.160000 tat = 520
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172531.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172531.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R36.86,X0.39,Y3.72,Z-36.67

: Sonardyne - parsing R36.86,X0.39,Y3.72,Z-36.67

: Sonardyne - read R = 36.860000 from 36.86,X0.39,Y3.72,Z-36.67

: Sonardyne - got all data, Vehicle coordinates,
    r=36.860000, x=36.670000, y=0.390000, z=-3.720000 tat = 520
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172532.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172532.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.77,X0.19,Y2.74,Z-34.67

: Sonardyne - parsing R34.77,X0.19,Y2.74,Z-34.67

: Sonardyne - read R = 34.770000 from 34.77,X0.19,Y2.74,Z-34.67

: Sonardyne - got all data, Vehicle coordinates,
    r=34.770000, x=34.670000, y=0.190000, z=-2.740000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172533.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172533.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.88,X0.11,Y2.11,Z-32.81

: Sonardyne - parsing R32.88,X0.11,Y2.11,Z-32.81

: Sonardyne - read R = 32.880000 from 32.88,X0.11,Y2.11,Z-32.81

: Sonardyne - got all data, Vehicle coordinates,
    r=32.880000, x=32.810000, y=0.110000, z=-2.110000 tat = 510
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172534.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172534.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.89,X0.04,Y1.62,Z-30.84

: Sonardyne - parsing R30.89,X0.04,Y1.62,Z-30.84

: Sonardyne - read R = 30.890000 from 30.89,X0.04,Y1.62,Z-30.84

: Sonardyne - got all data, Vehicle coordinates,
    r=30.890000, x=30.840000, y=0.040000, z=-1.620000 tat = 510
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.28  9.53 14.94 4.03 4.05 0 21603.73 02:29:56 m

: AshtechGps::processRecord() - $GPGGA,172535.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172535.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.11,X-0.18,Y1.15,Z-29.09

: Sonardyne - parsing R29.11,X-0.18,Y1.15,Z-29.09

: Sonardyne - read R = 29.110000 from 29.11,X-0.18,Y1.15,Z-29.09

: Sonardyne - got all data, Vehicle coordinates,
    r=29.110000, x=29.090000, y=-0.180000, z=-1.150000 tat = 510
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172536.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172536.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.50,X-0.31,Y0.85,Z-27.48

: Sonardyne - parsing R27.50,X-0.31,Y0.85,Z-27.48

: Sonardyne - read R = 27.500000 from 27.50,X-0.31,Y0.85,Z-27.48

: Sonardyne - got all data, Vehicle coordinates,
    r=27.500000, x=27.480000, y=-0.310000, z=-0.850000 tat = 500
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172537.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172537.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.90,X-0.41,Y0.81,Z-25.88

: Sonardyne - parsing R25.90,X-0.41,Y0.81,Z-25.88

: Sonardyne - read R = 25.900000 from 25.90,X-0.41,Y0.81,Z-25.88

: Sonardyne - got all data, Vehicle coordinates,
    r=25.900000, x=25.880000, y=-0.410000, z=-0.810000 tat = 500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172538.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172538.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.52,X-0.56,Y0.68,Z-24.50

: Sonardyne - parsing R24.52,X-0.56,Y0.68,Z-24.50

: Sonardyne - read R = 24.520000 from 24.52,X-0.56,Y0.68,Z-24.50

: Sonardyne - got all data, Vehicle coordinates,
    r=24.520000, x=24.500000, y=-0.560000, z=-0.680000 tat = 500
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172539.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172539.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.09,X-0.64,Y0.61,Z-23.08

: Sonardyne - parsing R23.09,X-0.64,Y0.61,Z-23.08

: Sonardyne - read R = 23.090000 from 23.09,X-0.64,Y0.61,Z-23.08

: Sonardyne - got all data, Vehicle coordinates,
    r=23.090000, x=23.080000, y=-0.640000, z=-0.610000 tat = 500
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172540.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172540.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.65,X-0.52,Y0.84,Z-21.63

: Sonardyne - parsing R21.65,X-0.52,Y0.84,Z-21.63

: Sonardyne - read R = 21.650000 from 21.65,X-0.52,Y0.84,Z-21.63

: Sonardyne - got all data, Vehicle coordinates,
    r=21.650000, x=21.630000, y=-0.520000, z=-0.840000 tat = 500
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172541.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172541.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.12,X-0.44,Y1.09,Z-20.09

: Sonardyne - parsing R20.12,X-0.44,Y1.09,Z-20.09

: Sonardyne - read R = 20.120000 from 20.12,X-0.44,Y1.09,Z-20.09

: Sonardyne - got all data, Vehicle coordinates,
    r=20.120000, x=20.090000, y=-0.440000, z=-1.090000 tat = 500
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172542.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172542.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.60,X-0.34,Y0.91,Z-18.58

: Sonardyne - parsing R18.60,X-0.34,Y0.91,Z-18.58

: Sonardyne - read R = 18.600000 from 18.60,X-0.34,Y0.91,Z-18.58

: Sonardyne - got all data, Vehicle coordinates,
    r=18.600000, x=18.580000, y=-0.340000, z=-0.910000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172543.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172543.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.05,X-0.24,Y0.89,Z-17.02

: Sonardyne - parsing R17.05,X-0.24,Y0.89,Z-17.02

: Sonardyne - read R = 17.050000 from 17.05,X-0.24,Y0.89,Z-17.02

: Sonardyne - got all data, Vehicle coordinates,
    r=17.050000, x=17.020000, y=-0.240000, z=-0.890000 tat = 490
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172544.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172544.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.47,X-0.12,Y0.97,Z-15.44

: Sonardyne - parsing R15.47,X-0.12,Y0.97,Z-15.44

: Sonardyne - read R = 15.470000 from 15.47,X-0.12,Y0.97,Z-15.44

: Sonardyne - got all data, Vehicle coordinates,
    r=15.470000, x=15.440000, y=-0.120000, z=-0.970000 tat = 490
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.32  8.58 14.94 4.03 4.04 0 21603.14 02:30:06 m

: AshtechGps::processRecord() - $GPGGA,172545.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172545.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.82,X-0.04,Y0.96,Z-13.79

: Sonardyne - parsing R13.82,X-0.04,Y0.96,Z-13.79

: Sonardyne - read R = 13.820000 from 13.82,X-0.04,Y0.96,Z-13.79

: Sonardyne - got all data, Vehicle coordinates,
    r=13.820000, x=13.790000, y=-0.040000, z=-0.960000 tat = 490
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,172546.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172546.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.18,X-0.00,Y0.77,Z-12.16

: Sonardyne - parsing R12.18,X-0.00,Y0.77,Z-12.16

: Sonardyne - read R = 12.180000 from 12.18,X-0.00,Y0.77,Z-12.16

: Sonardyne - got all data, Vehicle coordinates,
    r=12.180000, x=12.160000, y=0.000000, z=-0.770000 tat = 480
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172547.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172547.00,,,,,0,00,,,M,,M,,*4A


: 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,172548.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172548.00,,,,,0,00,,,M,,M,,*45


: 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

: AshtechGps::processRecord() - $GPGGA,172549.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172549.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172550.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172550.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.00

: Sonardyne - parsing R5.00

: Sonardyne - read R = 5.000000 from 5.00

: Sonardyne - got range only (5.000000), tat = 449
: Sonardyne - POSD response: 
POSD S+144.9,N29.0,D-50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N29.0,D-50,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,172551.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172551.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.29

: Sonardyne - parsing R3.29

: Sonardyne - read R = 3.290000 from 3.29

: Sonardyne - got range only (3.290000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N29.0,D-47,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N29.0,D-47,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,172552.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172552.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.61,X0.52,Y0.17,Z-1.51

: Sonardyne - parsing R1.61,X0.52,Y0.17,Z-1.51

: Sonardyne - read R = 1.610000 from 1.61,X0.52,Y0.17,Z-1.51

: Sonardyne - got all data, Vehicle coordinates,
    r=1.610000, x=1.510000, y=0.520000, z=-0.170000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N30.2,D-41,U8,Q0.014881

: WaypointHoming: The Usbl has aquired the transponder!
:  WaypointHoming has set the state to finished.

: WaypointHoming (4085838.0, 598949.5), 
  reached at t = 1015.80                                         (wplog)

: Vehicle Position is error is (-0.3, 1.6)

: LayeredControl::execute() -- (t = 1015.800413) Behavior waypoint_homing has changed to state Finished

: LayeredControl::execute() -- (t = 1015.810412) Behavior ascend has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,172553.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172553.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R0.59

: Sonardyne - parsing R0.59

: Sonardyne - read R = 0.590000 from 0.59

: Sonardyne - got range only (0.590000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D-6,U2,Q0.012855

: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D-6,U2,Q0.012855

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

: AshtechGps::processRecord() - $GPGGA,172554.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172554.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.29

: Sonardyne - parsing R2.29

: Sonardyne - read R = 2.290000 from 2.29

: Sonardyne - got range only (2.290000), tat = 450
: Sonardyne - POSD response: 
POSD S129.9,N27.0,D31,U3,Q0.003064

: Sonardyne - POSD response: 
POSD S129.9,N27.0,D31,U3,Q0.003064

: BluefinBatt Reply: $b6q0 d- 32.32  8.15 14.94 4.03 4.04 0 21602.25 02:30:16 m

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

: AshtechGps::processRecord() - $GPGGA,172555.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172555.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,172556.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172556.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,172557.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172557.00,,,,,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,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,172558.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,172558.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.71

: Sonardyne - parsing R5.71

: Sonardyne - read R = 5.710000 from 5.71

: Sonardyne - got range only (5.710000), tat = 450
: Sonardyne - POSD response: 
POSD S125.2,N29.3,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.2,N29.3,D12,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,172559.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,172559.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.54

: Sonardyne - parsing R5.54

: Sonardyne - read R = 5.540000 from 5.54

: Sonardyne - got range only (5.540000), tat = 450
: Sonardyne - POSD response: 
POSD S126.0,N30.7,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.0,N30.7,D-11,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,172600.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172600.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.83,X-0.85,Y0.24,Z-5.76

: Sonardyne - parsing R5.83,X-0.85,Y0.24,Z-5.76

: Sonardyne - read R = 5.830000 from 5.83,X-0.85,Y0.24,Z-5.76

: Sonardyne - got all data, Vehicle coordinates,
    r=5.830000, x=5.760000, y=-0.850000, z=-0.240000 tat = 470
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172601.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172601.00,,,,,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,172602.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172602.00,,,,,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,172603.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172603.00,,,,,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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,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,172604.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172604.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.10

: Sonardyne - parsing R9.10

: Sonardyne - read R = 9.100000 from 9.10

: Sonardyne - got range only (9.100000), tat = 459
: Sonardyne - POSD response: 
POSD S+141.1,N34.5,D12,U5,Q0.005584

: Sonardyne - POSD response: 
POSD S+141.1,N34.5,D12,U5,Q0.005584

: BluefinBatt Reply: $b6q0 d- 32.24 10.91 14.94 4.03 4.04 0 21601.68 02:30:26 m

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

: AshtechGps::processRecord() - $GPGGA,172605.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172605.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.77

: Sonardyne - parsing R9.77

: Sonardyne - read R = 9.770000 from 9.77

: Sonardyne - got range only (9.770000), tat = 460
: Sonardyne - POSD response: 
POSD S+141.1,N32.5,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.1,N32.5,D20,U0,Q0.000000

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,172606.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172606.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.22

: Sonardyne - parsing R10.22

: Sonardyne - read R = 10.220000 from 10.22

: Sonardyne - got range only (10.220000), tat = 460
: Sonardyne - POSD response: 
POSD S138.4,N32.8,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.4,N32.8,D16,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,172607.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172607.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.61

: Sonardyne - parsing R10.61

: Sonardyne - read R = 10.610000 from 10.61

: Sonardyne - got range only (10.610000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.2,N37.8,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.2,N37.8,D-1,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,172608.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172608.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.84

: Sonardyne - parsing R10.84

: Sonardyne - read R = 10.840000 from 10.84

: Sonardyne - got range only (10.840000), tat = 460
: Sonardyne - POSD response: 
POSD S+143.7,N29.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.7,N29.1,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,172609.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172609.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.92,X-7.18,Y-8.22,Z0.00

: Sonardyne - parsing R10.92,X-7.18,Y-8.22,Z0.00

: Sonardyne - read R = 10.920000 from 10.92,X-7.18,Y-8.22,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=10.920000, x=0.000000, y=-7.180000, z=8.220000 tat = 480
: Sonardyne - POSD response: 
POSD S+142.2,N41.2,D1,U8,Q0.017615

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

: AshtechGps::processRecord() - $GPGGA,172610.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172610.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.03

: Sonardyne - parsing R11.03

: Sonardyne - read R = 11.030000 from 11.03

: Sonardyne - got range only (11.030000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.2,N31.6,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.2,N31.6,D-4,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,172611.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172611.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.09,X7.26,Y-7.58,Z-3.58

: Sonardyne - parsing R11.09,X7.26,Y-7.58,Z-3.58

: Sonardyne - read R = 11.090000 from 11.09,X7.26,Y-7.58,Z-3.58

: Sonardyne - got all data, Vehicle coordinates,
    r=11.090000, x=3.580000, y=7.260000, z=7.580000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.5,N40.1,D0,U7,Q0.009748

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

: AshtechGps::processRecord() - $GPGGA,172612.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172612.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.06,X6.38,Y-7.95,Z-4.29

: Sonardyne - parsing R11.06,X6.38,Y-7.95,Z-4.29

: Sonardyne - read R = 11.060000 from 11.06,X6.38,Y-7.95,Z-4.29

: Sonardyne - got all data, Vehicle coordinates,
    r=11.060000, x=4.290000, y=6.380000, z=7.950000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.7,N40.6,D1,U8,Q0.005345

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

: AshtechGps::processRecord() - $GPGGA,172613.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172613.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.04

: Sonardyne - parsing R11.04

: Sonardyne - read R = 11.040000 from 11.04

: Sonardyne - got range only (11.040000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N38.6,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N38.6,D3,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,172614.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,172614.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.92

: Sonardyne - parsing R10.92

: Sonardyne - read R = 10.920000 from 10.92

: Sonardyne - got range only (10.920000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N58.2,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N58.2,D-5,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.28  9.64 15.03 4.03 4.04 0 21600.73 02:30:36 m

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

: AshtechGps::processRecord() - $GPGGA,172615.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,172615.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.86,X3.44,Y-9.28,Z-4.49

: Sonardyne - parsing R10.86,X3.44,Y-9.28,Z-4.49

: Sonardyne - read R = 10.860000 from 10.86,X3.44,Y-9.28,Z-4.49

: Sonardyne - got all data, Vehicle coordinates,
    r=10.860000, x=4.490000, y=3.440000, z=9.280000 tat = 480
: LayeredControl::execute() -- (t = 1039.198810) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 1039.198810) Behavior getgps has changed to state Active

: Sonardyne - POSD response: 
POSD S+144.6,N24.0,D8,U6,Q0.009948

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,172616.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,172616.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.77,X1.67,Y-10.07,Z-3.45

: Sonardyne - parsing R10.77,X1.67,Y-10.07,Z-3.45

: Sonardyne - read R = 10.770000 from 10.77,X1.67,Y-10.07,Z-3.45

: Sonardyne - got all data, Vehicle coordinates,
    r=10.770000, x=3.450000, y=1.670000, z=10.070000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.6,N27.6,D27,U7,Q0.002867

