Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::createTask() - navigationServer
Supervisor::createTask() - laye: WorkSite::WorkSite -- Finished loading parameters
red: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Contro: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
lSer: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
ver
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x22eec
Supervisor::createTask() - dynamicControlServer
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciS: Preparing to fork

erver
: SerialDevice: done...

: I'm the child...forking

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
Supe: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
rvisor::cr: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
eate: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
Task(: SerialDevice: done...

) - bluefinBattDriver
: SerialDevice: done...

Supervisor::createTask() - dvlServer
Super: SerialDevice: done...

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

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

visor::createTas: BluefineBatt::init() - 1 batteries on 10 second interval
k: SerialDevice: done...

() - drop: Crossbow.cc: Setting polled mode
Weight: BluefinBatt.cc - Looking for Parosci server
: Crossbow.cc: Setting polled mode
Serve: SerialDevice: done...

r
: Crossbow.cc: In getSerialNumber()
: BluefinBatt::init() - querying for batt ids
: Crossbow.cc: _device->read failed with error
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

Superv: SerialDevice: done...

isor::createTask() - sonardyneServer
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

: ahrs if is Ahrs

: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: AshtechGps::processRecord() - $GPGGA,221508.00,3654.87381,N,12153.18473,W,1,09,0.9,-6.40,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221508.00,3654.87381,N,12153.18473,W,1,09,0.9,-6.40,M,-32.59,M,,*71


: successfully parse sentence at 22:15:8

: AshtechGPS::processRecord -sample time is 1134425708
: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
:  rs 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
: Sonardyne - PG response: 
PG1 PAN TDR GAIN: LOW

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

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

: AshtechGps::processRecord() - $GPGGA,221509.00,3654.87391,N,12153.18465,W,1,09,0.9,-6.34,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,221509.00,3654.87391,N,12153.18465,W,1,09,0.9,-6.34,M,-32.59,M,,*75


: successfully parse sentence at 22:15:9

: AshtechGPS::processRecord -sample time is 1134425709
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138880
: Parosci.cc -- Parosci initial temp period = 5.842316
: Parosci.cc -- Paroscientific configured.
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: **** EventTriggers::add() - attaching proxy
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,030
>
: 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,221510.00,3654.87415,N,12153.18445,W,1,09,0.9,-6.06,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,221510.00,3654.87415,N,12153.18445,W,1,09,0.9,-6.06,M,-32.59,M,,*75


: successfully parse sentence at 22:15:10

: AshtechGPS::processRecord -sample time is 1134425710
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,221511.00,3654.87379,N,12153.18444,W,1,09,0.9,-6.40,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221511.00,3654.87379,N,12153.18444,W,1,09,0.9,-6.40,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:11

: AshtechGPS::processRecord -sample time is 1134425711
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221512.00,3654.87417,N,12153.18433,W,1,09,0.9,-6.50,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221512.00,3654.87417,N,12153.18433,W,1,09,0.9,-6.50,M,-32.59,M,,*77


: successfully parse sentence at 22:15:12

: AshtechGPS::processRecord -sample time is 1134425712
:  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

: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
: AshtechGps::processRecord() - $GPGGA,221513.00,3654.87423,N,12153.18428,W,1,09,0.9,-6.46,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221513.00,3654.87423,N,12153.18428,W,1,09,0.9,-6.46,M,-32.59,M,,*7C


: successfully parse sentence at 22:15:13

: AshtechGPS::processRecord -sample time is 1134425713
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221514.00,3654.87406,N,12153.18434,W,1,09,0.9,-6.60,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,221514.00,3654.87406,N,12153.18434,W,1,09,0.9,-6.60,M,-32.59,M,,*75


: successfully parse sentence at 22:15:14

: AshtechGPS::processRecord -sample time is 1134425714
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221515.00,3654.87420,N,12153.18444,W,1,09,0.9,-6.54,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,221515.00,3654.87420,N,12153.18444,W,1,09,0.9,-6.54,M,-32.59,M,,*70


: successfully parse sentence at 22:15:15

: AshtechGPS::processRecord -sample time is 1134425715
:  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,N3.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221516.00,3654.87417,N,12153.18447,W,1,09,0.9,-6.56,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221516.00,3654.87417,N,12153.18447,W,1,09,0.9,-6.56,M,-32.59,M,,*76


: successfully parse sentence at 22:15:16

: AshtechGPS::processRecord -sample time is 1134425716
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221517.00,3654.87448,N,12153.18444,W,1,09,0.9,-6.59,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221517.00,3654.87448,N,12153.18444,W,1,09,0.9,-6.59,M,-32.59,M,,*71


: successfully parse sentence at 22:15:17

: AshtechGPS::processRecord -sample time is 1134425717
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221518.00,3654.87446,N,12153.18449,W,1,09,0.9,-6.25,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221518.00,3654.87446,N,12153.18449,W,1,09,0.9,-6.25,M,-32.59,M,,*76


: successfully parse sentence at 22:15:18

: AshtechGPS::processRecord -sample time is 1134425718
: BluefinBatt::init() - battery watchdog state is $b6wf 1
 
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,221519.00,3654.87446,N,12153.18427,W,1,09,0.9,-5.98,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221519.00,3654.87446,N,12153.18427,W,1,09,0.9,-5.98,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:19

: AshtechGPS::processRecord -sample time is 1134425719
:  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,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,221520.00,3654.87421,N,12153.18423,W,1,09,0.9,-6.15,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,221520.00,3654.87421,N,12153.18423,W,1,09,0.9,-6.15,M,-32.59,M,,*73


: successfully parse sentence at 22:15:20

: AshtechGPS::processRecord -sample time is 1134425720
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,221521.00,3654.87488,N,12153.18385,W,1,09,0.9,-5.96,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221521.00,3654.87488,N,12153.18385,W,1,09,0.9,-5.96,M,-32.59,M,,*72


: successfully parse sentence at 22:15:21

: AshtechGPS::processRecord -sample time is 1134425721
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221522.00,3654.87481,N,12153.18367,W,1,09,0.9,-6.31,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221522.00,3654.87481,N,12153.18367,W,1,09,0.9,-6.31,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:22

: AshtechGPS::processRecord -sample time is 1134425722
:  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,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,221523.00,3654.87468,N,12153.18378,W,1,09,0.9,-6.59,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221523.00,3654.87468,N,12153.18378,W,1,09,0.9,-6.59,M,-32.59,M,,*7C


: successfully parse sentence at 22:15:23

: AshtechGPS::processRecord -sample time is 1134425723
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221524.00,3654.87475,N,12153.18387,W,1,09,0.9,-6.94,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221524.00,3654.87475,N,12153.18387,W,1,09,0.9,-6.94,M,-32.59,M,,*76


: successfully parse sentence at 22:15:24

: AshtechGPS::processRecord -sample time is 1134425724
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221525.00,3654.87484,N,12153.18393,W,1,09,0.9,-7.02,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221525.00,3654.87484,N,12153.18393,W,1,09,0.9,-7.02,M,-32.59,M,,*72


: successfully parse sentence at 22:15:25

: AshtechGPS::processRecord -sample time is 1134425725
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221526.00,3654.87498,N,12153.18405,W,1,09,0.9,-6.96,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,221526.00,3654.87498,N,12153.18405,W,1,09,0.9,-6.96,M,-32.59,M,,*78


: successfully parse sentence at 22:15:26

: AshtechGPS::processRecord -sample time is 1134425726
:  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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221527.00,3654.87490,N,12153.18429,W,1,09,0.9,-6.78,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221527.00,3654.87490,N,12153.18429,W,1,09,0.9,-6.78,M,-32.59,M,,*7F


: successfully parse sentence at 22:15:27

: AshtechGPS::processRecord -sample time is 1134425727
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221528.00,3654.87503,N,12153.18427,W,1,09,0.9,-6.56,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,221528.00,3654.87503,N,12153.18427,W,1,09,0.9,-6.56,M,-32.59,M,,*79


: successfully parse sentence at 22:15:28

: AshtechGPS::processRecord -sample time is 1134425728
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221529.00,3654.87509,N,12153.18412,W,1,09,0.9,-6.44,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221529.00,3654.87509,N,12153.18412,W,1,09,0.9,-6.44,M,-32.59,M,,*77


: successfully parse sentence at 22:15:29

: AshtechGPS::processRecord -sample time is 1134425729
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 30.82  2.21 14.55 3.84 3.86 0 20859.04 07:19:51 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221530.00,3654.87505,N,12153.18406,W,1,09,0.9,-6.25,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221530.00,3654.87505,N,12153.18406,W,1,09,0.9,-6.25,M,-32.59,M,,*71


: successfully parse sentence at 22:15:30

: AshtechGPS::processRecord -sample time is 1134425730
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: 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 = 0.000000) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.010000) Behavior missionTimer has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,221531.00,3654.87524,N,12153.18373,W,1,09,0.9,-6.12,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221531.00,3654.87524,N,12153.18373,W,1,09,0.9,-6.12,M,-32.59,M,,*72


: successfully parse sentence at 22:15:31

: AshtechGPS::processRecord -sample time is 1134425731
:  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: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,221532.00,3654.87535,N,12153.18368,W,1,09,0.9,-6.14,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221532.00,3654.87535,N,12153.18368,W,1,09,0.9,-6.14,M,-32.59,M,,*7D


: successfully parse sentence at 22:15:32

: AshtechGPS::processRecord -sample time is 1134425732
:  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: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,221533.00,3654.87542,N,12153.18347,W,1,09,0.9,-6.37,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,221533.00,3654.87542,N,12153.18347,W,1,09,0.9,-6.37,M,-32.59,M,,*70


: successfully parse sentence at 22:15:33

: AshtechGPS::processRecord -sample time is 1134425733
:  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: 4 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,N5.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221534.00,3654.87563,N,12153.18337,W,1,09,0.9,-6.44,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221534.00,3654.87563,N,12153.18337,W,1,09,0.9,-6.44,M,-32.59,M,,*77


: successfully parse sentence at 22:15:34

: AshtechGPS::processRecord -sample time is 1134425734
:  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: 5 of 10 needed
: AshtechGps::processRecord() - $GPGGA,221535.00,3654.87565,N,12153.18334,W,1,09,0.9,-6.64,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221535.00,3654.87565,N,12153.18334,W,1,09,0.9,-6.64,M,-32.59,M,,*71


: successfully parse sentence at 22:15:35

: AshtechGPS::processRecord -sample time is 1134425735
:  wdt = 00892,  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
: AshtechGps::processRecord() - $GPGGA,221536.00,3654.87546,N,12153.18353,W,1,09,0.9,-6.83,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221536.00,3654.87546,N,12153.18353,W,1,09,0.9,-6.83,M,-32.59,M,,*7B