: AshtechGps::processRecord() - $GPGGA,172617.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172617.00,,,,,0,00,,,M,,M,,*4C


:  wdt = 00890,  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 R10.30

: Sonardyne - parsing R10.30

: Sonardyne - read R = 10.300000 from 10.30

: Sonardyne - got range only (10.300000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N28.1,D120,U5,Q0.008306

: Sonardyne - POSD response: 
POSD S+144.8,N28.1,D120,U5,Q0.008306

: AshtechGps::processRecord() - $GPGGA,172618.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,172618.00,,,,,0,00,,,M,,M,,*43


:  wdt = 00899,  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 R10.14

: Sonardyne - parsing R10.14

: Sonardyne - read R = 10.140000 from 10.14

: Sonardyne - got range only (10.140000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N30.5,D-42,U5,Q0.005593

: Sonardyne - POSD response: 
POSD S+144.7,N30.5,D-42,U5,Q0.005593

: AshtechGps::processRecord() - $GPGGA,172619.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,172619.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R10.21

: Sonardyne - parsing R10.21

: Sonardyne - read R = 10.210000 from 10.21

: Sonardyne - got range only (10.210000), tat = 459
: Sonardyne - POSD response: 
POSD S+144.7,N26.5,D69,U5,Q0.003458

: Sonardyne - POSD response: 
POSD S+144.7,N26.5,D69,U5,Q0.003458

: AshtechGps::processRecord() - $GPGGA,172620.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,172620.00,,,,,0,00,,,M,,M,,*48


: 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 R9.95,X0.96,Y-9.30,Z-3.41

: Sonardyne - parsing R9.95,X0.96,Y-9.30,Z-3.41

: Sonardyne - read R = 9.950000 from 9.95,X0.96,Y-9.30,Z-3.41

: Sonardyne - got all data, Vehicle coordinates,
    r=9.950000, x=3.410000, y=0.960000, z=9.300000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.1,N22.7,D129,U6,Q0.005069

: AshtechGps::processRecord() - $GPGGA,172621.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,172621.00,,,,,0,00,,,M,,M,,*49


: 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 R9.82,X0.29,Y-9.21,Z-3.40

: Sonardyne - parsing R9.82,X0.29,Y-9.21,Z-3.40

: Sonardyne - read R = 9.820000 from 9.82,X0.29,Y-9.21,Z-3.40

: Sonardyne - got all data, Vehicle coordinates,
    r=9.820000, x=3.400000, y=0.290000, z=9.210000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.3,N41.8,D1,U8,Q0.002922

: AshtechGps::processRecord() - $GPGGA,172622.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,172622.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R9.97

: Sonardyne - parsing R9.97

: Sonardyne - read R = 9.970000 from 9.97

: Sonardyne - got range only (9.970000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.6,N22.1,D118,U3,Q0.001094

: Sonardyne - POSD response: 
POSD S+144.6,N22.1,D118,U3,Q0.001094

: AshtechGps::processRecord() - $GPGGA,172623.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,172623.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R10.15,X1.02,Y-9.79,Z-2.51

: Sonardyne - parsing R10.15,X1.02,Y-9.79,Z-2.51

: Sonardyne - read R = 10.150000 from 10.15,X1.02,Y-9.79,Z-2.51

: Sonardyne - got all data, Vehicle coordinates,
    r=10.150000, x=2.510000, y=1.020000, z=9.790000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.7,N44.1,D0,U8,Q0.000064

: AshtechGps::processRecord() - $GPGGA,172624.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,172624.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R10.41

: Sonardyne - parsing R10.41

: Sonardyne - read R = 10.410000 from 10.41

: Sonardyne - got range only (10.410000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.2,N30.0,D-15,U1,Q0.001164

: Sonardyne - POSD response: 
POSD S+144.2,N30.0,D-15,U1,Q0.001164

: BluefinBatt Reply: $b6q0 d- 32.51  3.40 15.03 4.06 4.07 0 21600.46 02:30:46 m

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

: AshtechGps::processRecord() - $GPGGA,172625.00,3654.77394,N,12153.34948,W,1,08,1.2,-3.38,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172625.00,3654.77394,N,12153.34948,W,1,08,1.2,-3.38,M,-32.59,M,,*79


: successfully parse sentence at 17:26:25

: AshtechGPS::processRecord -sample time is 1134408385
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R10.72

: Sonardyne - parsing R10.72

: Sonardyne - read R = 10.720000 from 10.72

: Sonardyne - got range only (10.720000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N34.9,D10,U3,Q0.000303

: Sonardyne - POSD response: 
POSD S+144.7,N34.9,D10,U3,Q0.000303

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

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

: AshtechGps::processRecord() - $GPGGA,172626.00,3654.77407,N,12153.34904,W,1,08,1.2,-2.32,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,172626.00,3654.77407,N,12153.34904,W,1,08,1.2,-2.32,M,-32.59,M,,*74


: successfully parse sentence at 17:26:26

: AshtechGPS::processRecord -sample time is 1134408386
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R10.84

: Sonardyne - parsing R10.84

: Sonardyne - read R = 10.840000 from 10.84

: Sonardyne - got range only (10.840000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N37.4,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N37.4,D9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172627.00,3654.77443,N,12153.34898,W,1,08,1.2,-3.13,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172627.00,3654.77443,N,12153.34898,W,1,08,1.2,-3.13,M,-32.59,M,,*73


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

: successfully parse sentence at 17:26:27

: AshtechGPS::processRecord -sample time is 1134408387
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.21

: Sonardyne - parsing R11.21

: Sonardyne - read R = 11.210000 from 11.21

: Sonardyne - got range only (11.210000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N33.8,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N33.8,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172628.00,3654.77466,N,12153.34856,W,1,08,1.2,-3.21,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,172628.00,3654.77466,N,12153.34856,W,1,08,1.2,-3.21,M,-32.59,M,,*78


: successfully parse sentence at 17:26:28

: AshtechGPS::processRecord -sample time is 1134408388
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.09,X-5.83,Y9.43,Z0.00

: Sonardyne - parsing R11.09,X-5.83,Y9.43,Z0.00

: Sonardyne - read R = 11.090000 from 11.09,X-5.83,Y9.43,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=11.090000, x=0.000000, y=-5.830000, z=-9.430000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.4,N39.6,D1,U8,Q0.005301

: AshtechGps::processRecord() - $GPGGA,172629.00,3654.77477,N,12153.34842,W,1,08,1.2,-3.22,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172629.00,3654.77477,N,12153.34842,W,1,08,1.2,-3.22,M,-32.59,M,,*7F


: successfully parse sentence at 17:26:29

: AshtechGPS::processRecord -sample time is 1134408389
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.65

: Sonardyne - parsing R11.65

: Sonardyne - read R = 11.650000 from 11.65

: Sonardyne - got range only (11.650000), tat = 460
: Sonardyne - POSD response: 
POSD S+143.9,N33.9,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.9,N33.9,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172630.00,3654.77495,N,12153.34825,W,1,08,1.2,-2.94,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172630.00,3654.77495,N,12153.34825,W,1,08,1.2,-2.94,M,-32.59,M,,*76


: successfully parse sentence at 17:26:30

: AshtechGPS::processRecord -sample time is 1134408390
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.68

: Sonardyne - parsing R11.68

: Sonardyne - read R = 11.680000 from 11.68

: Sonardyne - got range only (11.680000), tat = 460
: Sonardyne - POSD response: 
POSD S+141.9,N27.3,D-18,U1,Q0.018576

: Sonardyne - POSD response: 
POSD S+141.9,N27.3,D-18,U1,Q0.018576

: AshtechGps::processRecord() - $GPGGA,172631.00,3654.77494,N,12153.34811,W,1,08,1.2,-2.73,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,172631.00,3654.77494,N,12153.34811,W,1,08,1.2,-2.73,M,-32.59,M,,*78


: successfully parse sentence at 17:26:31

: AshtechGPS::processRecord -sample time is 1134408391
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.72,X0.45,Y1.59,Z-11.60

: Sonardyne - parsing R11.72,X0.45,Y1.59,Z-11.60

: Sonardyne - read R = 11.720000 from 11.72,X0.45,Y1.59,Z-11.60

: Sonardyne - got all data, Vehicle coordinates,
    r=11.720000, x=11.600000, y=0.450000, z=-1.590000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.1,N35.2,D-14,U8,Q0.004420

: AshtechGps::processRecord() - $GPGGA,172632.00,3654.77510,N,12153.34807,W,1,08,1.2,-2.41,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172632.00,3654.77510,N,12153.34807,W,1,08,1.2,-2.41,M,-32.59,M,,*70


: successfully parse sentence at 17:26:32

: AshtechGPS::processRecord -sample time is 1134408392
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R11.96

: Sonardyne - parsing R11.96

: Sonardyne - read R = 11.960000 from 11.96

: Sonardyne - got range only (11.960000), tat = 460
: Sonardyne - POSD response: 
POSD S+143.0,N29.2,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.0,N29.2,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172633.00,3654.77524,N,12153.34782,W,1,08,1.2,-2.08,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172633.00,3654.77524,N,12153.34782,W,1,08,1.2,-2.08,M,-32.59,M,,*79


: successfully parse sentence at 17:26:33

: AshtechGPS::processRecord -sample time is 1134408393
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R12.44

: Sonardyne - parsing R12.44

: Sonardyne - read R = 12.440000 from 12.44

: Sonardyne - got range only (12.440000), tat = 460
: Sonardyne - POSD response: 
POSD S138.5,N33.4,D17,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S138.5,N33.4,D17,U1,Q0.007495

: AshtechGps::processRecord() - $GPGGA,172634.00,3654.77540,N,12153.34748,W,1,08,1.2,-2.03,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,172634.00,3654.77540,N,12153.34748,W,1,08,1.2,-2.03,M,-32.59,M,,*71


: successfully parse sentence at 17:26:34

: AshtechGPS::processRecord -sample time is 1134408394
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1057.797536) Behavior getgps has changed to state Finished

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

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 1057.997522) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 1057.997522) Behavior missionTimer has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R12.69

: Sonardyne - parsing R12.69

: Sonardyne - read R = 12.690000 from 12.69

: Sonardyne - got range only (12.690000), tat = 460
: Sonardyne - POSD response: 
POSD S137.6,N30.1,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.6,N30.1,D4,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.55  3.11 15.13 4.06 4.07 0 21600.13 02:30:56 m

: AshtechGps::processRecord() - $GPGGA,172635.00,3654.77581,N,12153.34754,W,1,08,1.2,-3.33,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172635.00,3654.77581,N,12153.34754,W,1,08,1.2,-3.33,M,-32.59,M,,*72


: successfully parse sentence at 17:26:35

: AshtechGPS::processRecord -sample time is 1134408395
:  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 R12.63

: Sonardyne - parsing R12.63

: Sonardyne - read R = 12.630000 from 12.63

: Sonardyne - got range only (12.630000), tat = 460
: Sonardyne - POSD response: 
POSD S139.3,N39.9,D10,U5,Q0.006413

: Sonardyne - POSD response: 
POSD S139.3,N39.9,D10,U5,Q0.006413

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,172636.00,3654.77591,N,12153.34710,W,1,08,1.2,-3.21,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172636.00,3654.77591,N,12153.34710,W,1,08,1.2,-3.21,M,-32.59,M,,*73


: successfully parse sentence at 17:26:36

: AshtechGPS::processRecord -sample time is 1134408396
:  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 R13.39

: Sonardyne - parsing R13.39

: Sonardyne - read R = 13.390000 from 13.39

: Sonardyne - got range only (13.390000), tat = 460
: Sonardyne - POSD response: 
POSD S138.0,N34.1,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.0,N34.1,D12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172637.00,3654.77618,N,12153.34665,W,1,08,1.2,-3.13,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172637.00,3654.77618,N,12153.34665,W,1,08,1.2,-3.13,M,-32.59,M,,*72


: successfully parse sentence at 17:26:37

: AshtechGPS::processRecord -sample time is 1134408397
:  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 R13.66

: Sonardyne - parsing R13.66

: Sonardyne - read R = 13.660000 from 13.66

: Sonardyne - got range only (13.660000), tat = 470
: Sonardyne - POSD response: 
POSD S131.8,N32.1,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.8,N32.1,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172638.00,3654.77643,N,12153.34612,W,1,08,1.2,-3.45,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172638.00,3654.77643,N,12153.34612,W,1,08,1.2,-3.45,M,-32.59,M,,*70


: successfully parse sentence at 17:26:38

: AshtechGPS::processRecord -sample time is 1134408398
:  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 R14.01

: Sonardyne - parsing R14.01

: Sonardyne - read R = 14.010000 from 14.01

: Sonardyne - got range only (14.010000), tat = 470
: Sonardyne - POSD response: 
POSD S135.6,N43.1,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.6,N43.1,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172639.00,3654.77658,N,12153.34574,W,1,08,1.2,-3.60,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172639.00,3654.77658,N,12153.34574,W,1,08,1.2,-3.60,M,-32.59,M,,*7F


: successfully parse sentence at 17:26:39

: AshtechGPS::processRecord -sample time is 1134408399
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172640.00,3654.77678,N,12153.34556,W,1,08,1.2,-3.78,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172640.00,3654.77678,N,12153.34556,W,1,08,1.2,-3.78,M,-32.59,M,,*7A


: successfully parse sentence at 17:26:40

: AshtechGPS::processRecord -sample time is 1134408400
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172641.00,3654.77690,N,12153.34545,W,1,08,1.2,-4.10,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172641.00,3654.77690,N,12153.34545,W,1,08,1.2,-4.10,M,-32.59,M,,*76


: successfully parse sentence at 17:26:41

: AshtechGPS::processRecord -sample time is 1134408401
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172642.00,3654.77702,N,12153.34542,W,1,08,1.2,-4.09,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172642.00,3654.77702,N,12153.34542,W,1,08,1.2,-4.09,M,-32.59,M,,*70


: successfully parse sentence at 17:26:42

: AshtechGPS::processRecord -sample time is 1134408402
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172643.00,3654.77698,N,12153.34530,W,1,08,1.2,-3.96,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172643.00,3654.77698,N,12153.34530,W,1,08,1.2,-3.96,M,-32.59,M,,*77


: successfully parse sentence at 17:26:43

: AshtechGPS::processRecord -sample time is 1134408403
: Sonardyne - POS response: 
POS V4,1 R14.70,X0.30,Y1.23,Z-14.64

: Sonardyne - parsing R14.70,X0.30,Y1.23,Z-14.64

: Sonardyne - read R = 14.700000 from 14.70,X0.30,Y1.23,Z-14.64

: Sonardyne - got all data, Vehicle coordinates,
    r=14.700000, x=14.640000, y=0.300000, z=-1.230000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172644.00,3654.77697,N,12153.34515,W,1,08,1.2,-3.80,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172644.00,3654.77697,N,12153.34515,W,1,08,1.2,-3.80,M,-32.59,M,,*7F


: successfully parse sentence at 17:26:44

: AshtechGPS::processRecord -sample time is 1134408404
: Sonardyne - POS response: 
POS V4,1 R14.96,X8.27,Y12.47,Z0.00

: Sonardyne - parsing R14.96,X8.27,Y12.47,Z0.00

: Sonardyne - read R = 14.960000 from 14.96,X8.27,Y12.47,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=14.960000, x=0.000000, y=8.270000, z=-12.470000 tat = 490
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 32.59  1.99 15.03 4.06 4.07 0 21599.95 02:31:06 m