: successfully parse sentence at 22:15:36

: AshtechGPS::processRecord -sample time is 1134425736
:  wdt = 00891,  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 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,221537.00,3654.87567,N,12153.18371,W,1,09,0.9,-6.79,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221537.00,3654.87567,N,12153.18371,W,1,09,0.9,-6.79,M,-32.59,M,,*7C


: successfully parse sentence at 22:15:37

: AshtechGPS::processRecord -sample time is 1134425737
:  wdt = 00890,  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
: AshtechGps::processRecord() - $GPGGA,221538.00,3654.87578,N,12153.18381,W,1,09,0.9,-6.59,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,221538.00,3654.87578,N,12153.18381,W,1,09,0.9,-6.59,M,-32.59,M,,*70


: successfully parse sentence at 22:15:38

: AshtechGPS::processRecord -sample time is 1134425738
:  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: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,221539.00,3654.87582,N,12153.18384,W,1,09,0.9,-6.39,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221539.00,3654.87582,N,12153.18384,W,1,09,0.9,-6.39,M,-32.59,M,,*77


: successfully parse sentence at 22:15:39

: AshtechGPS::processRecord -sample time is 1134425739
:  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: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.199438) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.199438) Behavior setpoint has changed to state Active

: BluefinBatt Reply: $b6q0 d- 30.78  3.62 14.55 3.84 3.86 0 20858.76 07:20:01 m

: AshtechGps::processRecord() - $GPGGA,221540.00,3654.87578,N,12153.18390,W,1,09,0.9,-6.46,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221540.00,3654.87578,N,12153.18390,W,1,09,0.9,-6.46,M,-32.59,M,,*71


: successfully parse sentence at 22:15:40

: AshtechGPS::processRecord -sample time is 1134425740
:  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,N5.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221541.00,3654.87600,N,12153.18384,W,1,09,0.9,-6.29,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,221541.00,3654.87600,N,12153.18384,W,1,09,0.9,-6.29,M,-32.59,M,,*70


: successfully parse sentence at 22:15:41

: AshtechGPS::processRecord -sample time is 1134425741
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221542.00,3654.87608,N,12153.18365,W,1,09,0.9,-6.20,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221542.00,3654.87608,N,12153.18365,W,1,09,0.9,-6.20,M,-32.59,M,,*7D


: successfully parse sentence at 22:15:42

: AshtechGPS::processRecord -sample time is 1134425742
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221543.00,3654.87643,N,12153.18344,W,1,09,0.9,-6.14,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221543.00,3654.87643,N,12153.18344,W,1,09,0.9,-6.14,M,-32.59,M,,*77


: successfully parse sentence at 22:15:43

: AshtechGPS::processRecord -sample time is 1134425743
:  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,N3.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221544.00,3654.87642,N,12153.18322,W,1,09,0.9,-6.15,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,221544.00,3654.87642,N,12153.18322,W,1,09,0.9,-6.15,M,-32.59,M,,*70


: successfully parse sentence at 22:15:44

: AshtechGPS::processRecord -sample time is 1134425744
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221545.00,3654.87672,N,12153.18288,W,1,09,0.9,-6.40,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,221545.00,3654.87672,N,12153.18288,W,1,09,0.9,-6.40,M,-32.59,M,,*73


: successfully parse sentence at 22:15:45

: AshtechGPS::processRecord -sample time is 1134425745
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221546.00,3654.87717,N,12153.18278,W,1,09,0.9,-6.39,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,221546.00,3654.87717,N,12153.18278,W,1,09,0.9,-6.39,M,-32.59,M,,*73


: successfully parse sentence at 22:15:46

: AshtechGPS::processRecord -sample time is 1134425746
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221547.00,3654.87750,N,12153.18262,W,1,09,0.9,-6.53,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221547.00,3654.87750,N,12153.18262,W,1,09,0.9,-6.53,M,-32.59,M,,*76


: successfully parse sentence at 22:15:47

: AshtechGPS::processRecord -sample time is 1134425747
: 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,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221548.00,3654.87737,N,12153.18286,W,1,09,0.9,-6.56,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221548.00,3654.87737,N,12153.18286,W,1,09,0.9,-6.56,M,-32.59,M,,*77


: successfully parse sentence at 22:15:48

: AshtechGPS::processRecord -sample time is 1134425748
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221549.00,3654.87814,N,12153.18269,W,1,09,0.9,-6.44,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221549.00,3654.87814,N,12153.18269,W,1,09,0.9,-6.44,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:49

: AshtechGPS::processRecord -sample time is 1134425749
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 30.51  9.56 14.55 3.83 3.85 0 20858.26 07:20:11 m

: AshtechGps::processRecord() - $GPGGA,221550.00,3654.87857,N,12153.18268,W,1,09,0.9,-6.55,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,221550.00,3654.87857,N,12153.18268,W,1,09,0.9,-6.55,M,-32.59,M,,*74


: successfully parse sentence at 22:15:50

: AshtechGPS::processRecord -sample time is 1134425750
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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,221551.00,3654.87885,N,12153.18281,W,1,09,0.9,-6.43,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221551.00,3654.87885,N,12153.18281,W,1,09,0.9,-6.43,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:51

: AshtechGPS::processRecord -sample time is 1134425751
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221552.00,3654.87932,N,12153.18278,W,1,09,0.9,-6.35,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,221552.00,3654.87932,N,12153.18278,W,1,09,0.9,-6.35,M,-32.59,M,,*73


: successfully parse sentence at 22:15:52

: AshtechGPS::processRecord -sample time is 1134425752
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221553.00,3654.87977,N,12153.18304,W,1,09,0.9,-6.17,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,221553.00,3654.87977,N,12153.18304,W,1,09,0.9,-6.17,M,-32.59,M,,*79


: successfully parse sentence at 22:15:53

: AshtechGPS::processRecord -sample time is 1134425753
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221554.00,3654.88028,N,12153.18308,W,1,09,0.9,-6.29,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,221554.00,3654.88028,N,12153.18308,W,1,09,0.9,-6.29,M,-32.59,M,,*73


: successfully parse sentence at 22:15:54

: AshtechGPS::processRecord -sample time is 1134425754
: 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,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,221555.00,3654.88056,N,12153.18342,W,1,09,0.9,-6.37,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221555.00,3654.88056,N,12153.18342,W,1,09,0.9,-6.37,M,-32.59,M,,*7A


: successfully parse sentence at 22:15:55

: AshtechGPS::processRecord -sample time is 1134425755
:  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 R265.04

: Sonardyne - parsing R265.04

: Sonardyne - read R = 265.040000 from 265.04

: Sonardyne - got range only (265.040000), tat = 750
: Sonardyne - POSD response: 
POSD S110.6,N23.8,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S110.6,N23.8,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221556.00,3654.88104,N,12153.18367,W,1,09,0.9,-6.58,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221556.00,3654.88104,N,12153.18367,W,1,09,0.9,-6.58,M,-32.59,M,,*71


: successfully parse sentence at 22:15:56

: AshtechGPS::processRecord -sample time is 1134425756
:  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 R264.98

: Sonardyne - parsing R264.98

: Sonardyne - read R = 264.980000 from 264.98

: Sonardyne - got range only (264.980000), tat = 750
: Sonardyne - POSD response: 
POSD S114.6,N24.6,D-98,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S114.6,N24.6,D-98,U1,Q0.007495

: AshtechGps::processRecord() - $GPGGA,221557.00,3654.88166,N,12153.18403,W,1,09,0.9,-6.64,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221557.00,3654.88166,N,12153.18403,W,1,09,0.9,-6.64,M,-32.59,M,,*7E


: successfully parse sentence at 22:15:57

: AshtechGPS::processRecord -sample time is 1134425757
:  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 R265.02

: Sonardyne - parsing R265.02

: Sonardyne - read R = 265.020000 from 265.02

: Sonardyne - got range only (265.020000), tat = 750
: Sonardyne - POSD response: 
POSD S116.5,N27.9,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.5,N27.9,D10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221558.00,3654.88225,N,12153.18450,W,1,09,0.9,-6.62,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,221558.00,3654.88225,N,12153.18450,W,1,09,0.9,-6.62,M,-32.59,M,,*75


: successfully parse sentence at 22:15:58

: AshtechGPS::processRecord -sample time is 1134425758
:  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 R264.94,X-239.69,Y64.40,Z-92.71

: Sonardyne - parsing R264.94,X-239.69,Y64.40,Z-92.71

: Sonardyne - read R = 264.940000 from 264.94,X-239.69,Y64.40,Z-92.71

: Sonardyne - got all data, Vehicle coordinates,
    r=264.940000, x=92.710000, y=-239.690000, z=-64.400000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221559.00,3654.88269,N,12153.18514,W,1,09,0.9,-6.48,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,221559.00,3654.88269,N,12153.18514,W,1,09,0.9,-6.48,M,-32.59,M,,*75


: successfully parse sentence at 22:15:59

: AshtechGPS::processRecord -sample time is 1134425759
: BluefinBatt Reply: $b6q0 d- 30.51  9.56 14.55 3.83 3.85 0 20857.27 07:20:21 m

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

: Sonardyne - POS response: 
POS V4,1 R264.97

: Sonardyne - parsing R264.97

: Sonardyne - read R = 264.970000 from 264.97

: Sonardyne - got range only (264.970000), tat = 750
: Sonardyne - POSD response: 
POSD S129.0,N27.4,D5,U2,Q0.019401

: Sonardyne - POSD response: 
POSD S129.0,N27.4,D5,U2,Q0.019401

: AshtechGps::processRecord() - $GPGGA,221600.00,3654.88302,N,12153.18569,W,1,09,0.9,-6.48,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221600.00,3654.88302,N,12153.18569,W,1,09,0.9,-6.48,M,-32.59,M,,*7C


: successfully parse sentence at 22:16:0

: AshtechGPS::processRecord -sample time is 1134425760
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

:  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 R264.70

: Sonardyne - parsing R264.70

: Sonardyne - read R = 264.700000 from 264.70

: Sonardyne - got range only (264.700000), tat = 750
: Sonardyne - POSD response: 
POSD S122.4,N22.4,D-93,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N22.4,D-93,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221601.00,3654.88338,N,12153.18633,W,1,09,0.9,-6.48,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,221601.00,3654.88338,N,12153.18633,W,1,09,0.9,-6.48,M,-32.59,M,,*78


: successfully parse sentence at 22:16:1

: AshtechGPS::processRecord -sample time is 1134425761
:  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 R264.69

: Sonardyne - parsing R264.69

: Sonardyne - read R = 264.690000 from 264.69

: Sonardyne - got range only (264.690000), tat = 750
: Sonardyne - POSD response: 
POSD S130.2,N35.0,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N35.0,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221602.00,3654.88368,N,12153.18712,W,1,09,0.9,-6.58,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221602.00,3654.88368,N,12153.18712,W,1,09,0.9,-6.58,M,-32.59,M,,*7D