: AshtechGps::processRecord() - $GPGGA,172645.00,3654.77696,N,12153.34499,W,1,08,1.2,-3.68,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,172645.00,3654.77696,N,12153.34499,W,1,08,1.2,-3.68,M,-32.59,M,,*7C


: successfully parse sentence at 17:26:45

: AshtechGPS::processRecord -sample time is 1134408405
: Sonardyne - POS response: 
POS V4,1 R15.11

: Sonardyne - parsing R15.11

: Sonardyne - read R = 15.110000 from 15.11

: Sonardyne - got range only (15.110000), tat = 470
: Sonardyne - POSD response: 
POSD S132.3,N33.3,D-5,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S132.3,N33.3,D-5,U0,Q0.000000

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,172646.00,3654.77700,N,12153.34486,W,1,08,1.2,-3.72,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,172646.00,3654.77700,N,12153.34486,W,1,08,1.2,-3.72,M,-32.59,M,,*74


: successfully parse sentence at 17:26:46

: AshtechGPS::processRecord -sample time is 1134408406
: Sonardyne - POS response: 
POS V4,1 R15.02,X15.00,Y-0.84,Z0.00

: Sonardyne - parsing R15.02,X15.00,Y-0.84,Z0.00

: Sonardyne - read R = 15.020000 from 15.02,X15.00,Y-0.84,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.020000, x=0.000000, y=15.000000, z=0.840000 tat = 490
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172647.00,3654.77700,N,12153.34464,W,1,08,1.2,-3.65,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172647.00,3654.77700,N,12153.34464,W,1,08,1.2,-3.65,M,-32.59,M,,*7F


: successfully parse sentence at 17:26:47

: AshtechGPS::processRecord -sample time is 1134408407
: Sonardyne - POS response: 
POS V4,1 R15.39

: Sonardyne - parsing R15.39

: Sonardyne - read R = 15.390000 from 15.39

: Sonardyne - got range only (15.390000), tat = 470
: Sonardyne - POSD response: 
POSD S131.6,N29.1,D6,U1,Q0.000971

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

: Sonardyne - POSD response: 
POSD S131.6,N29.1,D6,U1,Q0.000971

: AshtechGps::processRecord() - $GPGGA,172648.00,3654.77703,N,12153.34434,W,1,08,1.2,-3.78,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172648.00,3654.77703,N,12153.34434,W,1,08,1.2,-3.78,M,-32.59,M,,*7A


: successfully parse sentence at 17:26:48

: AshtechGPS::processRecord -sample time is 1134408408
: Sonardyne - POS response: 
POS V4,1 R15.78

: Sonardyne - parsing R15.78

: Sonardyne - read R = 15.780000 from 15.78

: Sonardyne - got range only (15.780000), tat = 470
: Sonardyne - POSD response: 
POSD S131.0,N28.3,D-3,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S131.0,N28.3,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172649.00,3654.77700,N,12153.34412,W,1,08,1.2,-3.82,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172649.00,3654.77700,N,12153.34412,W,1,08,1.2,-3.82,M,-32.59,M,,*79


: successfully parse sentence at 17:26:49

: AshtechGPS::processRecord -sample time is 1134408409
: Sonardyne - POS response: 
POS V4,1 R15.91,X-14.59,Y6.35,Z0.00

: Sonardyne - parsing R15.91,X-14.59,Y6.35,Z0.00

: Sonardyne - read R = 15.910000 from 15.91,X-14.59,Y6.35,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.910000, x=0.000000, y=-14.590000, z=-6.350000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172650.00,3654.77706,N,12153.34404,W,1,08,1.2,-4.00,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172650.00,3654.77706,N,12153.34404,W,1,08,1.2,-4.00,M,-32.59,M,,*7D


: successfully parse sentence at 17:26:50

: AshtechGPS::processRecord -sample time is 1134408410
: Sonardyne - POS response: 
POS V4,1 R15.98

: Sonardyne - parsing R15.98

: Sonardyne - read R = 15.980000 from 15.98

: Sonardyne - got range only (15.980000), tat = 470
: Sonardyne - POSD response: 
POSD S134.1,N26.7,D-6,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 S134.1,N26.7,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172651.00,3654.77707,N,12153.34397,W,1,08,1.2,-3.81,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172651.00,3654.77707,N,12153.34397,W,1,08,1.2,-3.81,M,-32.59,M,,*7E


: successfully parse sentence at 17:26:51

: AshtechGPS::processRecord -sample time is 1134408411
: Sonardyne - POS response: 
POS V4,1 R15.68

: Sonardyne - parsing R15.68

: Sonardyne - read R = 15.680000 from 15.68

: Sonardyne - got range only (15.680000), tat = 470
: Sonardyne - POSD response: 
POSD S+141.3,N31.3,D-5,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+141.3,N31.3,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172652.00,3654.77713,N,12153.34376,W,1,08,1.2,-3.73,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172652.00,3654.77713,N,12153.34376,W,1,08,1.2,-3.73,M,-32.59,M,,*7A


: successfully parse sentence at 17:26:52

: AshtechGPS::processRecord -sample time is 1134408412
: Sonardyne - POS response: 
POS V4,1 R15.76

: Sonardyne - parsing R15.76

: Sonardyne - read R = 15.760000 from 15.76

: Sonardyne - got range only (15.760000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.8,N32.2,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+143.8,N32.2,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172653.00,3654.77715,N,12153.34355,W,1,08,1.2,-3.58,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,172653.00,3654.77715,N,12153.34355,W,1,08,1.2,-3.58,M,-32.59,M,,*75


: successfully parse sentence at 17:26:53

: AshtechGPS::processRecord -sample time is 1134408413
: Sonardyne - POS response: 
POS V4,1 R15.79

: Sonardyne - parsing R15.79

: Sonardyne - read R = 15.790000 from 15.79

: Sonardyne - got range only (15.790000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.1,N30.8,D-11,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+142.1,N30.8,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,172654.00,3654.77729,N,12153.34327,W,1,08,1.2,-3.38,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172654.00,3654.77729,N,12153.34327,W,1,08,1.2,-3.38,M,-32.59,M,,*7E


: successfully parse sentence at 17:26:54

: AshtechGPS::processRecord -sample time is 1134408414
: Sonardyne - POS response: 
POS V4,1 R15.93

: Sonardyne - parsing R15.93

: Sonardyne - read R = 15.930000 from 15.93

: Sonardyne - got range only (15.930000), tat = 470
: Sonardyne - POSD response: 
POSD S137.3,N24.6,D-27,U1,Q0.000095

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

: Sonardyne - POSD response: 
POSD S137.3,N24.6,D-27,U1,Q0.000095

: BluefinBatt Reply: $b6q0 d- 32.59  1.91 15.13 4.06 4.07 0 21599.74 02:31:16 m

: AshtechGps::processRecord() - $GPGGA,172655.00,3654.77727,N,12153.34299,W,1,08,1.2,-3.33,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172655.00,3654.77727,N,12153.34299,W,1,08,1.2,-3.33,M,-32.59,M,,*7E


: successfully parse sentence at 17:26:55

: AshtechGPS::processRecord -sample time is 1134408415
: Sonardyne - POS response: 
POS V4,1 R15.96

: Sonardyne - parsing R15.96

: Sonardyne - read R = 15.960000 from 15.96

: Sonardyne - got range only (15.960000), tat = 470
: Sonardyne - POSD response: 
POSD S+140.9,N29.7,D-10,U2,Q0.016658

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

: Sonardyne - POSD response: 
POSD S+140.9,N29.7,D-10,U2,Q0.016658

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,172656.00,3654.77727,N,12153.34262,W,1,08,1.2,-3.52,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172656.00,3654.77727,N,12153.34262,W,1,08,1.2,-3.52,M,-32.59,M,,*7E


: successfully parse sentence at 17:26:56

: AshtechGPS::processRecord -sample time is 1134408416
: Sonardyne - POS response: 
POS V4,1 R16.22,X3.47,Y1.38,Z-15.78

: Sonardyne - parsing R16.22,X3.47,Y1.38,Z-15.78

: Sonardyne - read R = 16.220000 from 16.22,X3.47,Y1.38,Z-15.78

: Sonardyne - got all data, Vehicle coordinates,
    r=16.220000, x=15.780000, y=3.470000, z=-1.380000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.3,N37.6,D-5,U8,Q0.000131

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

: AshtechGps::processRecord() - $GPGGA,172657.00,3654.77727,N,12153.34238,W,1,08,1.2,-3.75,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,172657.00,3654.77727,N,12153.34238,W,1,08,1.2,-3.75,M,-32.59,M,,*75


: successfully parse sentence at 17:26:57

: AshtechGPS::processRecord -sample time is 1134408417
: Sonardyne - POS response: 
POS V4,1 R16.36

: Sonardyne - parsing R16.36

: Sonardyne - read R = 16.360000 from 16.36

: Sonardyne - got range only (16.360000), tat = 470
: Sonardyne - POSD response: 
POSD S137.6,N29.0,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.6,N29.0,D-2,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,172658.00,3654.77721,N,12153.34227,W,1,08,1.2,-3.90,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172658.00,3654.77721,N,12153.34227,W,1,08,1.2,-3.90,M,-32.59,M,,*79


: successfully parse sentence at 17:26:58

: AshtechGPS::processRecord -sample time is 1134408418
: Sonardyne - POS response: 
POS V4,1 R16.55,X5.35,Y11.79,Z-10.30

: Sonardyne - parsing R16.55,X5.35,Y11.79,Z-10.30

: Sonardyne - read R = 16.550000 from 16.55,X5.35,Y11.79,Z-10.30

: Sonardyne - got all data, Vehicle coordinates,
    r=16.550000, x=10.300000, y=5.350000, z=-11.790000 tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172659.00,3654.77712,N,12153.34222,W,1,08,1.2,-4.12,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172659.00,3654.77712,N,12153.34222,W,1,08,1.2,-4.12,M,-32.59,M,,*70


: successfully parse sentence at 17:26:59

: AshtechGPS::processRecord -sample time is 1134408419
: Sonardyne - POS response: 
POS V4,1 R16.39

: Sonardyne - parsing R16.39

: Sonardyne - read R = 16.390000 from 16.39

: Sonardyne - got range only (16.390000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.1,N36.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.1,N36.9,D-11,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,172700.00,3654.77693,N,12153.34233,W,1,08,1.2,-4.10,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172700.00,3654.77693,N,12153.34233,W,1,08,1.2,-4.10,M,-32.59,M,,*77


: successfully parse sentence at 17:27:0

: AshtechGPS::processRecord -sample time is 1134408420
: Sonardyne - POS response: 
POS V4,1 R16.25

: Sonardyne - parsing R16.25

: Sonardyne - read R = 16.250000 from 16.25

: Sonardyne - got range only (16.250000), tat = 470
: Sonardyne - POSD response: 
POSD S123.7,N23.5,D103,U1,Q0.009926

: Sonardyne - POSD response: 
POSD S123.7,N23.5,D103,U1,Q0.009926

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

: AshtechGps::processRecord() - $GPGGA,172701.00,3654.77683,N,12153.34236,W,1,08,1.2,-4.21,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172701.00,3654.77683,N,12153.34236,W,1,08,1.2,-4.21,M,-32.59,M,,*70


: successfully parse sentence at 17:27:1

: AshtechGPS::processRecord -sample time is 1134408421
: Sonardyne - POS response: 
POS V4,1 R16.35

: Sonardyne - parsing R16.35

: Sonardyne - read R = 16.350000 from 16.35

: Sonardyne - got range only (16.350000), tat = 470
: Sonardyne - POSD response: 
POSD S139.5,N27.3,D4,U1,Q0.000609

: Sonardyne - POSD response: 
POSD S139.5,N27.3,D4,U1,Q0.000609

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

: AshtechGps::processRecord() - $GPGGA,172702.00,3654.77671,N,12153.34249,W,1,08,1.2,-4.26,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,172702.00,3654.77671,N,12153.34249,W,1,08,1.2,-4.26,M,-32.59,M,,*71


: successfully parse sentence at 17:27:2

: AshtechGPS::processRecord -sample time is 1134408422
: Sonardyne - POS response: 
POS V4,1 R16.32

: Sonardyne - parsing R16.32

: Sonardyne - read R = 16.320000 from 16.32

: Sonardyne - got range only (16.320000), tat = 470
: Sonardyne - POSD response: 
POSD S139.5,N29.2,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.5,N29.2,D-14,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,172703.00,3654.77661,N,12153.34263,W,1,08,1.2,-4.23,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,172703.00,3654.77661,N,12153.34263,W,1,08,1.2,-4.23,M,-32.59,M,,*7C


: successfully parse sentence at 17:27:3

: AshtechGPS::processRecord -sample time is 1134408423
: Sonardyne - POS response: 
POS V4,1 R16.03

: Sonardyne - parsing R16.03

: Sonardyne - read R = 16.030000 from 16.03

: Sonardyne - got range only (16.030000), tat = 469
: Sonardyne - POSD response: 
POSD S+141.1,N33.9,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.1,N33.9,D-2,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,172704.00,3654.77653,N,12153.34274,W,1,08,1.2,-3.93,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172704.00,3654.77653,N,12153.34274,W,1,08,1.2,-3.93,M,-32.59,M,,*70


: successfully parse sentence at 17:27:4

: AshtechGPS::processRecord -sample time is 1134408424
: Sonardyne - POS response: 
POS V4,1 R15.71

: Sonardyne - parsing R15.71

: Sonardyne - read R = 15.710000 from 15.71

: Sonardyne - got range only (15.710000), tat = 520
: Sonardyne - POSD response: 
POSD S+140.8,N31.5,D-3,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+140.8,N31.5,D-3,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 32.59  2.71 15.13 4.06 4.07 0 21599.58 02:31:26 m

: AshtechGps::processRecord() - $GPGGA,172705.00,3654.77650,N,12153.34266,W,1,08,1.2,-3.57,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172705.00,3654.77650,N,12153.34266,W,1,08,1.2,-3.57,M,-32.59,M,,*79


: successfully parse sentence at 17:27:5

: AshtechGPS::processRecord -sample time is 1134408425
: Sonardyne - POS response: 
POS V4,1 R15.67

: Sonardyne - parsing R15.67

: Sonardyne - read R = 15.670000 from 15.67

: Sonardyne - got range only (15.670000), tat = 470
: Sonardyne - POSD response: 
POSD S129.3,N23.7,D-92,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.3,N23.7,D-92,U0,Q0.000000

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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,172706.00,3654.77648,N,12153.34240,W,1,08,1.2,-3.06,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172706.00,3654.77648,N,12153.34240,W,1,08,1.2,-3.06,M,-32.59,M,,*73


: successfully parse sentence at 17:27:6

: AshtechGPS::processRecord -sample time is 1134408426
: Sonardyne - POS response: 
POS V4,1 R15.79

: Sonardyne - parsing R15.79

: Sonardyne - read R = 15.790000 from 15.79

: Sonardyne - got range only (15.790000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.0,N25.3,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.0,N25.3,D20,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,172707.00,3654.77656,N,12153.34201,W,1,08,1.2,-3.07,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172707.00,3654.77656,N,12153.34201,W,1,08,1.2,-3.07,M,-32.59,M,,*79


: successfully parse sentence at 17:27:7

: AshtechGPS::processRecord -sample time is 1134408427
: Sonardyne - POS response: 
POS V4,1 R15.91

: Sonardyne - parsing R15.91

: Sonardyne - read R = 15.910000 from 15.91

: Sonardyne - got range only (15.910000), tat = 470
: Sonardyne - POSD response: 
POSD S+141.5,N28.4,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.5,N28.4,D-27,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,172708.00,3654.77665,N,12153.34180,W,1,08,1.2,-3.06,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172708.00,3654.77665,N,12153.34180,W,1,08,1.2,-3.06,M,-32.59,M,,*7D


: successfully parse sentence at 17:27:8

: AshtechGPS::processRecord -sample time is 1134408428
: Sonardyne - POS response: 
POS V4,1 R15.82

: Sonardyne - parsing R15.82

: Sonardyne - read R = 15.820000 from 15.82

: Sonardyne - got range only (15.820000), tat = 470
: Sonardyne - POSD response: 
POSD S138.7,N24.3,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.7,N24.3,D16,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,172709.00,3654.77676,N,12153.34141,W,1,08,1.2,-2.95,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,172709.00,3654.77676,N,12153.34141,W,1,08,1.2,-2.95,M,-32.59,M,,*78


: successfully parse sentence at 17:27:9

: AshtechGPS::processRecord -sample time is 1134408429
: Sonardyne - POS response: 
POS V4,1 R16.20

: Sonardyne - parsing R16.20

: Sonardyne - read R = 16.200000 from 16.20

: Sonardyne - got range only (16.200000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N40.8,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N40.8,D1,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,172710.00,3654.77684,N,12153.34119,W,1,08,1.2,-3.37,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172710.00,3654.77684,N,12153.34119,W,1,08,1.2,-3.37,M,-32.59,M,,*79


: successfully parse sentence at 17:27:10

: AshtechGPS::processRecord -sample time is 1134408430
: Sonardyne - POS response: 
POS V4,1 R16.43

: Sonardyne - parsing R16.43

: Sonardyne - read R = 16.430000 from 16.43

: Sonardyne - got range only (16.430000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.6,N28.9,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.6,N28.9,D1,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,172711.00,3654.77684,N,12153.34112,W,1,08,1.2,-3.77,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172711.00,3654.77684,N,12153.34112,W,1,08,1.2,-3.77,M,-32.59,M,,*77


: successfully parse sentence at 17:27:11

: AshtechGPS::processRecord -sample time is 1134408431
: Sonardyne - POS response: 
POS V4,1 R16.39

: Sonardyne - parsing R16.39

: Sonardyne - read R = 16.390000 from 16.39

: Sonardyne - got range only (16.390000), tat = 470
: Sonardyne - POSD response: 
POSD S138.5,N26.3,D-15,U4,Q0.009386

: Sonardyne - POSD response: 
POSD S138.5,N26.3,D-15,U4,Q0.009386

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

: AshtechGps::processRecord() - $GPGGA,172712.00,3654.77667,N,12153.34127,W,1,08,1.2,-4.01,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172712.00,3654.77667,N,12153.34127,W,1,08,1.2,-4.01,M,-32.59,M,,*79


: successfully parse sentence at 17:27:12

: AshtechGPS::processRecord -sample time is 1134408432
: Sonardyne - POS response: 
POS V4,1 R16.23,X1.62,Y16.15,Z0.00

: Sonardyne - parsing R16.23,X1.62,Y16.15,Z0.00

: Sonardyne - read R = 16.230000 from 16.23,X1.62,Y16.15,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=16.230000, x=0.000000, y=1.620000, z=-16.150000 tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172713.00,3654.77654,N,12153.34135,W,1,08,1.2,-4.07,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172713.00,3654.77654,N,12153.34135,W,1,08,1.2,-4.07,M,-32.59,M,,*7D


: successfully parse sentence at 17:27:13

: AshtechGPS::processRecord -sample time is 1134408433
: Sonardyne - POS response: 
POS V4,1 R16.26,X-14.96,Y6.37,Z0.00

: Sonardyne - parsing R16.26,X-14.96,Y6.37,Z0.00

: Sonardyne - read R = 16.260000 from 16.26,X-14.96,Y6.37,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=16.260000, x=0.000000, y=-14.960000, z=-6.370000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,172714.00,3654.77636,N,12153.34175,W,1,08,1.2,-4.31,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172714.00,3654.77636,N,12153.34175,W,1,08,1.2,-4.31,M,-32.59,M,,*7F


: successfully parse sentence at 17:27:14

: AshtechGPS::processRecord -sample time is 1134408434
: Sonardyne - POS response: 
POS V4,1 R15.94

: Sonardyne - parsing R15.94

: Sonardyne - read R = 15.940000 from 15.94

: Sonardyne - got range only (15.940000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.9,N32.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.9,N32.2,D-6,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.59  2.86 15.03 4.06 4.07 0 21599.26 02:31:36 m

: AshtechGps::processRecord() - $GPGGA,172715.00,3654.77620,N,12153.34179,W,1,08,1.2,-4.04,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172715.00,3654.77620,N,12153.34179,W,1,08,1.2,-4.04,M,-32.59,M,,*73


: successfully parse sentence at 17:27:15

: AshtechGPS::processRecord -sample time is 1134408435
: Sonardyne - POS response: 
POS V4,1 R15.79

: Sonardyne - parsing R15.79

: Sonardyne - read R = 15.790000 from 15.79

: Sonardyne - got range only (15.790000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N35.2,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N35.2,D11,U0,Q0.000000

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

: batts online 1, min cell voltage 4.060000, mean min cell voltage 4.060000

: AshtechGps::processRecord() - $GPGGA,172716.00,3654.77603,N,12153.34199,W,1,08,1.2,-3.89,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172716.00,3654.77603,N,12153.34199,W,1,08,1.2,-3.89,M,-32.59,M,,*7D


: successfully parse sentence at 17:27:16

: AshtechGPS::processRecord -sample time is 1134408436
: Sonardyne - POS response: 
POS V4,1 R16.01

: Sonardyne - parsing R16.01

: Sonardyne - read R = 16.010000 from 16.01

: Sonardyne - got range only (16.010000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.0,N29.5,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.0,N29.5,D-2,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,172717.00,3654.77595,N,12153.34205,W,1,08,1.2,-3.75,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,172717.00,3654.77595,N,12153.34205,W,1,08,1.2,-3.75,M,-32.59,M,,*75


: successfully parse sentence at 17:27:17

: AshtechGPS::processRecord -sample time is 1134408437
: Sonardyne - POS response: 
POS V4,1 R15.80,X1.28,Y4.19,Z-15.18

: Sonardyne - parsing R15.80,X1.28,Y4.19,Z-15.18

: Sonardyne - read R = 15.800000 from 15.80,X1.28,Y4.19,Z-15.18

: Sonardyne - got all data, Vehicle coordinates,
    r=15.800000, x=15.180000, y=1.280000, z=-4.190000 tat = 490
: Sonardyne - POSD response: 
POSD S+142.7,N32.6,D-17,U7,Q0.011979

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

: AshtechGps::processRecord() - $GPGGA,172718.00,3654.77592,N,12153.34185,W,1,08,1.2,-3.53,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172718.00,3654.77592,N,12153.34185,W,1,08,1.2,-3.53,M,-32.59,M,,*72


: successfully parse sentence at 17:27:18

: AshtechGPS::processRecord -sample time is 1134408438
: Sonardyne - POS response: 
POS V4,1 R15.65

: Sonardyne - parsing R15.65

: Sonardyne - read R = 15.650000 from 15.65

: Sonardyne - got range only (15.650000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.4,N32.0,D21,U5,Q0.018183

: Sonardyne - POSD response: 
POSD S+144.4,N32.0,D21,U5,Q0.018183

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

: AshtechGps::processRecord() - $GPGGA,172719.00,3654.77585,N,12153.34190,W,1,08,1.2,-3.45,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172719.00,3654.77585,N,12153.34190,W,1,08,1.2,-3.45,M,-32.59,M,,*76


: successfully parse sentence at 17:27:19

: AshtechGPS::processRecord -sample time is 1134408439
: Sonardyne - POS response: 
POS V4,1 R15.82

: Sonardyne - parsing R15.82

: Sonardyne - read R = 15.820000 from 15.82

: Sonardyne - got range only (15.820000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N29.5,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N29.5,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,172720.00,3654.77586,N,12153.34161,W,1,08,1.2,-3.25,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172720.00,3654.77586,N,12153.34161,W,1,08,1.2,-3.25,M,-32.59,M,,*77


: successfully parse sentence at 17:27:20

: AshtechGPS::processRecord -sample time is 1134408440
: Sonardyne - POS response: 
POS V4,1 R15.78

: Sonardyne - parsing R15.78

: Sonardyne - read R = 15.780000 from 15.78

: Sonardyne - got range only (15.780000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N35.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N35.9,D-6,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,172721.00,3654.77585,N,12153.34141,W,1,08,1.2,-3.34,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172721.00,3654.77585,N,12153.34141,W,1,08,1.2,-3.34,M,-32.59,M,,*77


: successfully parse sentence at 17:27:21

: AshtechGPS::processRecord -sample time is 1134408441
: Sonardyne - POS response: 
POS V4,1 R15.96

: Sonardyne - parsing R15.96

: Sonardyne - read R = 15.960000 from 15.96

: Sonardyne - got range only (15.960000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.8,N27.3,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.8,N27.3,D2,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,172722.00,3654.77586,N,12153.34146,W,1,08,1.2,-3.41,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172722.00,3654.77586,N,12153.34146,W,1,08,1.2,-3.41,M,-32.59,M,,*72


: successfully parse sentence at 17:27:22

: AshtechGPS::processRecord -sample time is 1134408442
: Sonardyne - POS response: 
POS V4,1 R15.96

: Sonardyne - parsing R15.96

: Sonardyne - read R = 15.960000 from 15.96

: Sonardyne - got range only (15.960000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.5,N27.4,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.5,N27.4,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,172723.00,3654.77583,N,12153.34124,W,1,08,1.2,-3.61,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172723.00,3654.77583,N,12153.34124,W,1,08,1.2,-3.61,M,-32.59,M,,*70


: successfully parse sentence at 17:27:23

: AshtechGPS::processRecord -sample time is 1134408443
: Sonardyne - POS response: 
POS V4,1 R15.91

: Sonardyne - parsing R15.91

: Sonardyne - read R = 15.910000 from 15.91

: Sonardyne - got range only (15.910000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N26.1,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N26.1,D0,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,172724.00,3654.77576,N,12153.34131,W,1,08,1.2,-3.72,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172724.00,3654.77576,N,12153.34131,W,1,08,1.2,-3.72,M,-32.59,M,,*7B


: successfully parse sentence at 17:27:24

: AshtechGPS::processRecord -sample time is 1134408444
: Sonardyne - POS response: 
POS V4,1 R15.94

: Sonardyne - parsing R15.94

: Sonardyne - read R = 15.940000 from 15.94

: Sonardyne - got range only (15.940000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.2,N31.0,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.2,N31.0,D-7,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.55  2.53 15.03 4.07 4.08 0 21599.05 02:31:46 m

: AshtechGps::processRecord() - $GPGGA,172725.00,3654.77565,N,12153.34144,W,1,08,1.2,-3.83,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,172725.00,3654.77565,N,12153.34144,W,1,08,1.2,-3.83,M,-32.59,M,,*74


: successfully parse sentence at 17:27:25

: AshtechGPS::processRecord -sample time is 1134408445
: Sonardyne - POS response: 
POS V4,1 R15.65

: Sonardyne - parsing R15.65

: Sonardyne - read R = 15.650000 from 15.65

: Sonardyne - got range only (15.650000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N37.4,D-1,U1,Q0.004437

: Sonardyne - POSD response: 
POSD S+144.7,N37.4,D-1,U1,Q0.004437

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172726.00,3654.77546,N,12153.34141,W,1,08,1.2,-3.93,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172726.00,3654.77546,N,12153.34141,W,1,08,1.2,-3.93,M,-32.59,M,,*72


: successfully parse sentence at 17:27:26

: AshtechGPS::processRecord -sample time is 1134408446
: Sonardyne - POS response: 
POS V4,1 R15.71

: Sonardyne - parsing R15.71

: Sonardyne - read R = 15.710000 from 15.71

: Sonardyne - got range only (15.710000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N36.3,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N36.3,D-5,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,172727.00,3654.77533,N,12153.34167,W,1,08,1.2,-3.71,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172727.00,3654.77533,N,12153.34167,W,1,08,1.2,-3.71,M,-32.59,M,,*79


: successfully parse sentence at 17:27:27

: AshtechGPS::processRecord -sample time is 1134408447
: Sonardyne - POS response: 
POS V4,1 R15.63

: Sonardyne - parsing R15.63

: Sonardyne - read R = 15.630000 from 15.63

: Sonardyne - got range only (15.630000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N28.5,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N28.5,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,172728.00,3654.77517,N,12153.34153,W,1,08,1.2,-3.77,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,172728.00,3654.77517,N,12153.34153,W,1,08,1.2,-3.77,M,-32.59,M,,*71


: successfully parse sentence at 17:27:28

: AshtechGPS::processRecord -sample time is 1134408448
: Sonardyne - POS response: 
POS V4,1 R15.69

: Sonardyne - parsing R15.69

: Sonardyne - read R = 15.690000 from 15.69

: Sonardyne - got range only (15.690000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.1,N35.8,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.1,N35.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,172729.00,3654.77496,N,12153.34173,W,1,08,1.2,-3.81,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172729.00,3654.77496,N,12153.34173,W,1,08,1.2,-3.81,M,-32.59,M,,*73


: successfully parse sentence at 17:27:29

: AshtechGPS::processRecord -sample time is 1134408449
: Sonardyne - POS response: 
POS V4,1 R15.57

: Sonardyne - parsing R15.57

: Sonardyne - read R = 15.570000 from 15.57

: Sonardyne - got range only (15.570000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.2,N22.5,D-62,U2,Q0.008203

: Sonardyne - POSD response: 
POSD S+143.2,N22.5,D-62,U2,Q0.008203

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

: AshtechGps::processRecord() - $GPGGA,172730.00,3654.77484,N,12153.34178,W,1,08,1.2,-3.82,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172730.00,3654.77484,N,12153.34178,W,1,08,1.2,-3.82,M,-32.59,M,,*70


: successfully parse sentence at 17:27:30

: AshtechGPS::processRecord -sample time is 1134408450
: Sonardyne - POS response: 
POS V4,1 R15.49

: Sonardyne - parsing R15.49

: Sonardyne - read R = 15.490000 from 15.49

: Sonardyne - got range only (15.490000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N30.8,D12,U1,Q0.011612

: Sonardyne - POSD response: 
POSD S+144.7,N30.8,D12,U1,Q0.011612

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

: AshtechGps::processRecord() - $GPGGA,172731.00,3654.77475,N,12153.34183,W,1,08,1.2,-3.69,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172731.00,3654.77475,N,12153.34183,W,1,08,1.2,-3.69,M,-32.59,M,,*7E


: successfully parse sentence at 17:27:31

: AshtechGPS::processRecord -sample time is 1134408451
: Sonardyne - POS response: 
POS V4,1 R15.48

: Sonardyne - parsing R15.48

: Sonardyne - read R = 15.480000 from 15.48

: Sonardyne - got range only (15.480000), tat = 470
: Sonardyne - POSD response: 
POSD S+140.7,N30.7,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.7,N30.7,D2,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,172732.00,3654.77464,N,12153.34203,W,1,08,1.2,-3.75,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172732.00,3654.77464,N,12153.34203,W,1,08,1.2,-3.75,M,-32.59,M,,*7B


: successfully parse sentence at 17:27:32

: AshtechGPS::processRecord -sample time is 1134408452
: Sonardyne - POS response: 
POS V4,1 R15.73