: successfully parse sentence at 22:16:2

: AshtechGPS::processRecord -sample time is 1134425762
:  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 R263.89,X-213.09,Y15.23,Z-154.92

: Sonardyne - parsing R263.89,X-213.09,Y15.23,Z-154.92

: Sonardyne - read R = 263.890000 from 263.89,X-213.09,Y15.23,Z-154.92

: Sonardyne - got all data, Vehicle coordinates,
    r=263.890000, x=154.920000, y=-213.090000, z=-15.230000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221603.00,3654.88390,N,12153.18787,W,1,09,0.9,-6.48,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221603.00,3654.88390,N,12153.18787,W,1,09,0.9,-6.48,M,-32.59,M,,*76


: successfully parse sentence at 22:16:3

: AshtechGPS::processRecord -sample time is 1134425763
:  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 R263.14,X-195.22,Y33.88,Z-173.16

: Sonardyne - parsing R263.14,X-195.22,Y33.88,Z-173.16

: Sonardyne - read R = 263.140000 from 263.14,X-195.22,Y33.88,Z-173.16

: Sonardyne - got all data, Vehicle coordinates,
    r=263.140000, x=173.160000, y=-195.220000, z=-33.880000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221604.00,3654.88407,N,12153.18872,W,1,09,0.9,-6.47,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221604.00,3654.88407,N,12153.18872,W,1,09,0.9,-6.47,M,-32.59,M,,*72


: successfully parse sentence at 22:16:4

: AshtechGPS::processRecord -sample time is 1134425764
:  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 R262.25,X-200.27,Y33.78,Z-165.92

: Sonardyne - parsing R262.25,X-200.27,Y33.78,Z-165.92

: Sonardyne - read R = 262.250000 from 262.25,X-200.27,Y33.78,Z-165.92

: Sonardyne - got all data, Vehicle coordinates,
    r=262.250000, x=165.920000, y=-200.270000, z=-33.780000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221605.00,3654.88438,N,12153.18947,W,1,09,0.9,-6.40,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221605.00,3654.88438,N,12153.18947,W,1,09,0.9,-6.40,M,-32.59,M,,*7F


: successfully parse sentence at 22:16:5

: AshtechGPS::processRecord -sample time is 1134425765
:  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 R261.32

: Sonardyne - parsing R261.32

: Sonardyne - read R = 261.320000 from 261.32

: Sonardyne - got range only (261.320000), tat = 750
: Sonardyne - POSD response: 
POSD S131.4,N28.7,D15,U4,Q0.002462

: Sonardyne - POSD response: 
POSD S131.4,N28.7,D15,U4,Q0.002462

: AshtechGps::processRecord() - $GPGGA,221606.00,3654.88444,N,12153.19040,W,1,09,0.9,-6.58,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221606.00,3654.88444,N,12153.19040,W,1,09,0.9,-6.58,M,-32.59,M,,*71


: successfully parse sentence at 22:16:6

: AshtechGPS::processRecord -sample time is 1134425766
:  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 R260.29,X-175.78,Y48.46,Z-185.74

: Sonardyne - parsing R260.29,X-175.78,Y48.46,Z-185.74

: Sonardyne - read R = 260.290000 from 260.29,X-175.78,Y48.46,Z-185.74

: Sonardyne - got all data, Vehicle coordinates,
    r=260.290000, x=185.740000, y=-175.780000, z=-48.460000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221607.00,3654.88450,N,12153.19130,W,1,09,0.9,-6.69,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221607.00,3654.88450,N,12153.19130,W,1,09,0.9,-6.69,M,-32.59,M,,*71


: successfully parse sentence at 22:16:7

: AshtechGPS::processRecord -sample time is 1134425767
:  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 R259.08

: Sonardyne - parsing R259.08

: Sonardyne - read R = 259.080000 from 259.08

: Sonardyne - got range only (259.080000), tat = 739
: Sonardyne - POSD response: 
POSD S128.2,N29.9,D-38,U4,Q0.003785

: Sonardyne - POSD response: 
POSD S128.2,N29.9,D-38,U4,Q0.003785

: AshtechGps::processRecord() - $GPGGA,221608.00,3654.88422,N,12153.19232,W,1,09,0.9,-6.65,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221608.00,3654.88422,N,12153.19232,W,1,09,0.9,-6.65,M,-32.59,M,,*76


: successfully parse sentence at 22:16:8

: AshtechGPS::processRecord -sample time is 1134425768
:  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 R257.79,X-164.65,Y66.06,Z-187.03

: Sonardyne - parsing R257.79,X-164.65,Y66.06,Z-187.03

: Sonardyne - read R = 257.790000 from 257.79,X-164.65,Y66.06,Z-187.03

: Sonardyne - got all data, Vehicle coordinates,
    r=257.790000, x=187.030000, y=-164.650000, z=-66.060000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221609.00,3654.88423,N,12153.19334,W,1,09,0.9,-6.77,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221609.00,3654.88423,N,12153.19334,W,1,09,0.9,-6.77,M,-32.59,M,,*72


: successfully parse sentence at 22:16:9

: AshtechGPS::processRecord -sample time is 1134425769
: BluefinBatt Reply: $b6q0 d- 30.51 10.00 14.55 3.80 3.82 0 20856.56 07:20:31 m

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

: LayeredControl::execute() -- (t = 38.397370) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.397370) Behavior descend has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R258.80

: Sonardyne - parsing R258.80

: Sonardyne - read R = 258.800000 from 258.80

: Sonardyne - got range only (258.800000), tat = 750
: Sonardyne - POSD response: 
POSD S128.5,N24.1,D-68,U2,Q0.009083

: Sonardyne - POSD response: 
POSD S128.5,N24.1,D-68,U2,Q0.009083

: AshtechGps::processRecord() - $GPGGA,221610.00,3654.88419,N,12153.19427,W,1,09,0.9,-6.69,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,221610.00,3654.88419,N,12153.19427,W,1,09,0.9,-6.69,M,-32.59,M,,*79


: successfully parse sentence at 22:16:10

: AshtechGPS::processRecord -sample time is 1134425770
: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

:  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 R255.59,X-167.21,Y35.34,Z-190.04

: Sonardyne - parsing R255.59,X-167.21,Y35.34,Z-190.04

: Sonardyne - read R = 255.590000 from 255.59,X-167.21,Y35.34,Z-190.04

: Sonardyne - got all data, Vehicle coordinates,
    r=255.590000, x=190.040000, y=-167.210000, z=-35.340000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221611.00,3654.88429,N,12153.19513,W,1,09,0.9,-6.40,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221611.00,3654.88429,N,12153.19513,W,1,09,0.9,-6.40,M,-32.59,M,,*76


: successfully parse sentence at 22:16:11

: AshtechGPS::processRecord -sample time is 1134425771
:  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 R254.70,X-165.78,Y38.41,Z-189.51

: Sonardyne - parsing R254.70,X-165.78,Y38.41,Z-189.51

: Sonardyne - read R = 254.700000 from 254.70,X-165.78,Y38.41,Z-189.51

: Sonardyne - got all data, Vehicle coordinates,
    r=254.700000, x=189.510000, y=-165.780000, z=-38.410000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221612.00,3654.88436,N,12153.19599,W,1,09,0.9,-6.40,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,221612.00,3654.88436,N,12153.19599,W,1,09,0.9,-6.40,M,-32.59,M,,*79


: successfully parse sentence at 22:16:12

: AshtechGPS::processRecord -sample time is 1134425772
:  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 R253.64,X-159.22,Y26.90,Z-195.60

: Sonardyne - parsing R253.64,X-159.22,Y26.90,Z-195.60

: Sonardyne - read R = 253.640000 from 253.64,X-159.22,Y26.90,Z-195.60

: Sonardyne - got all data, Vehicle coordinates,
    r=253.640000, x=195.600000, y=-159.220000, z=-26.900000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221613.00,3654.88443,N,12153.19679,W,1,09,0.9,-6.31,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,221613.00,3654.88443,N,12153.19679,W,1,09,0.9,-6.31,M,-32.59,M,,*71


: successfully parse sentence at 22:16:13

: AshtechGPS::processRecord -sample time is 1134425773
:  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 R253.05

: Sonardyne - parsing R253.05

: Sonardyne - read R = 253.050000 from 253.05

: Sonardyne - got range only (253.050000), tat = 740
: Sonardyne - POSD response: 
POSD S137.5,N31.3,D-1,U1,Q0.005349

: Sonardyne - POSD response: 
POSD S137.5,N31.3,D-1,U1,Q0.005349

: AshtechGps::processRecord() - $GPGGA,221614.00,3654.88447,N,12153.19734,W,1,09,0.9,-5.67,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221614.00,3654.88447,N,12153.19734,W,1,09,0.9,-5.67,M,-32.59,M,,*7A


: successfully parse sentence at 22:16:14

: AshtechGPS::processRecord -sample time is 1134425774
:  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 R252.47

: Sonardyne - parsing R252.47

: Sonardyne - read R = 252.470000 from 252.47

: Sonardyne - got range only (252.470000), tat = 740
: Sonardyne - POSD response: 
POSD S117.6,N20.1,D99,U1,Q0.000645

: Sonardyne - POSD response: 
POSD S117.6,N20.1,D99,U1,Q0.000645

: AshtechGps::processRecord() - $GPGGA,221615.00,3654.88460,N,12153.19829,W,1,09,0.9,-5.93,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221615.00,3654.88460,N,12153.19829,W,1,09,0.9,-5.93,M,-32.59,M,,*76


: successfully parse sentence at 22:16:15

: AshtechGPS::processRecord -sample time is 1134425775
:  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 R252.05

: Sonardyne - parsing R252.05

: Sonardyne - read R = 252.050000 from 252.05

: Sonardyne - got range only (252.050000), tat = 740
: Sonardyne - POSD response: 
POSD S122.5,N28.8,D6,U5,Q0.008171

: Sonardyne - POSD response: 
POSD S122.5,N28.8,D6,U5,Q0.008171

: AshtechGps::processRecord() - $GPGGA,221616.00,3654.88457,N,12153.19896,W,1,09,0.9,-5.91,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,221616.00,3654.88457,N,12153.19896,W,1,09,0.9,-5.91,M,-32.59,M,,*77


: successfully parse sentence at 22:16:16

: AshtechGPS::processRecord -sample time is 1134425776
:  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 R251.91,X-163.70,Y56.35,Z-183.00

: Sonardyne - parsing R251.91,X-163.70,Y56.35,Z-183.00

: Sonardyne - read R = 251.910000 from 251.91,X-163.70,Y56.35,Z-183.00

: Sonardyne - got all data, Vehicle coordinates,
    r=251.910000, x=183.000000, y=-163.700000, z=-56.350000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221617.00,3654.88446,N,12153.19997,W,1,09,0.9,-6.38,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,221617.00,3654.88446,N,12153.19997,W,1,09,0.9,-6.38,M,-32.59,M,,*76