: Sonardyne - parsing R15.73

: Sonardyne - read R = 15.730000 from 15.73

: Sonardyne - got range only (15.730000), tat = 470
: Sonardyne - POSD response: 
POSD S139.3,N30.4,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.3,N30.4,D26,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,172733.00,3654.77451,N,12153.34205,W,1,08,1.2,-3.70,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172733.00,3654.77451,N,12153.34205,W,1,08,1.2,-3.70,M,-32.59,M,,*7F


: successfully parse sentence at 17:27:33

: AshtechGPS::processRecord -sample time is 1134408453
: Sonardyne - POS response: 
POS V4,1 R15.27

: Sonardyne - parsing R15.27

: Sonardyne - read R = 15.270000 from 15.27

: Sonardyne - got range only (15.270000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N39.8,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N39.8,D7,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,172734.00,3654.77445,N,12153.34210,W,1,08,1.2,-3.63,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172734.00,3654.77445,N,12153.34210,W,1,08,1.2,-3.63,M,-32.59,M,,*7B


: successfully parse sentence at 17:27:34

: AshtechGPS::processRecord -sample time is 1134408454
: Sonardyne - POS response: 
POS V4,1 R15.36

: Sonardyne - parsing R15.36

: Sonardyne - read R = 15.360000 from 15.36

: Sonardyne - got range only (15.360000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.2,N20.1,D0,U4,Q0.004261

: Sonardyne - POSD response: 
POSD S+142.2,N20.1,D0,U4,Q0.004261

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

: BluefinBatt Reply: $b6q0 d- 32.55  3.22 15.03 4.07 4.08 0 21598.75 02:31:56 m

: AshtechGps::processRecord() - $GPGGA,172735.00,3654.77441,N,12153.34214,W,1,08,1.2,-3.51,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172735.00,3654.77441,N,12153.34214,W,1,08,1.2,-3.51,M,-32.59,M,,*7B


: successfully parse sentence at 17:27:35

: AshtechGPS::processRecord -sample time is 1134408455
: Sonardyne - POS response: 
POS V4,1 R15.09,X15.08,Y-0.48,Z0.00

: Sonardyne - parsing R15.09,X15.08,Y-0.48,Z0.00

: Sonardyne - read R = 15.090000 from 15.09,X15.08,Y-0.48,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.090000, x=0.000000, y=15.080000, z=0.480000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N42.0,D6,U6,Q0.003328

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172736.00,3654.77439,N,12153.34202,W,1,08,1.2,-3.42,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172736.00,3654.77439,N,12153.34202,W,1,08,1.2,-3.42,M,-32.59,M,,*72


: successfully parse sentence at 17:27:36

: AshtechGPS::processRecord -sample time is 1134408456
: Sonardyne - POS response: 
POS V4,1 R15.00

: Sonardyne - parsing R15.00

: Sonardyne - read R = 15.000000 from 15.00

: Sonardyne - got range only (15.000000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N37.9,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N37.9,D-5,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,172737.00,3654.77441,N,12153.34194,W,1,08,1.2,-3.17,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172737.00,3654.77441,N,12153.34194,W,1,08,1.2,-3.17,M,-32.59,M,,*70


: successfully parse sentence at 17:27:37

: AshtechGPS::processRecord -sample time is 1134408457
: Sonardyne - POS response: 
POS V4,1 R15.03

: Sonardyne - parsing R15.03

: Sonardyne - read R = 15.030000 from 15.03

: Sonardyne - got range only (15.030000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N35.0,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N35.0,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,172738.00,3654.77440,N,12153.34166,W,1,08,1.2,-3.13,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172738.00,3654.77440,N,12153.34166,W,1,08,1.2,-3.13,M,-32.59,M,,*77


: successfully parse sentence at 17:27:38

: AshtechGPS::processRecord -sample time is 1134408458
: Sonardyne - POS response: 
POS V4,1 R15.42,X-15.42,Y-0.30,Z0.00

: Sonardyne - parsing R15.42,X-15.42,Y-0.30,Z0.00

: Sonardyne - read R = 15.420000 from 15.42,X-15.42,Y-0.30,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.420000, x=0.000000, y=-15.420000, z=0.300000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N30.9,D-13,U7,Q0.011137

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

: AshtechGps::processRecord() - $GPGGA,172739.00,3654.77435,N,12153.34150,W,1,08,1.2,-3.37,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172739.00,3654.77435,N,12153.34150,W,1,08,1.2,-3.37,M,-32.59,M,,*77


: successfully parse sentence at 17:27:39

: AshtechGPS::processRecord -sample time is 1134408459
: Sonardyne - POS response: 
POS V4,1 R15.37,X8.31,Y12.93,Z0.00

: Sonardyne - parsing R15.37,X8.31,Y12.93,Z0.00

: Sonardyne - read R = 15.370000 from 15.37,X8.31,Y12.93,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.370000, x=0.000000, y=8.310000, z=-12.930000 tat = 490
: Sonardyne - POSD response: 
POSD S138.9,N27.2,D11,U8,Q0.001888

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

: AshtechGps::processRecord() - $GPGGA,172740.00,3654.77426,N,12153.34151,W,1,08,1.2,-3.80,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172740.00,3654.77426,N,12153.34151,W,1,08,1.2,-3.80,M,-32.59,M,,*76


: successfully parse sentence at 17:27:40

: AshtechGPS::processRecord -sample time is 1134408460
: Sonardyne - POS response: 
POS V4,1 R15.20

: Sonardyne - parsing R15.20

: Sonardyne - read R = 15.200000 from 15.20

: Sonardyne - got range only (15.200000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.3,N24.0,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.3,N24.0,D0,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,172741.00,3654.77413,N,12153.34164,W,1,08,1.2,-4.00,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,172741.00,3654.77413,N,12153.34164,W,1,08,1.2,-4.00,M,-32.59,M,,*78


: successfully parse sentence at 17:27:41

: AshtechGPS::processRecord -sample time is 1134408461
: Sonardyne - POS response: 
POS V4,1 R15.23

: Sonardyne - parsing R15.23

: Sonardyne - read R = 15.230000 from 15.23

: Sonardyne - got range only (15.230000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N36.3,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N36.3,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,172742.00,3654.77405,N,12153.34170,W,1,08,1.2,-3.91,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172742.00,3654.77405,N,12153.34170,W,1,08,1.2,-3.91,M,-32.59,M,,*76


: successfully parse sentence at 17:27:42

: AshtechGPS::processRecord -sample time is 1134408462
: Sonardyne - POS response: 
POS V4,1 R15.31

: Sonardyne - parsing R15.31

: Sonardyne - read R = 15.310000 from 15.31

: Sonardyne - got range only (15.310000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N42.8,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N42.8,D3,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,172743.00,3654.77397,N,12153.34191,W,1,08,1.2,-4.09,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172743.00,3654.77397,N,12153.34191,W,1,08,1.2,-4.09,M,-32.59,M,,*72


: successfully parse sentence at 17:27:43

: AshtechGPS::processRecord -sample time is 1134408463
: Sonardyne - POS response: 
POS V4,1 R15.27,X-15.11,Y0.58,Z-2.17

: Sonardyne - parsing R15.27,X-15.11,Y0.58,Z-2.17

: Sonardyne - read R = 15.270000 from 15.27,X-15.11,Y0.58,Z-2.17

: Sonardyne - got all data, Vehicle coordinates,
    r=15.270000, x=2.170000, y=-15.110000, z=-0.580000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N37.6,D-2,U8,Q0.005658

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

: AshtechGps::processRecord() - $GPGGA,172744.00,3654.77376,N,12153.34213,W,1,08,1.2,-4.21,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172744.00,3654.77376,N,12153.34213,W,1,08,1.2,-4.21,M,-32.59,M,,*79


: successfully parse sentence at 17:27:44

: AshtechGPS::processRecord -sample time is 1134408464
: Sonardyne - POS response: 
POS V4,1 R15.03,X-14.99,Y-1.04,Z0.00

: Sonardyne - parsing R15.03,X-14.99,Y-1.04,Z0.00

: Sonardyne - read R = 15.030000 from 15.03,X-14.99,Y-1.04,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.030000, x=0.000000, y=-14.990000, z=1.040000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N33.3,D-17,U8,Q0.001527

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

: BluefinBatt Reply: $b6q0 d- 32.59  3.11 15.03 4.07 4.08 0 21598.57 02:32:06 m

: AshtechGps::processRecord() - $GPGGA,172745.00,3654.77361,N,12153.34240,W,1,08,1.2,-4.06,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172745.00,3654.77361,N,12153.34240,W,1,08,1.2,-4.06,M,-32.59,M,,*7D


: successfully parse sentence at 17:27:45

: AshtechGPS::processRecord -sample time is 1134408465
: Sonardyne - POS response: 
POS V4,1 R14.98

: Sonardyne - parsing R14.98

: Sonardyne - read R = 14.980000 from 14.98

: Sonardyne - got range only (14.980000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N33.8,D13,U4,Q0.000224

: Sonardyne - POSD response: 
POSD S+144.8,N33.8,D13,U4,Q0.000224

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172746.00,3654.77353,N,12153.34258,W,1,08,1.2,-3.79,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172746.00,3654.77353,N,12153.34258,W,1,08,1.2,-3.79,M,-32.59,M,,*79


: successfully parse sentence at 17:27:46

: AshtechGPS::processRecord -sample time is 1134408466
: Sonardyne - POS response: 
POS V4,1 R14.71,X-14.64,Y-0.44,Z-1.36

: Sonardyne - parsing R14.71,X-14.64,Y-0.44,Z-1.36

: Sonardyne - read R = 14.710000 from 14.71,X-14.64,Y-0.44,Z-1.36

: Sonardyne - got all data, Vehicle coordinates,
    r=14.710000, x=1.360000, y=-14.640000, z=0.440000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N36.8,D-17,U8,Q0.007804

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

: AshtechGps::processRecord() - $GPGGA,172747.00,3654.77342,N,12153.34263,W,1,08,1.2,-3.56,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172747.00,3654.77342,N,12153.34263,W,1,08,1.2,-3.56,M,-32.59,M,,*7D


: successfully parse sentence at 17:27:47

: AshtechGPS::processRecord -sample time is 1134408467
: Sonardyne - POS response: 
POS V4,1 R15.17

: Sonardyne - parsing R15.17

: Sonardyne - read R = 15.170000 from 15.17

: Sonardyne - got range only (15.170000), tat = 469
: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,172748.00,3654.77339,N,12153.34261,W,1,08,1.2,-3.09,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172748.00,3654.77339,N,12153.34261,W,1,08,1.2,-3.09,M,-32.59,M,,*76


: successfully parse sentence at 17:27:48

: AshtechGPS::processRecord -sample time is 1134408468
: Sonardyne - POS response: 
POS V4,1 R14.61,X9.90,Y8.26,Z-6.87

: Sonardyne - parsing R14.61,X9.90,Y8.26,Z-6.87

: Sonardyne - read R = 14.610000 from 14.61,X9.90,Y8.26,Z-6.87

: Sonardyne - got all data, Vehicle coordinates,
    r=14.610000, x=6.870000, y=9.900000, z=-8.260000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N29.5,D-16,U7,Q0.001144

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

: AshtechGps::processRecord() - $GPGGA,172749.00,3654.77341,N,12153.34248,W,1,08,1.2,-2.89,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172749.00,3654.77341,N,12153.34248,W,1,08,1.2,-2.89,M,-32.59,M,,*7A


: successfully parse sentence at 17:27:49

: AshtechGPS::processRecord -sample time is 1134408469
: Sonardyne - POS response: 
POS V4,1 R14.75

: Sonardyne - parsing R14.75

: Sonardyne - read R = 14.750000 from 14.75

: Sonardyne - got range only (14.750000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N31.5,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N31.5,D14,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,172750.00,3654.77341,N,12153.34205,W,1,08,1.2,-2.88,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172750.00,3654.77341,N,12153.34205,W,1,08,1.2,-2.88,M,-32.59,M,,*7A


: successfully parse sentence at 17:27:50

: AshtechGPS::processRecord -sample time is 1134408470
: Sonardyne - POS response: 
POS V4,1 R14.75

: Sonardyne - parsing R14.75

: Sonardyne - read R = 14.750000 from 14.75

: Sonardyne - got range only (14.750000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N38.4,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N38.4,D3,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,172751.00,3654.77344,N,12153.34199,W,1,08,1.2,-3.05,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,172751.00,3654.77344,N,12153.34199,W,1,08,1.2,-3.05,M,-32.59,M,,*7C


: successfully parse sentence at 17:27:51

: AshtechGPS::processRecord -sample time is 1134408471
: Sonardyne - POS response: 
POS V4,1 R14.68

: Sonardyne - parsing R14.68

: Sonardyne - read R = 14.680000 from 14.68

: Sonardyne - got range only (14.680000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N30.4,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N30.4,D12,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,172752.00,3654.77335,N,12153.34176,W,1,08,1.2,-3.30,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172752.00,3654.77335,N,12153.34176,W,1,08,1.2,-3.30,M,-32.59,M,,*7E


: successfully parse sentence at 17:27:52

: AshtechGPS::processRecord -sample time is 1134408472
: Sonardyne - POS response: 
POS V4,1 R14.85,X-2.82,Y2.29,Z-14.40

: Sonardyne - parsing R14.85,X-2.82,Y2.29,Z-14.40

: Sonardyne - read R = 14.850000 from 14.85,X-2.82,Y2.29,Z-14.40

: Sonardyne - got all data, Vehicle coordinates,
    r=14.850000, x=14.400000, y=-2.820000, z=-2.290000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N33.4,D-12,U8,Q0.013644

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

: AshtechGps::processRecord() - $GPGGA,172753.00,3654.77332,N,12153.34164,W,1,08,1.2,-3.48,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,172753.00,3654.77332,N,12153.34164,W,1,08,1.2,-3.48,M,-32.59,M,,*74


: successfully parse sentence at 17:27:53

: AshtechGPS::processRecord -sample time is 1134408473
: Sonardyne - POS response: 
POS V4,1 R14.92

: Sonardyne - parsing R14.92

: Sonardyne - read R = 14.920000 from 14.92

: Sonardyne - got range only (14.920000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N36.1,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N36.1,D1,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,172754.00,3654.77325,N,12153.34185,W,1,08,1.2,-3.94,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172754.00,3654.77325,N,12153.34185,W,1,08,1.2,-3.94,M,-32.59,M,,*7B


: successfully parse sentence at 17:27:54

: AshtechGPS::processRecord -sample time is 1134408474
: Sonardyne - POS response: 
POS V4,1 R14.62,X-3.11,Y13.34,Z-5.12

: Sonardyne - parsing R14.62,X-3.11,Y13.34,Z-5.12

: Sonardyne - read R = 14.620000 from 14.62,X-3.11,Y13.34,Z-5.12

: Sonardyne - got all data, Vehicle coordinates,
    r=14.620000, x=5.120000, y=-3.110000, z=-13.340000 tat = 490
: Sonardyne - POSD response: 
POSD S+140.2,N26.1,D-23,U7,Q0.003272

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

: BluefinBatt Reply: $b6q0 d- 32.55  3.15 15.03 4.07 4.08 0 21598.28 02:32:16 m

: AshtechGps::processRecord() - $GPGGA,172755.00,3654.77303,N,12153.34201,W,1,08,1.2,-4.18,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172755.00,3654.77303,N,12153.34201,W,1,08,1.2,-4.18,M,-32.59,M,,*72


: successfully parse sentence at 17:27:55

: AshtechGPS::processRecord -sample time is 1134408475
: Sonardyne - POS response: 
POS V4,1 R14.51

: Sonardyne - parsing R14.51

: Sonardyne - read R = 14.510000 from 14.51

: Sonardyne - got range only (14.510000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N55.9,D2,U5,Q0.011699

: Sonardyne - POSD response: 
POSD S+144.8,N55.9,D2,U5,Q0.011699

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172756.00,3654.77287,N,12153.34231,W,1,08,1.2,-4.06,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172756.00,3654.77287,N,12153.34231,W,1,08,1.2,-4.06,M,-32.59,M,,*70


: successfully parse sentence at 17:27:56

: AshtechGPS::processRecord -sample time is 1134408476
: Sonardyne - POS response: 
POS V4,1 R14.56

: Sonardyne - parsing R14.56

: Sonardyne - read R = 14.560000 from 14.56

: Sonardyne - got range only (14.560000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N30.1,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N30.1,D-26,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,172757.00,3654.77268,N,12153.34250,W,1,08,1.2,-4.03,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172757.00,3654.77268,N,12153.34250,W,1,08,1.2,-4.03,M,-32.59,M,,*72


: successfully parse sentence at 17:27:57

: AshtechGPS::processRecord -sample time is 1134408477
: Sonardyne - POS response: 
POS V4,1 R14.56

: Sonardyne - parsing R14.56

: Sonardyne - read R = 14.560000 from 14.56

: Sonardyne - got range only (14.560000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N32.5,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N32.5,D-4,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,172758.00,3654.77254,N,12153.34271,W,1,08,1.2,-4.04,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172758.00,3654.77254,N,12153.34271,W,1,08,1.2,-4.04,M,-32.59,M,,*76


: successfully parse sentence at 17:27:58

: AshtechGPS::processRecord -sample time is 1134408478
: Sonardyne - POS response: 
POS V4,1 R14.28

: Sonardyne - parsing R14.28

: Sonardyne - read R = 14.280000 from 14.28

: Sonardyne - got range only (14.280000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N33.1,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N33.1,D3,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,172759.00,3654.77246,N,12153.34299,W,1,08,1.2,-3.89,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172759.00,3654.77246,N,12153.34299,W,1,08,1.2,-3.89,M,-32.59,M,,*70


: successfully parse sentence at 17:27:59

: AshtechGPS::processRecord -sample time is 1134408479
: Sonardyne - POS response: 
POS V4,1 R14.09

: Sonardyne - parsing R14.09

: Sonardyne - read R = 14.090000 from 14.09

: Sonardyne - got range only (14.090000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D5,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,172800.00,3654.77236,N,12153.34305,W,1,08,1.2,-3.57,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172800.00,3654.77236,N,12153.34305,W,1,08,1.2,-3.57,M,-32.59,M,,*73


: successfully parse sentence at 17:28:0

: AshtechGPS::processRecord -sample time is 1134408480
: Sonardyne - POS response: 
POS V4,1 R14.00

: Sonardyne - parsing R14.00

: Sonardyne - read R = 14.000000 from 14.00

: Sonardyne - got range only (14.000000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N39.5,D9,U2,Q0.016658

: Sonardyne - POSD response: 
POSD S+144.8,N39.5,D9,U2,Q0.016658

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

: AshtechGps::processRecord() - $GPGGA,172801.00,3654.77236,N,12153.34287,W,1,08,1.2,-3.02,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172801.00,3654.77236,N,12153.34287,W,1,08,1.2,-3.02,M,-32.59,M,,*79


: successfully parse sentence at 17:28:1

: AshtechGPS::processRecord -sample time is 1134408481
: Sonardyne - POS response: 
POS V4,1 R14.10

: Sonardyne - parsing R14.10

: Sonardyne - read R = 14.100000 from 14.10

: Sonardyne - got range only (14.100000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N33.7,D1,U1,Q0.003070

: Sonardyne - POSD response: 
POSD S+144.8,N33.7,D1,U1,Q0.003070

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

: AshtechGps::processRecord() - $GPGGA,172802.00,3654.77246,N,12153.34271,W,1,08,1.2,-2.85,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172802.00,3654.77246,N,12153.34271,W,1,08,1.2,-2.85,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:2

: AshtechGPS::processRecord -sample time is 1134408482
: Sonardyne - POS response: 
POS V4,1 R14.26

: Sonardyne - parsing R14.26

: Sonardyne - read R = 14.260000 from 14.26

: Sonardyne - got range only (14.260000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N40.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N40.4,D-10,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,172803.00,3654.77251,N,12153.34240,W,1,08,1.2,-3.00,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172803.00,3654.77251,N,12153.34240,W,1,08,1.2,-3.00,M,-32.59,M,,*73


: successfully parse sentence at 17:28:3

: AshtechGPS::processRecord -sample time is 1134408483
: Sonardyne - POS response: 
POS V4,1 R14.19

: Sonardyne - parsing R14.19

: Sonardyne - read R = 14.190000 from 14.19

: Sonardyne - got range only (14.190000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N34.6,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N34.6,D2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,172804.00,3654.77260,N,12153.34219,W,1,08,1.2,-3.11,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172804.00,3654.77260,N,12153.34219,W,1,08,1.2,-3.11,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:4

: AshtechGPS::processRecord -sample time is 1134408484
: Sonardyne - POS response: 
POS V4,1 R14.22

: Sonardyne - parsing R14.22

: Sonardyne - read R = 14.220000 from 14.22

: Sonardyne - got range only (14.220000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N27.2,D-25,U1,Q0.006381

: Sonardyne - POSD response: 
POSD S+144.8,N27.2,D-25,U1,Q0.006381

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

: BluefinBatt Reply: $b6q0 d- 32.59  3.26 15.03 4.07 4.07 0 21598.10 02:32:26 m

: AshtechGps::processRecord() - $GPGGA,172805.00,3654.77266,N,12153.34208,W,1,08,1.2,-3.37,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172805.00,3654.77266,N,12153.34208,W,1,08,1.2,-3.37,M,-32.59,M,,*79


: successfully parse sentence at 17:28:5

: AshtechGPS::processRecord -sample time is 1134408485
: Sonardyne - POS response: 
POS V4,1 R14.27

: Sonardyne - parsing R14.27

: Sonardyne - read R = 14.270000 from 14.27

: Sonardyne - got range only (14.270000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N31.9,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N31.9,D-15,U0,Q0.000000

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172806.00,3654.77261,N,12153.34198,W,1,08,1.2,-3.67,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172806.00,3654.77261,N,12153.34198,W,1,08,1.2,-3.67,M,-32.59,M,,*72


: successfully parse sentence at 17:28:6

: AshtechGPS::processRecord -sample time is 1134408486
: Sonardyne - POS response: 
POS V4,1 R14.46

: Sonardyne - parsing R14.46

: Sonardyne - read R = 14.460000 from 14.46

: Sonardyne - got range only (14.460000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.4,N32.2,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.4,N32.2,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,172807.00,3654.77261,N,12153.34212,W,1,08,1.2,-3.90,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172807.00,3654.77261,N,12153.34212,W,1,08,1.2,-3.90,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:7

: AshtechGPS::processRecord -sample time is 1134408487
: Sonardyne - POS response: 
POS V4,1 R14.19

: Sonardyne - parsing R14.19

: Sonardyne - read R = 14.190000 from 14.19

: Sonardyne - got range only (14.190000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N30.4,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N30.4,D-21,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,172808.00,3654.77245,N,12153.34227,W,1,08,1.2,-4.22,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172808.00,3654.77245,N,12153.34227,W,1,08,1.2,-4.22,M,-32.59,M,,*7B


: successfully parse sentence at 17:28:8

: AshtechGPS::processRecord -sample time is 1134408488
: Sonardyne - POS response: 
POS V4,1 R14.07

: Sonardyne - parsing R14.07

: Sonardyne - read R = 14.070000 from 14.07

: Sonardyne - got range only (14.070000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N26.7,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N26.7,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,172809.00,3654.77229,N,12153.34254,W,1,08,1.2,-4.36,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,172809.00,3654.77229,N,12153.34254,W,1,08,1.2,-4.36,M,-32.59,M,,*71


: successfully parse sentence at 17:28:9

: AshtechGPS::processRecord -sample time is 1134408489
: Sonardyne - POS response: 
POS V4,1 R14.11

: Sonardyne - parsing R14.11

: Sonardyne - read R = 14.110000 from 14.11

: Sonardyne - got range only (14.110000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.6,N30.4,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N30.4,D-16,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,172810.00,3654.77218,N,12153.34283,W,1,08,1.2,-4.26,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172810.00,3654.77218,N,12153.34283,W,1,08,1.2,-4.26,M,-32.59,M,,*70


: successfully parse sentence at 17:28:10

: AshtechGPS::processRecord -sample time is 1134408490
: Sonardyne - POS response: 
POS V4,1 R13.89

: Sonardyne - parsing R13.89

: Sonardyne - read R = 13.890000 from 13.89

: Sonardyne - got range only (13.890000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N42.9,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N42.9,D-2,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,172811.00,3654.77203,N,12153.34291,W,1,08,1.2,-4.02,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172811.00,3654.77203,N,12153.34291,W,1,08,1.2,-4.02,M,-32.59,M,,*7E


: successfully parse sentence at 17:28:11

: AshtechGPS::processRecord -sample time is 1134408491
: Sonardyne - POS response: 
POS V4,1 R13.76

: Sonardyne - parsing R13.76

: Sonardyne - read R = 13.760000 from 13.76

: Sonardyne - got range only (13.760000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N32.5,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N32.5,D3,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,172812.00,3654.77194,N,12153.34301,W,1,08,1.2,-3.85,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172812.00,3654.77194,N,12153.34301,W,1,08,1.2,-3.85,M,-32.59,M,,*70


: successfully parse sentence at 17:28:12

: AshtechGPS::processRecord -sample time is 1134408492
: Sonardyne - POS response: 
POS V4,1 R13.93

: Sonardyne - parsing R13.93

: Sonardyne - read R = 13.930000 from 13.93

: Sonardyne - got range only (13.930000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N55.7,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N55.7,D-1,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,172813.00,3654.77191,N,12153.34293,W,1,08,1.2,-3.56,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172813.00,3654.77191,N,12153.34293,W,1,08,1.2,-3.56,M,-32.59,M,,*70


: successfully parse sentence at 17:28:13

: AshtechGPS::processRecord -sample time is 1134408493
: Sonardyne - POS response: 
POS V4,1 R14.01,X8.68,Y9.48,Z-5.56

: Sonardyne - parsing R14.01,X8.68,Y9.48,Z-5.56

: Sonardyne - read R = 14.010000 from 14.01,X8.68,Y9.48,Z-5.56

: Sonardyne - got all data, Vehicle coordinates,
    r=14.010000, x=5.560000, y=8.680000, z=-9.480000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N42.8,D3,U6,Q0.004470

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

: AshtechGps::processRecord() - $GPGGA,172814.00,3654.77194,N,12153.34294,W,1,08,1.2,-3.61,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,172814.00,3654.77194,N,12153.34294,W,1,08,1.2,-3.61,M,-32.59,M,,*71


: successfully parse sentence at 17:28:14

: AshtechGPS::processRecord -sample time is 1134408494
: Sonardyne - POS response: 
POS V4,1 R13.73

: Sonardyne - parsing R13.73

: Sonardyne - read R = 13.730000 from 13.73

: Sonardyne - got range only (13.730000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N41.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N41.5,D-10,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.62  1.84 14.94 4.07 4.07 0 21597.85 02:32:36 m

: AshtechGps::processRecord() - $GPGGA,172815.00,3654.77198,N,12153.34292,W,1,08,1.2,-3.47,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172815.00,3654.77198,N,12153.34292,W,1,08,1.2,-3.47,M,-32.59,M,,*7E


: successfully parse sentence at 17:28:15

: AshtechGPS::processRecord -sample time is 1134408495
: Sonardyne - POS response: 
POS V4,1 R13.84

: Sonardyne - parsing R13.84

: Sonardyne - read R = 13.840000 from 13.84

: Sonardyne - got range only (13.840000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N28.9,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N28.9,D18,U0,Q0.000000

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172816.00,3654.77207,N,12153.34279,W,1,08,1.2,-3.26,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172816.00,3654.77207,N,12153.34279,W,1,08,1.2,-3.26,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:16

: AshtechGPS::processRecord -sample time is 1134408496
: Sonardyne - POS response: 
POS V4,1 R13.76

: Sonardyne - parsing R13.76

: Sonardyne - read R = 13.760000 from 13.76

: Sonardyne - got range only (13.760000), tat = 469
: Sonardyne - POSD response: 
POSD S+144.9,N49.2,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N49.2,D-2,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,172817.00,3654.77215,N,12153.34270,W,1,08,1.2,-3.32,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,172817.00,3654.77215,N,12153.34270,W,1,08,1.2,-3.32,M,-32.59,M,,*74


: successfully parse sentence at 17:28:17

: AshtechGPS::processRecord -sample time is 1134408497
: Sonardyne - POS response: 
POS V4,1 R13.70

: Sonardyne - parsing R13.70

: Sonardyne - read R = 13.700000 from 13.70

: Sonardyne - got range only (13.700000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N30.6,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N30.6,D-1,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,172818.00,3654.77220,N,12153.34259,W,1,08,1.2,-3.32,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172818.00,3654.77220,N,12153.34259,W,1,08,1.2,-3.32,M,-32.59,M,,*76


: successfully parse sentence at 17:28:18

: AshtechGPS::processRecord -sample time is 1134408498
: Sonardyne - POS response: 
POS V4,1 R13.69

: Sonardyne - parsing R13.69

: Sonardyne - read R = 13.690000 from 13.69

: Sonardyne - got range only (13.690000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N37.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N37.0,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,172819.00,3654.77226,N,12153.34247,W,1,08,1.2,-3.50,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172819.00,3654.77226,N,12153.34247,W,1,08,1.2,-3.50,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:19

: AshtechGPS::processRecord -sample time is 1134408499
: Sonardyne - POS response: 
POS V4,1 R13.86

: Sonardyne - parsing R13.86

: Sonardyne - read R = 13.860000 from 13.86

: Sonardyne - got range only (13.860000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N29.0,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N29.0,D14,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,172820.00,3654.77228,N,12153.34244,W,1,08,1.2,-3.65,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172820.00,3654.77228,N,12153.34244,W,1,08,1.2,-3.65,M,-32.59,M,,*7B


: successfully parse sentence at 17:28:20

: AshtechGPS::processRecord -sample time is 1134408500
: Sonardyne - POS response: 
POS V4,1 R13.70

: Sonardyne - parsing R13.70

: Sonardyne - read R = 13.700000 from 13.70

: Sonardyne - got range only (13.700000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N32.7,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N32.7,D-18,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,172821.00,3654.77222,N,12153.34248,W,1,08,1.2,-3.87,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172821.00,3654.77222,N,12153.34248,W,1,08,1.2,-3.87,M,-32.59,M,,*70


: successfully parse sentence at 17:28:21

: AshtechGPS::processRecord -sample time is 1134408501
: Sonardyne - POS response: 
POS V4,1 R13.68

: Sonardyne - parsing R13.68

: Sonardyne - read R = 13.680000 from 13.68

: Sonardyne - got range only (13.680000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N24.1,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N24.1,D-19,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,172822.00,3654.77223,N,12153.34261,W,1,08,1.2,-3.96,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172822.00,3654.77223,N,12153.34261,W,1,08,1.2,-3.96,M,-32.59,M,,*79