: successfully parse sentence at 22:16:17

: AshtechGPS::processRecord -sample time is 1134425777
:  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 R250.94,X-166.45,Y69.45,Z-174.47

: Sonardyne - parsing R250.94,X-166.45,Y69.45,Z-174.47

: Sonardyne - read R = 250.940000 from 250.94,X-166.45,Y69.45,Z-174.47

: Sonardyne - got all data, Vehicle coordinates,
    r=250.940000, x=174.470000, y=-166.450000, z=-69.450000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221618.00,3654.88445,N,12153.20097,W,1,09,0.9,-6.91,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221618.00,3654.88445,N,12153.20097,W,1,09,0.9,-6.91,M,-32.59,M,,*7A


: successfully parse sentence at 22:16:18

: AshtechGPS::processRecord -sample time is 1134425778
:  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 R249.48,X-154.16,Y80.30,Z-178.97

: Sonardyne - parsing R249.48,X-154.16,Y80.30,Z-178.97

: Sonardyne - read R = 249.480000 from 249.48,X-154.16,Y80.30,Z-178.97

: Sonardyne - got all data, Vehicle coordinates,
    r=249.480000, x=178.970000, y=-154.160000, z=-80.300000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221619.00,3654.88445,N,12153.20200,W,1,09,0.9,-7.03,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221619.00,3654.88445,N,12153.20200,W,1,09,0.9,-7.03,M,-32.59,M,,*7D


: successfully parse sentence at 22:16:19

: AshtechGPS::processRecord -sample time is 1134425779
: BluefinBatt Reply: $b6q0 d- 30.55  8.66 14.55 3.80 3.82 0 20855.63 07:20:41 m

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

: Sonardyne - POS response: 
POS V4,1 R248.34,X-144.26,Y91.19,Z-180.40

: Sonardyne - parsing R248.34,X-144.26,Y91.19,Z-180.40

: Sonardyne - read R = 248.340000 from 248.34,X-144.26,Y91.19,Z-180.40

: Sonardyne - got all data, Vehicle coordinates,
    r=248.340000, x=180.400000, y=-144.260000, z=-91.190000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221620.00,3654.88414,N,12153.20275,W,1,09,0.9,-6.80,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221620.00,3654.88414,N,12153.20275,W,1,09,0.9,-6.80,M,-32.59,M,,*7B


: successfully parse sentence at 22:16:20

: AshtechGPS::processRecord -sample time is 1134425780
: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: Sonardyne - POS response: 
POS V4,1 R247.27

: Sonardyne - parsing R247.27

: Sonardyne - read R = 247.270000 from 247.27

: Sonardyne - got range only (247.270000), tat = 730
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S130.7,N23.3,D142,U2,Q0.003729

: Sonardyne - POSD response: 
POSD S130.7,N23.3,D142,U2,Q0.003729

: AshtechGps::processRecord() - $GPGGA,221621.00,3654.88408,N,12153.20326,W,1,06,1.7,-8.37,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,221621.00,3654.88408,N,12153.20326,W,1,06,1.7,-8.37,M,-32.59,M,,*72


: successfully parse sentence at 22:16:21

: AshtechGPS::processRecord -sample time is 1134425781
:  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 R245.84,X132.15,Y-207.31,Z0.00

: Sonardyne - parsing R245.84,X132.15,Y-207.31,Z0.00

: Sonardyne - read R = 245.840000 from 245.84,X132.15,Y-207.31,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=245.840000, x=0.000000, y=132.150000, z=207.310000 tat = 750
: AshtechGps::processRecord() - $GPGGA,221622.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221622.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R244.75

: Sonardyne - parsing R244.75

: Sonardyne - read R = 244.750000 from 244.75

: Sonardyne - got range only (244.750000), tat = 730
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.0,N22.8,D-78,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.0,N22.8,D-78,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221623.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221623.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.04,X-111.00,Y171.67,Z-133.28

: Sonardyne - parsing R244.04,X-111.00,Y171.67,Z-133.28

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

: Sonardyne - read R = 244.040000 from 244.04,X-111.00,Y171.67,Z-133.28

: Sonardyne - got all data, Vehicle coordinates,
    r=244.040000, x=133.280000, y=-111.000000, z=-171.670000 tat = 750
: AshtechGps::processRecord() - $GPGGA,221624.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221624.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.72,X125.53,Y-207.74,Z0.00

: Sonardyne - parsing R242.72,X125.53,Y-207.74,Z0.00

: Sonardyne - read R = 242.720000 from 242.72,X125.53,Y-207.74,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=242.720000, x=0.000000, y=125.530000, z=207.740000 tat = 750
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221625.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221625.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.13

: Sonardyne - parsing R242.13

: Sonardyne - read R = 242.130000 from 242.13

: Sonardyne - got range only (242.130000), tat = 720
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S133.3,N31.2,D-12,U2,Q0.017886

: Sonardyne - POSD response: 
POSD S133.3,N31.2,D-12,U2,Q0.017886

: AshtechGps::processRecord() - $GPGGA,221626.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221626.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R241.72

: Sonardyne - parsing R241.72

: Sonardyne - read R = 241.720000 from 241.72

: Sonardyne - got range only (241.720000), tat = 720
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S136.6,N29.6,D21,U2,Q0.018623

: Sonardyne - POSD response: 
POSD S136.6,N29.6,D21,U2,Q0.018623

: AshtechGps::processRecord() - $GPGGA,221627.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221627.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.79

: Sonardyne - parsing R244.79

: Sonardyne - read R = 244.790000 from 244.79

: Sonardyne - got range only (244.790000), tat = 730
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S135.3,N22.0,D-46,U3,Q0.002251

: Sonardyne - POSD response: 
POSD S135.3,N22.0,D-46,U3,Q0.002251

: AshtechGps::processRecord() - $GPGGA,221628.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221628.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.89,X-140.09,Y78.01,Z-179.78

: Sonardyne - parsing R240.89,X-140.09,Y78.01,Z-179.78

: Sonardyne - read R = 240.890000 from 240.89,X-140.09,Y78.01,Z-179.78

: Sonardyne - got all data, Vehicle coordinates,
    r=240.890000, x=179.780000, y=-140.090000, z=-78.010000 tat = 750
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221629.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221629.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43 10.91 14.64 3.81 3.83 0 20855.05 07:20:51 m

: Sonardyne - POS response: 
POS V4,1 R240.01,X-142.28,Y74.35,Z-178.42

: Sonardyne - parsing R240.01,X-142.28,Y74.35,Z-178.42

: Sonardyne - read R = 240.010000 from 240.01,X-142.28,Y74.35,Z-178.42

: Sonardyne - got all data, Vehicle coordinates,
    r=240.010000, x=178.420000, y=-142.280000, z=-74.350000 tat = 750
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221630.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221630.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: Sonardyne - POS response: 
POS V4,1 R239.41,X-142.35,Y87.14,Z-171.64

: Sonardyne - parsing R239.41,X-142.35,Y87.14,Z-171.64

: Sonardyne - read R = 239.410000 from 239.41,X-142.35,Y87.14,Z-171.64

: Sonardyne - got all data, Vehicle coordinates,
    r=239.410000, x=171.640000, y=-142.350000, z=-87.140000 tat = 740
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221631.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221631.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.82

: Sonardyne - parsing R237.82

: Sonardyne - read R = 237.820000 from 237.82

: Sonardyne - got range only (237.820000), tat = 720
: Sonardyne - POSD response: 
POSD S131.5,N25.2,D-19,U3,Q0.001396

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

: Sonardyne - POSD response: 
POSD S131.5,N25.2,D-19,U3,Q0.001396

: AshtechGps::processRecord() - $GPGGA,221632.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221632.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.58,X-154.57,Y60.13,Z-168.71

: Sonardyne - parsing R236.58,X-154.57,Y60.13,Z-168.71

: Sonardyne - read R = 236.580000 from 236.58,X-154.57,Y60.13,Z-168.71

: Sonardyne - got all data, Vehicle coordinates,
    r=236.580000, x=168.710000, y=-154.570000, z=-60.130000 tat = 740
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221633.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221633.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.47,X-162.72,Y53.67,Z-161.52

: Sonardyne - parsing R235.47,X-162.72,Y53.67,Z-161.52

: Sonardyne - read R = 235.470000 from 235.47,X-162.72,Y53.67,Z-161.52

: Sonardyne - got all data, Vehicle coordinates,
    r=235.470000, x=161.520000, y=-162.720000, z=-53.670000 tat = 740
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221634.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221634.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.07,X-167.05,Y49.59,Z-156.29

: Sonardyne - parsing R234.07,X-167.05,Y49.59,Z-156.29

: Sonardyne - read R = 234.070000 from 234.07,X-167.05,Y49.59,Z-156.29

: Sonardyne - got all data, Vehicle coordinates,
    r=234.070000, x=156.290000, y=-167.050000, z=-49.590000 tat = 740
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221635.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221635.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R233.00,X-173.26,Y40.36,Z-150.47

: Sonardyne - parsing R233.00,X-173.26,Y40.36,Z-150.47

: Sonardyne - read R = 233.000000 from 233.00,X-173.26,Y40.36,Z-150.47

: Sonardyne - got all data, Vehicle coordinates,
    r=233.000000, x=150.470000, y=-173.260000, z=-40.360000 tat = 740
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221636.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221636.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.06,X-170.85,Y59.39,Z-145.39

: Sonardyne - parsing R232.06,X-170.85,Y59.39,Z-145.39

: Sonardyne - read R = 232.060000 from 232.06,X-170.85,Y59.39,Z-145.39

: Sonardyne - got all data, Vehicle coordinates,
    r=232.060000, x=145.390000, y=-170.850000, z=-59.390000 tat = 739
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221637.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221637.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R231.01

: Sonardyne - parsing R231.01

: Sonardyne - read R = 231.010000 from 231.01

: Sonardyne - got range only (231.010000), tat = 710
: Sonardyne - POSD response: 
POSD S132.7,N27.8,D46,U4,Q0.000666

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

: Sonardyne - POSD response: 
POSD S132.7,N27.8,D46,U4,Q0.000666

: AshtechGps::processRecord() - $GPGGA,221638.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221638.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.55

: Sonardyne - parsing R230.55

: Sonardyne - read R = 230.550000 from 230.55

: Sonardyne - got range only (230.550000), tat = 710
: Sonardyne - POSD response: 
POSD S129.6,N21.4,D-44,U1,Q0.007701

: Sonardyne - POSD response: 
POSD S129.6,N21.4,D-44,U1,Q0.007701

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

: AshtechGps::processRecord() - $GPGGA,221639.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221639.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47 10.07 14.64 3.81 3.83 0 20853.93 07:21:01 m