: successfully parse sentence at 17:28:22

: AshtechGPS::processRecord -sample time is 1134408502
: Sonardyne - POS response: 
POS V4,1 R13.46

: Sonardyne - parsing R13.46

: Sonardyne - read R = 13.460000 from 13.46

: Sonardyne - got range only (13.460000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N35.7,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N35.7,D5,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,172823.00,3654.77211,N,12153.34274,W,1,08,1.2,-3.99,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172823.00,3654.77211,N,12153.34274,W,1,08,1.2,-3.99,M,-32.59,M,,*72


: successfully parse sentence at 17:28:23

: AshtechGPS::processRecord -sample time is 1134408503
: Sonardyne - POS response: 
POS V4,1 R13.40

: Sonardyne - parsing R13.40

: Sonardyne - read R = 13.400000 from 13.40

: Sonardyne - got range only (13.400000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N49.7,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N49.7,D-1,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,172824.00,3654.77200,N,12153.34278,W,1,08,1.2,-3.84,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,172824.00,3654.77200,N,12153.34278,W,1,08,1.2,-3.84,M,-32.59,M,,*75


: successfully parse sentence at 17:28:24

: AshtechGPS::processRecord -sample time is 1134408504
: Sonardyne - POS response: 
POS V4,1 R13.65

: Sonardyne - parsing R13.65

: Sonardyne - read R = 13.650000 from 13.65

: Sonardyne - got range only (13.650000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N24.5,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N24.5,D-12,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.59  3.47 14.94 4.07 4.08 0 21597.72 02:32:46 m

: AshtechGps::processRecord() - $GPGGA,172825.00,3654.77191,N,12153.34289,W,1,08,1.2,-3.86,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172825.00,3654.77191,N,12153.34289,W,1,08,1.2,-3.86,M,-32.59,M,,*73


: successfully parse sentence at 17:28:25

: AshtechGPS::processRecord -sample time is 1134408505
: Sonardyne - POS response: 
POS V4,1 R13.63

: Sonardyne - parsing R13.63

: Sonardyne - read R = 13.630000 from 13.63

: Sonardyne - got range only (13.630000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N25.6,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N25.6,D-23,U0,Q0.000000

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172826.00,3654.77179,N,12153.34305,W,1,08,1.2,-3.99,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172826.00,3654.77179,N,12153.34305,W,1,08,1.2,-3.99,M,-32.59,M,,*7D


: successfully parse sentence at 17:28:26

: AshtechGPS::processRecord -sample time is 1134408506
: Sonardyne - POS response: 
POS V4,1 R13.24

: Sonardyne - parsing R13.24

: Sonardyne - read R = 13.240000 from 13.24

: Sonardyne - got range only (13.240000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N29.0,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N29.0,D-28,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,172827.00,3654.77172,N,12153.34322,W,1,08,1.2,-3.84,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172827.00,3654.77172,N,12153.34322,W,1,08,1.2,-3.84,M,-32.59,M,,*7E


: successfully parse sentence at 17:28:27

: AshtechGPS::processRecord -sample time is 1134408507
: Sonardyne - POS response: 
POS V4,1 R13.17

: Sonardyne - parsing R13.17

: Sonardyne - read R = 13.170000 from 13.17

: Sonardyne - got range only (13.170000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N43.9,D1,U1,Q0.004482

: Sonardyne - POSD response: 
POSD S+144.9,N43.9,D1,U1,Q0.004482

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

: AshtechGps::processRecord() - $GPGGA,172828.00,3654.77165,N,12153.34319,W,1,08,1.2,-3.54,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172828.00,3654.77165,N,12153.34319,W,1,08,1.2,-3.54,M,-32.59,M,,*72


: successfully parse sentence at 17:28:28

: AshtechGPS::processRecord -sample time is 1134408508
: Sonardyne - POS response: 
POS V4,1 R13.47

: Sonardyne - parsing R13.47

: Sonardyne - read R = 13.470000 from 13.47

: Sonardyne - got range only (13.470000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.6,N30.7,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N30.7,D-27,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,172829.00,3654.77160,N,12153.34315,W,1,08,1.2,-3.60,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172829.00,3654.77160,N,12153.34315,W,1,08,1.2,-3.60,M,-32.59,M,,*7D


: successfully parse sentence at 17:28:29

: AshtechGPS::processRecord -sample time is 1134408509
: Sonardyne - POS response: 
POS V4,1 R13.52,X6.96,Y-11.25,Z-2.80

: Sonardyne - parsing R13.52,X6.96,Y-11.25,Z-2.80

: Sonardyne - read R = 13.520000 from 13.52,X6.96,Y-11.25,Z-2.80

: Sonardyne - got all data, Vehicle coordinates,
    r=13.520000, x=2.800000, y=6.960000, z=11.250000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N33.9,D0,U8,Q0.008009

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

: AshtechGps::processRecord() - $GPGGA,172830.00,3654.77184,N,12153.34290,W,1,09,1.2,-8.27,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172830.00,3654.77184,N,12153.34290,W,1,09,1.2,-8.27,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:30

: AshtechGPS::processRecord -sample time is 1134408510
: Sonardyne - POS response: 
POS V4,1 R13.34

: Sonardyne - parsing R13.34

: Sonardyne - read R = 13.340000 from 13.34

: Sonardyne - got range only (13.340000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N32.0,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N32.0,D17,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,172831.00,3654.77188,N,12153.34296,W,1,09,1.2,-8.15,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172831.00,3654.77188,N,12153.34296,W,1,09,1.2,-8.15,M,-32.59,M,,*70


: successfully parse sentence at 17:28:31

: AshtechGPS::processRecord -sample time is 1134408511
: Sonardyne - POS response: 
POS V4,1 R13.05

: Sonardyne - parsing R13.05

: Sonardyne - read R = 13.050000 from 13.05

: Sonardyne - got range only (13.050000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N29.6,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N29.6,D12,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,172832.00,3654.77189,N,12153.34287,W,1,09,1.2,-7.77,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172832.00,3654.77189,N,12153.34287,W,1,09,1.2,-7.77,M,-32.59,M,,*79


: successfully parse sentence at 17:28:32

: AshtechGPS::processRecord -sample time is 1134408512
: Sonardyne - POS response: 
POS V4,1 R13.18

: Sonardyne - parsing R13.18

: Sonardyne - read R = 13.180000 from 13.18

: Sonardyne - got range only (13.180000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N31.0,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N31.0,D-1,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,172833.00,3654.77195,N,12153.34271,W,1,09,1.2,-7.63,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172833.00,3654.77195,N,12153.34271,W,1,09,1.2,-7.63,M,-32.59,M,,*79


: successfully parse sentence at 17:28:33

: AshtechGPS::processRecord -sample time is 1134408513
: Sonardyne - POS response: 
POS V4,1 R13.46

: Sonardyne - parsing R13.46

: Sonardyne - read R = 13.460000 from 13.46

: Sonardyne - got range only (13.460000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N30.2,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N30.2,D12,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,172834.00,3654.77204,N,12153.34255,W,1,09,1.2,-7.72,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172834.00,3654.77204,N,12153.34255,W,1,09,1.2,-7.72,M,-32.59,M,,*73


: successfully parse sentence at 17:28:34

: AshtechGPS::processRecord -sample time is 1134408514
: Sonardyne - POS response: 
POS V4,1 R13.14,X6.21,Y-10.70,Z-4.43

: Sonardyne - parsing R13.14,X6.21,Y-10.70,Z-4.43

: Sonardyne - read R = 13.140000 from 13.14,X6.21,Y-10.70,Z-4.43

: Sonardyne - got all data, Vehicle coordinates,
    r=13.140000, x=4.430000, y=6.210000, z=10.700000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N37.1,D-1,U8,Q0.004688

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

: BluefinBatt Reply: $b6q0 d- 32.62  1.99 14.94 4.07 4.08 0 21597.51 02:32:56 m

: AshtechGps::processRecord() - $GPGGA,172835.00,3654.77211,N,12153.34246,W,1,09,1.2,-7.79,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172835.00,3654.77211,N,12153.34246,W,1,09,1.2,-7.79,M,-32.59,M,,*7F


: successfully parse sentence at 17:28:35

: AshtechGPS::processRecord -sample time is 1134408515
: Sonardyne - POS response: 
POS V4,1 R13.37

: Sonardyne - parsing R13.37

: Sonardyne - read R = 13.370000 from 13.37

: Sonardyne - got range only (13.370000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N36.2,D-4,U1,Q0.006781

: Sonardyne - POSD response: 
POSD S+144.8,N36.2,D-4,U1,Q0.006781

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172836.00,3654.77218,N,12153.34238,W,1,09,1.2,-7.91,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172836.00,3654.77218,N,12153.34238,W,1,09,1.2,-7.91,M,-32.59,M,,*7A


: successfully parse sentence at 17:28:36

: AshtechGPS::processRecord -sample time is 1134408516
: Sonardyne - POS response: 
POS V4,1 R13.33

: Sonardyne - parsing R13.33

: Sonardyne - read R = 13.330000 from 13.33

: Sonardyne - got range only (13.330000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N28.3,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N28.3,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,172837.00,3654.77210,N,12153.34236,W,1,09,1.2,-8.14,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172837.00,3654.77210,N,12153.34236,W,1,09,1.2,-8.14,M,-32.59,M,,*7F


: successfully parse sentence at 17:28:37

: AshtechGPS::processRecord -sample time is 1134408517
: Sonardyne - POS response: 
POS V4,1 R13.36

: Sonardyne - parsing R13.36

: Sonardyne - read R = 13.360000 from 13.36

: Sonardyne - got range only (13.360000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N37.1,D-14,U1,Q0.006893

: Sonardyne - POSD response: 
POSD S+144.9,N37.1,D-14,U1,Q0.006893

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

: AshtechGps::processRecord() - $GPGGA,172838.00,3654.77202,N,12153.34259,W,1,09,1.2,-8.54,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,172838.00,3654.77202,N,12153.34259,W,1,09,1.2,-8.54,M,-32.59,M,,*7E


: successfully parse sentence at 17:28:38

: AshtechGPS::processRecord -sample time is 1134408518
: Sonardyne - POS response: 
POS V4,1 R13.16

: Sonardyne - parsing R13.16

: Sonardyne - read R = 13.160000 from 13.16

: Sonardyne - got range only (13.160000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N30.9,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N30.9,D8,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,172839.00,3654.77187,N,12153.34285,W,1,09,1.2,-8.58,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,172839.00,3654.77187,N,12153.34285,W,1,09,1.2,-8.58,M,-32.59,M,,*7C


: successfully parse sentence at 17:28:39

: AshtechGPS::processRecord -sample time is 1134408519
: Sonardyne - POS response: 
POS V4,1 R13.03

: Sonardyne - parsing R13.03

: Sonardyne - read R = 13.030000 from 13.03

: Sonardyne - got range only (13.030000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N37.0,D-8,U1,Q0.000475

: Sonardyne - POSD response: 
POSD S+144.9,N37.0,D-8,U1,Q0.000475

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

: AshtechGps::processRecord() - $GPGGA,172840.00,3654.77180,N,12153.34308,W,1,09,1.2,-8.47,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172840.00,3654.77180,N,12153.34308,W,1,09,1.2,-8.47,M,-32.59,M,,*7F


: successfully parse sentence at 17:28:40

: AshtechGPS::processRecord -sample time is 1134408520
: Sonardyne - POS response: 
POS V4,1 R12.93

: Sonardyne - parsing R12.93

: Sonardyne - read R = 12.930000 from 12.93

: Sonardyne - got range only (12.930000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N30.9,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N30.9,D8,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,172841.00,3654.77162,N,12153.34330,W,1,09,1.2,-8.42,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,172841.00,3654.77162,N,12153.34330,W,1,09,1.2,-8.42,M,-32.59,M,,*7C


: successfully parse sentence at 17:28:41

: AshtechGPS::processRecord -sample time is 1134408521
: Sonardyne - POS response: 
POS V4,1 R13.02

: Sonardyne - parsing R13.02

: Sonardyne - read R = 13.020000 from 13.02

: Sonardyne - got range only (13.020000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N40.0,D-9,U1,Q0.000452

: Sonardyne - POSD response: 
POSD S+144.9,N40.0,D-9,U1,Q0.000452

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

: AshtechGps::processRecord() - $GPGGA,172842.00,3654.77150,N,12153.34343,W,1,09,1.2,-8.16,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172842.00,3654.77150,N,12153.34343,W,1,09,1.2,-8.16,M,-32.59,M,,*7B


: successfully parse sentence at 17:28:42

: AshtechGPS::processRecord -sample time is 1134408522
: Sonardyne - POS response: 
POS V4,1 R12.88

: Sonardyne - parsing R12.88

: Sonardyne - read R = 12.880000 from 12.88

: Sonardyne - got range only (12.880000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D20,U2,Q0.019316

: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D20,U2,Q0.019316

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

: AshtechGps::processRecord() - $GPGGA,172843.00,3654.77150,N,12153.34342,W,1,09,1.2,-7.83,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,172843.00,3654.77150,N,12153.34342,W,1,09,1.2,-7.83,M,-32.59,M,,*78


: successfully parse sentence at 17:28:43

: AshtechGPS::processRecord -sample time is 1134408523
: Sonardyne - POS response: 
POS V4,1 R12.88

: Sonardyne - parsing R12.88

: Sonardyne - read R = 12.880000 from 12.88

: Sonardyne - got range only (12.880000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N52.0,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N52.0,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,172844.00,3654.77153,N,12153.34336,W,1,09,1.2,-7.62,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172844.00,3654.77153,N,12153.34336,W,1,09,1.2,-7.62,M,-32.59,M,,*70


: successfully parse sentence at 17:28:44

: AshtechGPS::processRecord -sample time is 1134408524
: Sonardyne - POS response: 
POS V4,1 R12.92

: Sonardyne - parsing R12.92

: Sonardyne - read R = 12.920000 from 12.92

: Sonardyne - got range only (12.920000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N28.5,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N28.5,D-14,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.59  2.46 14.94 4.07 4.08 0 21597.37 02:33:06 m

: AshtechGps::processRecord() - $GPGGA,172845.00,3654.77158,N,12153.34320,W,1,09,1.2,-7.55,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172845.00,3654.77158,N,12153.34320,W,1,09,1.2,-7.55,M,-32.59,M,,*79


: successfully parse sentence at 17:28:45

: AshtechGPS::processRecord -sample time is 1134408525
: Sonardyne - POS response: 
POS V4,1 R12.89

: Sonardyne - parsing R12.89

: Sonardyne - read R = 12.890000 from 12.89

: Sonardyne - got range only (12.890000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N22.6,D-31,U1,Q0.000801

: Sonardyne - POSD response: 
POSD S+144.8,N22.6,D-31,U1,Q0.000801

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172846.00,3654.77165,N,12153.34307,W,1,09,1.2,-7.79,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172846.00,3654.77165,N,12153.34307,W,1,09,1.2,-7.79,M,-32.59,M,,*7F


: successfully parse sentence at 17:28:46

: AshtechGPS::processRecord -sample time is 1134408526
: Sonardyne - POS response: 
POS V4,1 R12.86,X5.09,Y11.81,Z0.00

: Sonardyne - parsing R12.86,X5.09,Y11.81,Z0.00

: Sonardyne - read R = 12.860000 from 12.86,X5.09,Y11.81,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=12.860000, x=0.000000, y=5.090000, z=-11.810000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N38.5,D-11,U6,Q0.009725