: Sonardyne - POS response: 
POS V4,1 R229.50,X-174.66,Y65.13,Z-133.87

: Sonardyne - parsing R229.50,X-174.66,Y65.13,Z-133.87

: Sonardyne - read R = 229.500000 from 229.50,X-174.66,Y65.13,Z-133.87

: Sonardyne - got all data, Vehicle coordinates,
    r=229.500000, x=133.870000, y=-174.660000, z=-65.130000 tat = 730
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221640.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221640.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

: Sonardyne - POS response: 
POS V4,1 R228.50

: Sonardyne - parsing R228.50

: Sonardyne - read R = 228.500000 from 228.50

: Sonardyne - got range only (228.500000), tat = 700
: Sonardyne - POSD response: 
POSD S131.3,N24.8,D56,U3,Q0.001761

: Sonardyne - POSD response: 
POSD S131.3,N24.8,D56,U3,Q0.001761

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

: AshtechGps::processRecord() - $GPGGA,221641.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221641.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R227.58,X-177.61,Y59.09,Z-129.44

: Sonardyne - parsing R227.58,X-177.61,Y59.09,Z-129.44

: Sonardyne - read R = 227.580000 from 227.58,X-177.61,Y59.09,Z-129.44

: Sonardyne - got all data, Vehicle coordinates,
    r=227.580000, x=129.440000, y=-177.610000, z=-59.090000 tat = 730
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221642.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221642.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R226.37,X-177.01,Y67.45,Z-123.93

: Sonardyne - parsing R226.37,X-177.01,Y67.45,Z-123.93

: Sonardyne - read R = 226.370000 from 226.37,X-177.01,Y67.45,Z-123.93

: Sonardyne - got all data, Vehicle coordinates,
    r=226.370000, x=123.930000, y=-177.010000, z=-67.450000 tat = 730
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221643.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221643.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.61,X-173.17,Y69.23,Z-126.96

: Sonardyne - parsing R225.61,X-173.17,Y69.23,Z-126.96

: Sonardyne - read R = 225.610000 from 225.61,X-173.17,Y69.23,Z-126.96

: Sonardyne - got all data, Vehicle coordinates,
    r=225.610000, x=126.960000, y=-173.170000, z=-69.230000 tat = 730
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221644.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221644.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R224.67,X-178.67,Y57.43,Z-123.53

: Sonardyne - parsing R224.67,X-178.67,Y57.43,Z-123.53

: Sonardyne - read R = 224.670000 from 224.67,X-178.67,Y57.43,Z-123.53

: Sonardyne - got all data, Vehicle coordinates,
    r=224.670000, x=123.530000, y=-178.670000, z=-57.430000 tat = 720
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221645.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221645.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R223.64

: Sonardyne - parsing R223.64

: Sonardyne - read R = 223.640000 from 223.64

: Sonardyne - got range only (223.640000), tat = 700
: Sonardyne - POSD response: 
POSD S132.6,N34.6,D-8,U4,Q0.000487

: Sonardyne - POSD response: 
POSD S132.6,N34.6,D-8,U4,Q0.000487

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

: AshtechGps::processRecord() - $GPGGA,221646.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221646.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.64,X-181.01,Y25.87,Z-132.21

: Sonardyne - parsing R225.64,X-181.01,Y25.87,Z-132.21

: Sonardyne - read R = 225.640000 from 225.64,X-181.01,Y25.87,Z-132.21

: Sonardyne - got all data, Vehicle coordinates,
    r=225.640000, x=132.210000, y=-181.010000, z=-25.870000 tat = 730
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221647.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221647.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R221.60,X-173.67,Y74.42,Z-115.78

: Sonardyne - parsing R221.60,X-173.67,Y74.42,Z-115.78

: Sonardyne - read R = 221.600000 from 221.60,X-173.67,Y74.42,Z-115.78

: Sonardyne - got all data, Vehicle coordinates,
    r=221.600000, x=115.780000, y=-173.670000, z=-74.420000 tat = 720
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221648.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221648.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R220.91,X-182.03,Y49.69,Z-114.88

: Sonardyne - parsing R220.91,X-182.03,Y49.69,Z-114.88

: Sonardyne - read R = 220.910000 from 220.91,X-182.03,Y49.69,Z-114.88

: Sonardyne - got all data, Vehicle coordinates,
    r=220.910000, x=114.880000, y=-182.030000, z=-49.690000 tat = 720
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221649.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221649.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.56 14.64 3.79 3.82 0 20853.23 07:21:11 m

: Sonardyne - POS response: 
POS V4,1 R220.28,X-177.43,Y59.98,Z-115.95

: Sonardyne - parsing R220.28,X-177.43,Y59.98,Z-115.95

: Sonardyne - read R = 220.280000 from 220.28,X-177.43,Y59.98,Z-115.95

: Sonardyne - got all data, Vehicle coordinates,
    r=220.280000, x=115.950000, y=-177.430000, z=-59.980000 tat = 720
: Descend::execute() - Descend terminating on depth 9.006266 > 9.000000 at time 78.394630

: LayeredControl::execute() -- (t = 78.394630) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 78.39                             (wplog)
  The current location (N,E) = 4085990.1      , 599130.1         (wplog)
  The next waypoint          = 4085789.7      , 598579.2         (wplog)
  The bearing to the next w.p. is 250.0 Degrees.

: LayeredControl::execute() -- (t = 78.404629) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,221650.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221650.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POS response: 
POS V4,1 R219.24,X-174.32,Y63.69,Z-116.71

: Sonardyne - parsing R219.24,X-174.32,Y63.69,Z-116.71

: Sonardyne - read R = 219.240000 from 219.24,X-174.32,Y63.69,Z-116.71

: Sonardyne - got all data, Vehicle coordinates,
    r=219.240000, x=116.710000, y=-174.320000, z=-63.690000 tat = 720
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221651.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221651.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R218.15

: Sonardyne - parsing R218.15

: Sonardyne - read R = 218.150000 from 218.15

: Sonardyne - got range only (218.150000), tat = 689
: Sonardyne - POSD response: 
POSD S133.5,N16.5,D67,U3,Q0.003030

: Sonardyne - POSD response: 
POSD S133.5,N16.5,D67,U3,Q0.003030

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

: AshtechGps::processRecord() - $GPGGA,221652.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221652.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.95

: Sonardyne - parsing R216.95

: Sonardyne - read R = 216.950000 from 216.95

: Sonardyne - got range only (216.950000), tat = 690
: Sonardyne - POSD response: 
POSD S137.3,N23.0,D-108,U4,Q0.005949

: Sonardyne - POSD response: 
POSD S137.3,N23.0,D-108,U4,Q0.005949

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

: AshtechGps::processRecord() - $GPGGA,221653.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221653.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.35,X-135.46,Y55.96,Z-159.14

: Sonardyne - parsing R216.35,X-135.46,Y55.96,Z-159.14

: Sonardyne - read R = 216.350000 from 216.35,X-135.46,Y55.96,Z-159.14

: Sonardyne - got all data, Vehicle coordinates,
    r=216.350000, x=159.140000, y=-135.460000, z=-55.960000 tat = 710
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221654.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221654.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R214.28,X-130.38,Y42.59,Z-164.64

: Sonardyne - parsing R214.28,X-130.38,Y42.59,Z-164.64

: Sonardyne - read R = 214.280000 from 214.28,X-130.38,Y42.59,Z-164.64

: Sonardyne - got all data, Vehicle coordinates,
    r=214.280000, x=164.640000, y=-130.380000, z=-42.590000 tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221655.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221655.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R212.94,X-123.96,Y32.98,Z-169.97

: Sonardyne - parsing R212.94,X-123.96,Y32.98,Z-169.97

: Sonardyne - read R = 212.940000 from 212.94,X-123.96,Y32.98,Z-169.97

: Sonardyne - got all data, Vehicle coordinates,
    r=212.940000, x=169.970000, y=-123.960000, z=-32.980000 tat = 710
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221656.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221656.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.63

: Sonardyne - parsing R211.63

: Sonardyne - read R = 211.630000 from 211.63

: Sonardyne - got range only (211.630000), tat = 680
: Sonardyne - POSD response: 
POSD S138.9,N21.2,D138,U4,Q0.000327

: Sonardyne - POSD response: 
POSD S138.9,N21.2,D138,U4,Q0.000327

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

: AshtechGps::processRecord() - $GPGGA,221657.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221657.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.36,X-114.69,Y31.36,Z-173.54

: Sonardyne - parsing R210.36,X-114.69,Y31.36,Z-173.54

: Sonardyne - read R = 210.360000 from 210.36,X-114.69,Y31.36,Z-173.54

: Sonardyne - got all data, Vehicle coordinates,
    r=210.360000, x=173.540000, y=-114.690000, z=-31.360000 tat = 710
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221658.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221658.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R209.94,X-110.29,Y40.53,Z-173.98

: Sonardyne - parsing R209.94,X-110.29,Y40.53,Z-173.98

: Sonardyne - read R = 209.940000 from 209.94,X-110.29,Y40.53,Z-173.98

: Sonardyne - got all data, Vehicle coordinates,
    r=209.940000, x=173.980000, y=-110.290000, z=-40.530000 tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221659.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221659.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.78 14.64 3.79 3.82 0 20852.29 07:21:21 m

: Sonardyne - POS response: 
POS V4,1 R209.10,X-95.89,Y76.61,Z-169.29

: Sonardyne - parsing R209.10,X-95.89,Y76.61,Z-169.29

: Sonardyne - read R = 209.100000 from 209.10,X-95.89,Y76.61,Z-169.29

: Sonardyne - got all data, Vehicle coordinates,
    r=209.100000, x=169.290000, y=-95.890000, z=-76.610000 tat = 700
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221700.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221700.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POS response: 
POS V4,1 R207.38

: Sonardyne - parsing R207.38

: Sonardyne - read R = 207.380000 from 207.38

: Sonardyne - got range only (207.380000), tat = 680
: Sonardyne - POSD response: 
POSD S133.9,N28.2,D-5,U4,Q0.004474

: Sonardyne - POSD response: 
POSD S133.9,N28.2,D-5,U4,Q0.004474

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

: AshtechGps::processRecord() - $GPGGA,221701.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221701.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R209.61,X-87.08,Y93.60,Z-166.12

: Sonardyne - parsing R209.61,X-87.08,Y93.60,Z-166.12

: Sonardyne - read R = 209.610000 from 209.61,X-87.08,Y93.60,Z-166.12

: Sonardyne - got all data, Vehicle coordinates,
    r=209.610000, x=166.120000, y=-87.080000, z=-93.600000 tat = 700
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221702.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221702.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R204.57

: Sonardyne - parsing R204.57

: Sonardyne - read R = 204.570000 from 204.57

: Sonardyne - got range only (204.570000), tat = 670
: Sonardyne - POSD response: 
POSD S135.1,N26.1,D76,U1,Q0.007299

: Sonardyne - POSD response: 
POSD S135.1,N26.1,D76,U1,Q0.007299

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

: AshtechGps::processRecord() - $GPGGA,221703.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221703.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.21

: Sonardyne - parsing R202.21

: Sonardyne - read R = 202.210000 from 202.21

: Sonardyne - got range only (202.210000), tat = 670
: Sonardyne - POSD response: 
POSD S133.0,N19.1,D-131,U1,Q0.002512

: Sonardyne - POSD response: 
POSD S133.0,N19.1,D-131,U1,Q0.002512

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

: AshtechGps::processRecord() - $GPGGA,221704.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221704.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R200.74,X-109.52,Y37.22,Z-164.06

: Sonardyne - parsing R200.74,X-109.52,Y37.22,Z-164.06

: Sonardyne - read R = 200.740000 from 200.74,X-109.52,Y37.22,Z-164.06

: Sonardyne - got all data, Vehicle coordinates,
    r=200.740000, x=164.060000, y=-109.520000, z=-37.220000 tat = 690
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221705.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221705.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R199.31,X-110.66,Y35.00,Z-162.03

: Sonardyne - parsing R199.31,X-110.66,Y35.00,Z-162.03

: Sonardyne - read R = 199.310000 from 199.31,X-110.66,Y35.00,Z-162.03

: Sonardyne - got all data, Vehicle coordinates,
    r=199.310000, x=162.030000, y=-110.660000, z=-35.000000 tat = 689
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221706.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221706.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R197.87,X-112.39,Y36.81,Z-158.64

: Sonardyne - parsing R197.87,X-112.39,Y36.81,Z-158.64

: Sonardyne - read R = 197.870000 from 197.87,X-112.39,Y36.81,Z-158.64

: Sonardyne - got all data, Vehicle coordinates,
    r=197.870000, x=158.640000, y=-112.390000, z=-36.810000 tat = 690
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221707.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221707.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R196.58,X-112.42,Y40.17,Z-156.17

: Sonardyne - parsing R196.58,X-112.42,Y40.17,Z-156.17

: Sonardyne - read R = 196.580000 from 196.58,X-112.42,Y40.17,Z-156.17

: Sonardyne - got all data, Vehicle coordinates,
    r=196.580000, x=156.170000, y=-112.420000, z=-40.170000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221708.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221708.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R195.17

: Sonardyne - parsing R195.17

: Sonardyne - read R = 195.170000 from 195.17

: Sonardyne - got range only (195.170000), tat = 660
: Sonardyne - POSD response: 
POSD S137.5,N26.8,D6,U4,Q0.000830

: Sonardyne - POSD response: 
POSD S137.5,N26.8,D6,U4,Q0.000830

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

: AshtechGps::processRecord() - $GPGGA,221709.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221709.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.64 14.64 3.80 3.82 0 20851.61 07:21:31 m

: Sonardyne - POS response: 
POS V4,1 R193.76

: Sonardyne - parsing R193.76

: Sonardyne - read R = 193.760000 from 193.76

: Sonardyne - got range only (193.760000), tat = 660
: Sonardyne - POSD response: 
POSD S137.2,N21.7,D81,U4,Q0.000835

: Sonardyne - POSD response: 
POSD S137.2,N21.7,D81,U4,Q0.000835

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

: AshtechGps::processRecord() - $GPGGA,221710.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221710.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: Sonardyne - POS response: 
POS V4,1 R192.48,X-117.24,Y38.83,Z-147.64

: Sonardyne - parsing R192.48,X-117.24,Y38.83,Z-147.64

: Sonardyne - read R = 192.480000 from 192.48,X-117.24,Y38.83,Z-147.64

: Sonardyne - got all data, Vehicle coordinates,
    r=192.480000, x=147.640000, y=-117.240000, z=-38.830000 tat = 680
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221711.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221711.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R191.21

: Sonardyne - parsing R191.21

: Sonardyne - read R = 191.210000 from 191.21

: Sonardyne - got range only (191.210000), tat = 660
: Sonardyne - POSD response: 
POSD S134.3,N24.4,D130,U4,Q0.001200

: Sonardyne - POSD response: 
POSD S134.3,N24.4,D130,U4,Q0.001200

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

: AshtechGps::processRecord() - $GPGGA,221712.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221712.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.00,X-121.00,Y34.13,Z-142.47

: Sonardyne - parsing R190.00,X-121.00,Y34.13,Z-142.47

: Sonardyne - read R = 190.000000 from 190.00,X-121.00,Y34.13,Z-142.47

: Sonardyne - got all data, Vehicle coordinates,
    r=190.000000, x=142.470000, y=-121.000000, z=-34.130000 tat = 680
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221713.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221713.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.75,X-122.67,Y29.68,Z-140.35

: Sonardyne - parsing R188.75,X-122.67,Y29.68,Z-140.35

: Sonardyne - read R = 188.750000 from 188.75,X-122.67,Y29.68,Z-140.35

: Sonardyne - got all data, Vehicle coordinates,
    r=188.750000, x=140.350000, y=-122.670000, z=-29.680000 tat = 680
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221714.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221714.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.47,X-122.76,Y29.06,Z-138.68

: Sonardyne - parsing R187.47,X-122.76,Y29.06,Z-138.68

: Sonardyne - read R = 187.470000 from 187.47,X-122.76,Y29.06,Z-138.68

: Sonardyne - got all data, Vehicle coordinates,
    r=187.470000, x=138.680000, y=-122.760000, z=-29.060000 tat = 670
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221715.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221715.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.33,X-121.23,Y35.47,Z-136.98

: Sonardyne - parsing R186.33,X-121.23,Y35.47,Z-136.98

: Sonardyne - read R = 186.330000 from 186.33,X-121.23,Y35.47,Z-136.98

: Sonardyne - got all data, Vehicle coordinates,
    r=186.330000, x=136.980000, y=-121.230000, z=-35.470000 tat = 670
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221716.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221716.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R185.09,X-123.20,Y28.73,Z-135.12

: Sonardyne - parsing R185.09,X-123.20,Y28.73,Z-135.12

: Sonardyne - read R = 185.090000 from 185.09,X-123.20,Y28.73,Z-135.12

: Sonardyne - got all data, Vehicle coordinates,
    r=185.090000, x=135.120000, y=-123.200000, z=-28.730000 tat = 670
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221717.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221717.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R183.93,X-123.67,Y27.67,Z-133.30

: Sonardyne - parsing R183.93,X-123.67,Y27.67,Z-133.30

: Sonardyne - read R = 183.930000 from 183.93,X-123.67,Y27.67,Z-133.30

: Sonardyne - got all data, Vehicle coordinates,
    r=183.930000, x=133.300000, y=-123.670000, z=-27.670000 tat = 670
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221718.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221718.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R182.64,X-122.74,Y30.12,Z-131.86

: Sonardyne - parsing R182.64,X-122.74,Y30.12,Z-131.86

: Sonardyne - read R = 182.640000 from 182.64,X-122.74,Y30.12,Z-131.86

: Sonardyne - got all data, Vehicle coordinates,
    r=182.640000, x=131.860000, y=-122.740000, z=-30.120000 tat = 670
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221719.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221719.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.75 14.64 3.80 3.82 0 20850.59 07:21:41 m

: Sonardyne - POS response: 
POS V4,1 R181.25,X-122.76,Y31.16,Z-129.67

: Sonardyne - parsing R181.25,X-122.76,Y31.16,Z-129.67

: Sonardyne - read R = 181.250000 from 181.25,X-122.76,Y31.16,Z-129.67

: Sonardyne - got all data, Vehicle coordinates,
    r=181.250000, x=129.670000, y=-122.760000, z=-31.160000 tat = 670
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221720.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221720.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.800000, mean min cell voltage 3.800000

: Sonardyne - POS response: 
POS V4,1 R179.93,X-123.84,Y29.62,Z-127.13

: Sonardyne - parsing R179.93,X-123.84,Y29.62,Z-127.13

: Sonardyne - read R = 179.930000 from 179.93,X-123.84,Y29.62,Z-127.13

: Sonardyne - got all data, Vehicle coordinates,
    r=179.930000, x=127.130000, y=-123.840000, z=-29.620000 tat = 659
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221721.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221721.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R178.96,X-125.45,Y28.65,Z-124.37

: Sonardyne - parsing R178.96,X-125.45,Y28.65,Z-124.37

: Sonardyne - read R = 178.960000 from 178.96,X-125.45,Y28.65,Z-124.37

: Sonardyne - got all data, Vehicle coordinates,
    r=178.960000, x=124.370000, y=-125.450000, z=-28.650000 tat = 660
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221722.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221722.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R178.38

: Sonardyne - parsing R178.38

: Sonardyne - read R = 178.380000 from 178.38

: Sonardyne - got range only (178.380000), tat = 640
: Sonardyne - POSD response: 
POSD S126.0,N19.5,D79,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S126.0,N19.5,D79,U1,Q0.007495

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

: AshtechGps::processRecord() - $GPGGA,221723.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221723.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R180.01

: Sonardyne - parsing R180.01

: Sonardyne - read R = 180.010000 from 180.01

: Sonardyne - got range only (180.010000), tat = 640
: Sonardyne - POSD response: 
POSD S126.2,N19.4,D-145,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.2,N19.4,D-145,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,221724.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221724.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R175.37,X-128.72,Y29.16,Z-115.48

: Sonardyne - parsing R175.37,X-128.72,Y29.16,Z-115.48

: Sonardyne - read R = 175.370000 from 175.37,X-128.72,Y29.16,Z-115.48

: Sonardyne - got all data, Vehicle coordinates,
    r=175.370000, x=115.480000, y=-128.720000, z=-29.160000 tat = 660
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221725.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221725.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R174.12,X-129.29,Y25.55,Z-113.78

: Sonardyne - parsing R174.12,X-129.29,Y25.55,Z-113.78

: Sonardyne - read R = 174.120000 from 174.12,X-129.29,Y25.55,Z-113.78

: Sonardyne - got all data, Vehicle coordinates,
    r=174.120000, x=113.780000, y=-129.290000, z=-25.550000 tat = 660
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221726.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221726.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R173.25,X-128.43,Y30.01,Z-112.34

: Sonardyne - parsing R173.25,X-128.43,Y30.01,Z-112.34

: Sonardyne - read R = 173.250000 from 173.25,X-128.43,Y30.01,Z-112.34

: Sonardyne - got all data, Vehicle coordinates,
    r=173.250000, x=112.340000, y=-128.430000, z=-30.010000 tat = 660
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221727.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221727.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R172.24,X-128.77,Y27.29,Z-111.09