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

: AshtechGps::processRecord() - $GPGGA,172847.00,3654.77160,N,12153.34296,W,1,09,1.2,-7.93,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172847.00,3654.77160,N,12153.34296,W,1,09,1.2,-7.93,M,-32.59,M,,*76


: successfully parse sentence at 17:28:47

: AshtechGPS::processRecord -sample time is 1134408527
: Sonardyne - POS response: 
POS V4,1 R12.98

: Sonardyne - parsing R12.98

: Sonardyne - read R = 12.980000 from 12.98

: Sonardyne - got range only (12.980000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N25.7,D-3,U2,Q0.009027

: Sonardyne - POSD response: 
POSD S+144.9,N25.7,D-3,U2,Q0.009027

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

: AshtechGps::processRecord() - $GPGGA,172848.00,3654.77171,N,12153.34300,W,1,09,1.2,-8.20,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172848.00,3654.77171,N,12153.34300,W,1,09,1.2,-8.20,M,-32.59,M,,*70


: successfully parse sentence at 17:28:48

: AshtechGPS::processRecord -sample time is 1134408528
: Sonardyne - POS response: 
POS V4,1 R12.97

: Sonardyne - parsing R12.97

: Sonardyne - read R = 12.970000 from 12.97

: Sonardyne - got range only (12.970000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N30.4,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N30.4,D7,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,172849.00,3654.77160,N,12153.34303,W,1,09,1.2,-8.24,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,172849.00,3654.77160,N,12153.34303,W,1,09,1.2,-8.24,M,-32.59,M,,*76


: successfully parse sentence at 17:28:49

: AshtechGPS::processRecord -sample time is 1134408529
: Sonardyne - POS response: 
POS V4,1 R12.91

: Sonardyne - parsing R12.91

: Sonardyne - read R = 12.910000 from 12.91

: Sonardyne - got range only (12.910000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N27.6,D-19,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,172850.00,3654.77160,N,12153.34319,W,1,09,1.2,-8.44,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172850.00,3654.77160,N,12153.34319,W,1,09,1.2,-8.44,M,-32.59,M,,*73


: successfully parse sentence at 17:28:50

: AshtechGPS::processRecord -sample time is 1134408530
: Sonardyne - POS response: 
POS V4,1 R0.00,X0.00,Y0.00,Z0.00

: Sonardyne - parsing R0.00,X0.00,Y0.00,Z0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S+144.8,N25.5,D32,U7,Q0.005458

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S+144.8,N25.5,D32,U7,Q0.005458

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

: AshtechGps::processRecord() - $GPGGA,172851.00,3654.77150,N,12153.34336,W,1,09,1.2,-8.29,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172851.00,3654.77150,N,12153.34336,W,1,09,1.2,-8.29,M,-32.59,M,,*77


: successfully parse sentence at 17:28:51

: AshtechGPS::processRecord -sample time is 1134408531
: Sonardyne - POS response: 
POS V4,1 R12.89,X5.74,Y10.73,Z-4.25

: Sonardyne - parsing R12.89,X5.74,Y10.73,Z-4.25

: Sonardyne - read R = 12.890000 from 12.89,X5.74,Y10.73,Z-4.25

: Sonardyne - got all data, Vehicle coordinates,
    r=12.890000, x=4.250000, y=5.740000, z=-10.730000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N28.1,D5,U6,Q0.007765

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

: AshtechGps::processRecord() - $GPGGA,172852.00,3654.77139,N,12153.34347,W,1,09,1.2,-8.29,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172852.00,3654.77139,N,12153.34347,W,1,09,1.2,-8.29,M,-32.59,M,,*7D


: successfully parse sentence at 17:28:52

: AshtechGPS::processRecord -sample time is 1134408532
: Sonardyne - POS response: 
POS V4,1 R12.90,X12.45,Y-3.37,Z0.00

: Sonardyne - parsing R12.90,X12.45,Y-3.37,Z0.00

: Sonardyne - read R = 12.900000 from 12.90,X12.45,Y-3.37,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=12.900000, x=0.000000, y=12.450000, z=3.370000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N26.2,D-26,U6,Q0.009811

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

: AshtechGps::processRecord() - $GPGGA,172853.00,3654.77137,N,12153.34365,W,1,09,1.2,-8.35,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,172853.00,3654.77137,N,12153.34365,W,1,09,1.2,-8.35,M,-32.59,M,,*7F


: successfully parse sentence at 17:28:53

: AshtechGPS::processRecord -sample time is 1134408533
: Sonardyne - POS response: 
POS V4,1 R12.72

: Sonardyne - parsing R12.72

: Sonardyne - read R = 12.720000 from 12.72

: Sonardyne - got range only (12.720000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N34.9,D-13,U1,Q0.008264

: Sonardyne - POSD response: 
POSD S+144.9,N34.9,D-13,U1,Q0.008264

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

: AshtechGps::processRecord() - $GPGGA,172854.00,3654.77126,N,12153.34380,W,1,09,1.2,-8.35,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172854.00,3654.77126,N,12153.34380,W,1,09,1.2,-8.35,M,-32.59,M,,*73


: successfully parse sentence at 17:28:54

: AshtechGPS::processRecord -sample time is 1134408534
: Sonardyne - POS response: 
POS V4,1 R12.62

: Sonardyne - parsing R12.62

: Sonardyne - read R = 12.620000 from 12.62

: Sonardyne - got range only (12.620000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.5,N21.8,D-37,U2,Q0.013411

: Sonardyne - POSD response: 
POSD S+144.5,N21.8,D-37,U2,Q0.013411

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

: BluefinBatt Reply: $b6q0 d- 32.62  1.95 14.94 4.07 4.08 0 21597.08 02:33:16 m

: AshtechGps::processRecord() - $GPGGA,172855.00,3654.77125,N,12153.34378,W,1,09,1.2,-8.00,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172855.00,3654.77125,N,12153.34378,W,1,09,1.2,-8.00,M,-32.59,M,,*70


: successfully parse sentence at 17:28:55

: AshtechGPS::processRecord -sample time is 1134408535
: Sonardyne - POS response: 
POS V4,1 R12.73

: Sonardyne - parsing R12.73

: Sonardyne - read R = 12.730000 from 12.73

: Sonardyne - got range only (12.730000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N39.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N39.0,D-9,U0,Q0.000000

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172856.00,3654.77130,N,12153.34368,W,1,09,1.2,-7.86,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172856.00,3654.77130,N,12153.34368,W,1,09,1.2,-7.86,M,-32.59,M,,*77


: successfully parse sentence at 17:28:56

: AshtechGPS::processRecord -sample time is 1134408536
: Sonardyne - POS response: 
POS V4,1 R12.69

: Sonardyne - parsing R12.69

: Sonardyne - read R = 12.690000 from 12.69

: Sonardyne - got range only (12.690000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N28.0,D-6,U1,Q0.003641

: Sonardyne - POSD response: 
POSD S+144.8,N28.0,D-6,U1,Q0.003641

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

: AshtechGps::processRecord() - $GPGGA,172857.00,3654.77133,N,12153.34351,W,1,09,1.2,-7.76,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172857.00,3654.77133,N,12153.34351,W,1,09,1.2,-7.76,M,-32.59,M,,*70


: successfully parse sentence at 17:28:57

: AshtechGPS::processRecord -sample time is 1134408537
: Sonardyne - POS response: 
POS V4,1 R12.71

: Sonardyne - parsing R12.71

: Sonardyne - read R = 12.710000 from 12.71

: Sonardyne - got range only (12.710000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.5,N26.8,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N26.8,D29,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,172858.00,3654.77137,N,12153.34327,W,1,09,1.2,-7.77,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172858.00,3654.77137,N,12153.34327,W,1,09,1.2,-7.77,M,-32.59,M,,*7B


: successfully parse sentence at 17:28:58

: AshtechGPS::processRecord -sample time is 1134408538
: Sonardyne - POS response: 
POS V4,1 R12.90

: Sonardyne - parsing R12.90

: Sonardyne - read R = 12.900000 from 12.90

: Sonardyne - got range only (12.900000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N41.0,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N41.0,D-1,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,172859.00,3654.77144,N,12153.34318,W,1,09,1.2,-8.06,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172859.00,3654.77144,N,12153.34318,W,1,09,1.2,-8.06,M,-32.59,M,,*7B


: successfully parse sentence at 17:28:59

: AshtechGPS::processRecord -sample time is 1134408539
: Sonardyne - POS response: 
POS V4,1 R12.64

: Sonardyne - parsing R12.64

: Sonardyne - read R = 12.640000 from 12.64

: Sonardyne - got range only (12.640000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N32.9,D-21,U1,Q0.010945

: Sonardyne - POSD response: 
POSD S+144.9,N32.9,D-21,U1,Q0.010945

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

: AshtechGps::processRecord() - $GPGGA,172900.00,3654.77142,N,12153.34308,W,1,09,1.2,-8.14,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,172900.00,3654.77142,N,12153.34308,W,1,09,1.2,-8.14,M,-32.59,M,,*72


: successfully parse sentence at 17:29:0

: AshtechGPS::processRecord -sample time is 1134408540
: Sonardyne - POS response: 
POS V4,1 R12.96

: Sonardyne - parsing R12.96

: Sonardyne - read R = 12.960000 from 12.96

: Sonardyne - got range only (12.960000), tat = 459
: Sonardyne - POSD response: 
POSD S+144.7,N25.7,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N25.7,D-48,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,172901.00,3654.77148,N,12153.34310,W,1,09,1.2,-8.42,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,172901.00,3654.77148,N,12153.34310,W,1,09,1.2,-8.42,M,-32.59,M,,*73


: successfully parse sentence at 17:29:1

: AshtechGPS::processRecord -sample time is 1134408541
: Sonardyne - POS response: 
POS V4,1 R12.69,X5.02,Y-9.91,Z-6.13

: Sonardyne - parsing R12.69,X5.02,Y-9.91,Z-6.13

: Sonardyne - read R = 12.690000 from 12.69,X5.02,Y-9.91,Z-6.13

: Sonardyne - got all data, Vehicle coordinates,
    r=12.690000, x=6.130000, y=5.020000, z=9.910000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N29.7,D-5,U8,Q0.007614

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

: AshtechGps::processRecord() - $GPGGA,172902.00,3654.77134,N,12153.34335,W,1,09,1.2,-8.88,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,172902.00,3654.77134,N,12153.34335,W,1,09,1.2,-8.88,M,-32.59,M,,*7A


: successfully parse sentence at 17:29:2

: AshtechGPS::processRecord -sample time is 1134408542
: Sonardyne - POS response: 
POS V4,1 R12.63

: Sonardyne - parsing R12.63

: Sonardyne - read R = 12.630000 from 12.63

: Sonardyne - got range only (12.630000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N26.9,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N26.9,D22,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,172903.00,3654.77125,N,12153.34353,W,1,09,1.2,-8.83,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172903.00,3654.77125,N,12153.34353,W,1,09,1.2,-8.83,M,-32.59,M,,*70


: successfully parse sentence at 17:29:3

: AshtechGPS::processRecord -sample time is 1134408543
: Sonardyne - POS response: 
POS V4,1 R12.82

: Sonardyne - parsing R12.82

: Sonardyne - read R = 12.820000 from 12.82

: Sonardyne - got range only (12.820000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N37.0,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N37.0,D0,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,172904.00,3654.77119,N,12153.34374,W,1,09,1.2,-8.92,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,172904.00,3654.77119,N,12153.34374,W,1,09,1.2,-8.92,M,-32.59,M,,*7D


: successfully parse sentence at 17:29:4

: AshtechGPS::processRecord -sample time is 1134408544
: Sonardyne - POS response: 
POS V4,1 R12.63

: Sonardyne - parsing R12.63

: Sonardyne - read R = 12.630000 from 12.63

: Sonardyne - got range only (12.630000), tat = 460
: Sonardyne - POSD response: 
POSD S+142.2,N23.6,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.2,N23.6,D-10,U0,Q0.000000

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

: BluefinBatt Reply: $b6q0 d- 32.59  2.96 14.94 4.07 4.08 0 21596.88 02:33:26 m

: AshtechGps::processRecord() - $GPGGA,172905.00,3654.77100,N,12153.34396,W,1,09,1.2,-8.82,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,172905.00,3654.77100,N,12153.34396,W,1,09,1.2,-8.82,M,-32.59,M,,*79


: successfully parse sentence at 17:29:5

: AshtechGPS::processRecord -sample time is 1134408545
: Sonardyne - POS response: 
POS V4,1 R12.67,X2.78,Y12.36,Z0.00

: Sonardyne - parsing R12.67,X2.78,Y12.36,Z0.00

: Sonardyne - read R = 12.670000 from 12.67,X2.78,Y12.36,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=12.670000, x=0.000000, y=2.780000, z=-12.360000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N37.5,D-7,U8,Q0.001989

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

: batts online 1, min cell voltage 4.070000, mean min cell voltage 4.070000

: AshtechGps::processRecord() - $GPGGA,172906.00,3654.77104,N,12153.34409,W,1,09,1.2,-8.46,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,172906.00,3654.77104,N,12153.34409,W,1,09,1.2,-8.46,M,-32.59,M,,*77


: successfully parse sentence at 17:29:6

: AshtechGPS::processRecord -sample time is 1134408546
: Sonardyne - POS response: 
POS V4,1 R12.58

: Sonardyne - parsing R12.58

: Sonardyne - read R = 12.580000 from 12.58

: Sonardyne - got range only (12.580000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N37.2,D-8,U1,Q0.010404

: Sonardyne - POSD response: 
POSD S+144.9,N37.2,D-8,U1,Q0.010404

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

: AshtechGps::processRecord() - $GPGGA,172907.00,3654.77092,N,12153.34411,W,1,09,1.2,-8.12,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,172907.00,3654.77092,N,12153.34411,W,1,09,1.2,-8.12,M,-32.59,M,,*70


: successfully parse sentence at 17:29:7

: AshtechGPS::processRecord -sample time is 1134408547
: Sonardyne - POS response: 
POS V4,1 R12.63

: Sonardyne - parsing R12.63

: Sonardyne - read R = 12.630000 from 12.63

: Sonardyne - got range only (12.630000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N42.8,D-11,U4,Q0.012362

: Sonardyne - POSD response: 
POSD S+144.9,N42.8,D-11,U4,Q0.012362

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

: AshtechGps::processRecord() - $GPGGA,172908.00,3654.77103,N,12153.34399,W,1,09,1.2,-7.71,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,172908.00,3654.77103,N,12153.34399,W,1,09,1.2,-7.71,M,-32.59,M,,*7B


: successfully parse sentence at 17:29:8

: AshtechGPS::processRecord -sample time is 1134408548
: Sonardyne - POS response: 
POS V4,1 R12.53

: Sonardyne - parsing R12.53

: Sonardyne - read R = 12.530000 from 12.53

: Sonardyne - got range only (12.530000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.9,N36.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N36.4,D-10,U0,Q0.000000

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

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

: TaskServer::signalHandler() for task WorkSiteIFServer - 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 VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task &"? - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: 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()
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** 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 ParosciOutput_ShmemName ****

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

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

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

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

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

//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: TaskServer::signalHandler() for task &"? - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object dropWeightOutput ****

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

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

: StepGetStat (2) failed to read chars, rcvd=2, want=8

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

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

: TaskServer::signalHandler() for task FanIFServer - exit()
: StepGetStat (2) 18 18 00 00 01 00 00
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

: **** SharedData destructor for object TailConeInput_ShmemName ****

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

:  Dvl::~Dvl: Destructor Finished.


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