: Sonardyne - parsing R172.24,X-128.77,Y27.29,Z-111.09

: Sonardyne - read R = 172.240000 from 172.24,X-128.77,Y27.29,Z-111.09

: Sonardyne - got all data, Vehicle coordinates,
    r=172.240000, x=111.090000, y=-128.770000, z=-27.290000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221728.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221728.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R171.54,X-127.94,Y30.65,Z-110.09

: Sonardyne - parsing R171.54,X-127.94,Y30.65,Z-110.09

: Sonardyne - read R = 171.540000 from 171.54,X-127.94,Y30.65,Z-110.09

: Sonardyne - got all data, Vehicle coordinates,
    r=171.540000, x=110.090000, y=-127.940000, z=-30.650000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221729.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221729.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.02 14.64 3.79 3.82 0 20849.95 07:21:51 m

: Sonardyne - POS response: 
POS V4,1 R171.10

: Sonardyne - parsing R171.10

: Sonardyne - read R = 171.100000 from 171.10

: Sonardyne - got range only (171.100000), tat = 630
: Sonardyne - POSD response: 
POSD S133.3,N21.2,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.3,N21.2,D33,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,221730.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221730.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POS response: 
POS V4,1 R172.53

: Sonardyne - parsing R172.53

: Sonardyne - read R = 172.530000 from 172.53

: Sonardyne - got range only (172.530000), tat = 630
: Sonardyne - POSD response: 
POSD S124.4,N24.6,D96,U3,Q0.000857

: Sonardyne - POSD response: 
POSD S124.4,N24.6,D96,U3,Q0.000857

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

: AshtechGps::processRecord() - $GPGGA,221731.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221731.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R167.41

: Sonardyne - parsing R167.41

: Sonardyne - read R = 167.410000 from 167.41

: Sonardyne - got range only (167.410000), tat = 620
: Sonardyne - POSD response: 
POSD S137.4,N29.9,D23,U1,Q0.001838

: Sonardyne - POSD response: 
POSD S137.4,N29.9,D23,U1,Q0.001838

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

: AshtechGps::processRecord() - $GPGGA,221732.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221732.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.58,X-125.97,Y29.32,Z-104.98

: Sonardyne - parsing R166.58,X-125.97,Y29.32,Z-104.98

: Sonardyne - read R = 166.580000 from 166.58,X-125.97,Y29.32,Z-104.98

: Sonardyne - got all data, Vehicle coordinates,
    r=166.580000, x=104.980000, y=-125.970000, z=-29.320000 tat = 650
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221733.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221733.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.25

: Sonardyne - parsing R165.25

: Sonardyne - read R = 165.250000 from 165.25

: Sonardyne - got range only (165.250000), tat = 620
: Sonardyne - POSD response: 
POSD S139.2,N25.9,D128,U5,Q0.000064

: Sonardyne - POSD response: 
POSD S139.2,N25.9,D128,U5,Q0.000064

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

: AshtechGps::processRecord() - $GPGGA,221734.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221734.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.77,X-124.00,Y32.07,Z-102.07

: Sonardyne - parsing R163.77,X-124.00,Y32.07,Z-102.07

: Sonardyne - read R = 163.770000 from 163.77,X-124.00,Y32.07,Z-102.07

: Sonardyne - got all data, Vehicle coordinates,
    r=163.770000, x=102.070000, y=-124.000000, z=-32.070000 tat = 640
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221735.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221735.00,,,,,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,221736.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221736.00,,,,,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,221737.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221737.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N9.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221738.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221738.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R159.26,X-125.34,Y29.74,Z-93.65

: Sonardyne - parsing R159.26,X-125.34,Y29.74,Z-93.65

: Sonardyne - read R = 159.260000 from 159.26,X-125.34,Y29.74,Z-93.65

: Sonardyne - got all data, Vehicle coordinates,
    r=159.260000, x=93.650000, y=-125.340000, z=-29.740000 tat = 640
: AshtechGps::processRecord() - $GPGGA,221739.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221739.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.02 14.64 3.79 3.82 0 20848.98 07:22:01 m

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

: Sonardyne - POS response: 
POS V4,1 R158.48,X-126.38,Y25.76,Z-92.10

: Sonardyne - parsing R158.48,X-126.38,Y25.76,Z-92.10

: Sonardyne - read R = 158.480000 from 158.48,X-126.38,Y25.76,Z-92.10

: Sonardyne - got all data, Vehicle coordinates,
    r=158.480000, x=92.100000, y=-126.380000, z=-25.760000 tat = 640
: AshtechGps::processRecord() - $GPGGA,221740.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221740.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POS response: 
POS V4,1 R157.68,X-125.04,Y30.44,Z-91.11

: Sonardyne - parsing R157.68,X-125.04,Y30.44,Z-91.11

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

: Sonardyne - read R = 157.680000 from 157.68,X-125.04,Y30.44,Z-91.11

: Sonardyne - got all data, Vehicle coordinates,
    r=157.680000, x=91.110000, y=-125.040000, z=-30.440000 tat = 630
: AshtechGps::processRecord() - $GPGGA,221741.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221741.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.23,X-126.74,Y41.57,Z-85.11

: Sonardyne - parsing R158.23,X-126.74,Y41.57,Z-85.11

: Sonardyne - read R = 158.230000 from 158.23,X-126.74,Y41.57,Z-85.11

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

: Sonardyne - got all data, Vehicle coordinates,
    r=158.230000, x=85.110000, y=-126.740000, z=-41.570000 tat = 630
: AshtechGps::processRecord() - $GPGGA,221742.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221742.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.72,X-126.52,Y37.09,Z-82.86

: Sonardyne - parsing R155.72,X-126.52,Y37.09,Z-82.86

: Sonardyne - read R = 155.720000 from 155.72,X-126.52,Y37.09,Z-82.86

: Sonardyne - got all data, Vehicle coordinates,
    r=155.720000, x=82.860000, y=-126.520000, z=-37.090000 tat = 630
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221743.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221743.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.80

: Sonardyne - parsing R154.80

: Sonardyne - read R = 154.800000 from 154.80

: Sonardyne - got range only (154.800000), tat = 610
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.4,N28.4,D103,U3,Q0.002674

: Sonardyne - POSD response: 
POSD S132.4,N28.4,D103,U3,Q0.002674

: AshtechGps::processRecord() - $GPGGA,221744.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221744.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.67,X-125.76,Y39.05,Z-79.20

: Sonardyne - parsing R153.67,X-125.76,Y39.05,Z-79.20

: Sonardyne - read R = 153.670000 from 153.67,X-125.76,Y39.05,Z-79.20

: Sonardyne - got all data, Vehicle coordinates,
    r=153.670000, x=79.200000, y=-125.760000, z=-39.050000 tat = 630
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221745.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221745.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.21

: Sonardyne - parsing R153.21

: Sonardyne - read R = 153.210000 from 153.21

: Sonardyne - got range only (153.210000), tat = 600
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S129.3,N19.6,D-131,U3,Q0.001188

: Sonardyne - POSD response: 
POSD S129.3,N19.6,D-131,U3,Q0.001188

: AshtechGps::processRecord() - $GPGGA,221746.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221746.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R151.47

: Sonardyne - parsing R151.47

: Sonardyne - read R = 151.470000 from 151.47

: Sonardyne - got range only (151.470000), tat = 600
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S117.7,N16.0,D-142,U2,Q0.001285

: Sonardyne - POSD response: 
POSD S117.7,N16.0,D-142,U2,Q0.001285

: AshtechGps::processRecord() - $GPGGA,221747.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221747.00,,,,,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,221748.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221748.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221749.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221749.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.47  9.16 14.64 3.79 3.82 0 20848.38 07:22:11 m

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

: AshtechGps::processRecord() - $GPGGA,221750.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221750.00,,,,,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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: 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

: AshtechGps::processRecord() - $GPGGA,221751.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221751.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.23,X-124.79,Y28.36,Z-72.80

: Sonardyne - parsing R147.23,X-124.79,Y28.36,Z-72.80

: Sonardyne - read R = 147.230000 from 147.23,X-124.79,Y28.36,Z-72.80

: Sonardyne - got all data, Vehicle coordinates,
    r=147.230000, x=72.800000, y=-124.790000, z=-28.360000 tat = 620
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221752.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221752.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.86

: Sonardyne - parsing R147.86

: Sonardyne - read R = 147.860000 from 147.86

: Sonardyne - got range only (147.860000), tat = 600
: Sonardyne - POSD response: 
POSD S132.6,N23.8,D62,U5,Q0.005546

: Sonardyne - POSD response: 
POSD S132.6,N23.8,D62,U5,Q0.005546

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

: AshtechGps::processRecord() - $GPGGA,221753.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221753.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R146.67,X-116.46,Y59.78,Z-66.13

: Sonardyne - parsing R146.67,X-116.46,Y59.78,Z-66.13

: Sonardyne - read R = 146.670000 from 146.67,X-116.46,Y59.78,Z-66.13

: Sonardyne - got all data, Vehicle coordinates,
    r=146.670000, x=66.130000, y=-116.460000, z=-59.780000 tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221754.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221754.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.15

: Sonardyne - parsing R145.15

: Sonardyne - read R = 145.150000 from 145.15

: Sonardyne - got range only (145.150000), tat = 590
: Sonardyne - POSD response: 
POSD S129.8,N22.5,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.8,N22.5,D33,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,221755.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221755.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R144.69

: Sonardyne - parsing R144.69

: Sonardyne - read R = 144.690000 from 144.69

: Sonardyne - got range only (144.690000), tat = 590
: Sonardyne - POSD response: 
POSD S131.0,N21.6,D-41,U1,Q0.013255

: Sonardyne - POSD response: 
POSD S131.0,N21.6,D-41,U1,Q0.013255

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

: AshtechGps::processRecord() - $GPGGA,221756.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221756.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R143.96

: Sonardyne - parsing R143.96

: Sonardyne - read R = 143.960000 from 143.96

: Sonardyne - got range only (143.960000), tat = 590
: Sonardyne - POSD response: 
POSD S128.7,N22.3,D59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N22.3,D59,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,221757.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221757.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R143.03

: Sonardyne - parsing R143.03

: Sonardyne - read R = 143.030000 from 143.03

: Sonardyne - got range only (143.030000), tat = 590
: Sonardyne - POSD response: 
POSD S130.5,N23.2,D29,U1,Q0.007356

: Sonardyne - POSD response: 
POSD S130.5,N23.2,D29,U1,Q0.007356

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

: AshtechGps::processRecord() - $GPGGA,221758.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221758.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.56

: Sonardyne - parsing R145.56

: Sonardyne - read R = 145.560000 from 145.56

: Sonardyne - got range only (145.560000), tat = 590
: Sonardyne - POSD response: 
POSD S133.8,N28.6,D23,U1,Q0.012799

: Sonardyne - POSD response: 
POSD S133.8,N28.6,D23,U1,Q0.012799

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

: AshtechGps::processRecord() - $GPGGA,221759.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221759.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R141.75

: Sonardyne - parsing R141.75

: Sonardyne - read R = 141.750000 from 141.75

: Sonardyne - got range only (141.750000), tat = 590
: BluefinBatt Reply: $b6q0 d- 30.43  9.56 14.64 3.79 3.82 0 20847.41 07:22:21 m

: Sonardyne - POSD response: 
POSD S137.1,N32.7,D17,U4,Q0.011781

: Sonardyne - POSD response: 
POSD S137.1,N32.7,D17,U4,Q0.011781

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

: AshtechGps::processRecord() - $GPGGA,221800.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221800.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.90,X-126.48,Y28.94,Z-54.92

: Sonardyne - parsing R140.90,X-126.48,Y28.94,Z-54.92

: Sonardyne - read R = 140.900000 from 140.90,X-126.48,Y28.94,Z-54.92

: Sonardyne - got all data, Vehicle coordinates,
    r=140.900000, x=54.920000, y=-126.480000, z=-28.940000 tat = 610
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,221801.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221801.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.08,X-123.89,Y29.45,Z-58.37

: Sonardyne - parsing R140.08,X-123.89,Y29.45,Z-58.37

: Sonardyne - read R = 140.080000 from 140.08,X-123.89,Y29.45,Z-58.37

: Sonardyne - got all data, Vehicle coordinates,
    r=140.080000, x=58.370000, y=-123.890000, z=-29.450000 tat = 610
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221802.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221802.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R139.33,X-122.93,Y29.12,Z-58.77

: Sonardyne - parsing R139.33,X-122.93,Y29.12,Z-58.77

: Sonardyne - read R = 139.330000 from 139.33,X-122.93,Y29.12,Z-58.77

: Sonardyne - got all data, Vehicle coordinates,
    r=139.330000, x=58.770000, y=-122.930000, z=-29.120000 tat = 610
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221803.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221803.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.50

: Sonardyne - parsing R138.50

: Sonardyne - read R = 138.500000 from 138.50

: Sonardyne - got range only (138.500000), tat = 580
: Sonardyne - POSD response: 
POSD S133.2,N32.3,D9,U3,Q0.012539

: Sonardyne - POSD response: 
POSD S133.2,N32.3,D9,U3,Q0.012539

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

: AshtechGps::processRecord() - $GPGGA,221804.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221804.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.83

: Sonardyne - parsing R137.83

: Sonardyne - read R = 137.830000 from 137.83

: Sonardyne - got range only (137.830000), tat = 579
: Sonardyne - POSD response: 
POSD S132.9,N25.4,D-85,U1,Q0.013098

: Sonardyne - POSD response: 
POSD S132.9,N25.4,D-85,U1,Q0.013098

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

: AshtechGps::processRecord() - $GPGGA,221805.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221805.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.14

: Sonardyne - parsing R137.14

: Sonardyne - read R = 137.140000 from 137.14

: Sonardyne - got range only (137.140000), tat = 580
: Sonardyne - POSD response: 
POSD S137.5,N30.4,D-57,U2,Q0.009975

: Sonardyne - POSD response: 
POSD S137.5,N30.4,D-57,U2,Q0.009975

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

: AshtechGps::processRecord() - $GPGGA,221806.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221806.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.40

: Sonardyne - parsing R136.40

: Sonardyne - read R = 136.400000 from 136.40

: Sonardyne - got range only (136.400000), tat = 580
: Sonardyne - POSD response: 
POSD S131.1,N27.0,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.1,N27.0,D3,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,221807.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221807.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.75,X-121.37,Y39.34,Z-46.36

: Sonardyne - parsing R135.75,X-121.37,Y39.34,Z-46.36

: Sonardyne - read R = 135.750000 from 135.75,X-121.37,Y39.34,Z-46.36

: Sonardyne - got all data, Vehicle coordinates,
    r=135.750000, x=46.360000, y=-121.370000, z=-39.340000 tat = 600
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221808.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221808.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.54

: Sonardyne - parsing R135.54

: Sonardyne - read R = 135.540000 from 135.54

: Sonardyne - got range only (135.540000), tat = 580
: Sonardyne - POSD response: 
POSD S131.1,N26.7,D-38,U3,Q0.017869

: Sonardyne - POSD response: 
POSD S131.1,N26.7,D-38,U3,Q0.017869

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

: AshtechGps::processRecord() - $GPGGA,221809.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221809.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.21

: Sonardyne - parsing R135.21

: Sonardyne - read R = 135.210000 from 135.21

: Sonardyne - got range only (135.210000), tat = 580
: BluefinBatt Reply: $b6q0 d- 30.43  9.89 14.64 3.79 3.81 0 20846.78 07:22:31 m

: Sonardyne - POSD response: 
POSD S129.9,N33.5,D0,U3,Q0.018146

: Sonardyne - POSD response: 
POSD S129.9,N33.5,D0,U3,Q0.018146

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

: AshtechGps::processRecord() - $GPGGA,221810.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221810.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.89

: Sonardyne - parsing R134.89

: Sonardyne - read R = 134.890000 from 134.89

: Sonardyne - got range only (134.890000), tat = 580
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S131.4,N30.8,D3,U2,Q0.018595

: Sonardyne - POSD response: 
POSD S131.4,N30.8,D3,U2,Q0.018595

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

: AshtechGps::processRecord() - $GPGGA,221811.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221811.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.59

: Sonardyne - parsing R134.59

: Sonardyne - read R = 134.590000 from 134.59

: Sonardyne - got range only (134.590000), tat = 580
: Sonardyne - POSD response: 
POSD S134.1,N24.8,D-54,U3,Q0.010932

: Sonardyne - POSD response: 
POSD S134.1,N24.8,D-54,U3,Q0.010932

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

: AshtechGps::processRecord() - $GPGGA,221812.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221812.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.85

: Sonardyne - parsing R134.85

: Sonardyne - read R = 134.850000 from 134.85

: Sonardyne - got range only (134.850000), tat = 580
: Sonardyne - POSD response: 
POSD S130.5,N24.4,D-10,U1,Q0.006179

: Sonardyne - POSD response: 
POSD S130.5,N24.4,D-10,U1,Q0.006179

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

: AshtechGps::processRecord() - $GPGGA,221813.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221813.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.28

: Sonardyne - parsing R133.28

: Sonardyne - read R = 133.280000 from 133.28

: Sonardyne - got range only (133.280000), tat = 580
: Sonardyne - POSD response: 
POSD S126.2,N22.2,D19,U3,Q0.013309

: Sonardyne - POSD response: 
POSD S126.2,N22.2,D19,U3,Q0.013309

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

: AshtechGps::processRecord() - $GPGGA,221814.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221814.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.57

: Sonardyne - parsing R132.57

: Sonardyne - read R = 132.570000 from 132.57

: Sonardyne - got range only (132.570000), tat = 570
: Sonardyne - POSD response: 
POSD S124.0,N19.1,D118,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S124.0,N19.1,D118,U1,Q0.013585

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

: AshtechGps::processRecord() - $GPGGA,221815.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221815.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.95

: Sonardyne - parsing R132.95

: Sonardyne - read R = 132.950000 from 132.95

: Sonardyne - got range only (132.950000), tat = 580
: Sonardyne - POSD response: 
POSD S132.5,N26.5,D-35,U1,Q0.007037

: Sonardyne - POSD response: 
POSD S132.5,N26.5,D-35,U1,Q0.007037

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

: AshtechGps::processRecord() - $GPGGA,221816.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221816.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.36

: Sonardyne - parsing R131.36

: Sonardyne - read R = 131.360000 from 131.36

: Sonardyne - got range only (131.360000), tat = 570
: Sonardyne - POSD response: 
POSD S127.4,N25.8,D-95,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.4,N25.8,D-95,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,221817.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221817.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.73

: Sonardyne - parsing R130.73

: Sonardyne - read R = 130.730000 from 130.73

: Sonardyne - got range only (130.730000), tat = 570
: Sonardyne - POSD response: 
POSD S126.4,N22.5,D-52,U5,Q0.014355

: Sonardyne - POSD response: 
POSD S126.4,N22.5,D-52,U5,Q0.014355

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

: AshtechGps::processRecord() - $GPGGA,221818.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221818.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.39

: Sonardyne - parsing R130.39

: Sonardyne - read R = 130.390000 from 130.39

: Sonardyne - got range only (130.390000), tat = 570
: Sonardyne - POSD response: 
POSD S125.8,N27.0,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N27.0,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221819.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221819.00,,,,,0,00,,,M,,M,,*49


:  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: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.46 14.64 3.79 3.81 0 20845.80 07:22:41 m

: AshtechGps::processRecord() - $GPGGA,221820.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221820.00,,,,,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

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: AshtechGps::processRecord() - $GPGGA,221821.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221821.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,221822.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221822.00,,,,,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 R129.73

: Sonardyne - parsing R129.73

: Sonardyne - read R = 129.730000 from 129.73

: Sonardyne - got range only (129.730000), tat = 570
: Sonardyne - POSD response: 
POSD S121.4,N19.7,D132,U1,Q0.004394

: Sonardyne - POSD response: 
POSD S121.4,N19.7,D132,U1,Q0.004394

: AshtechGps::processRecord() - $GPGGA,221823.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221823.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R130.23

: Sonardyne - parsing R130.23

: Sonardyne - read R = 130.230000 from 130.23

: Sonardyne - got range only (130.230000), tat = 570
: Sonardyne - POSD response: 
POSD S120.9,N23.6,D119,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.9,N23.6,D119,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221824.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221824.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R129.50

: Sonardyne - parsing R129.50

: Sonardyne - read R = 129.500000 from 129.50

: Sonardyne - got range only (129.500000), tat = 570
: Sonardyne - POSD response: 
POSD S127.4,N25.5,D59,U1,Q0.009529

: Sonardyne - POSD response: 
POSD S127.4,N25.5,D59,U1,Q0.009529

: AshtechGps::processRecord() - $GPGGA,221825.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221825.00,,,,,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 R129.24

: Sonardyne - parsing R129.24

: Sonardyne - read R = 129.240000 from 129.24

: Sonardyne - got range only (129.240000), tat = 570
: Sonardyne - POSD response: 
POSD S128.1,N24.9,D-72,U2,Q0.010000

: Sonardyne - POSD response: 
POSD S128.1,N24.9,D-72,U2,Q0.010000

: AshtechGps::processRecord() - $GPGGA,221826.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221826.00,,,,,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,221827.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221827.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,221828.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221828.00,,,,,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,221829.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221829.00,,,,,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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: BluefinBatt Reply: $b6q0 d- 30.43  9.49 14.64 3.79 3.81 0 20845.18 07:22:51 m

: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221830.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221830.00,,,,,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 R127.46

: Sonardyne - parsing R127.46

: Sonardyne - read R = 127.460000 from 127.46

: Sonardyne - got range only (127.460000), tat = 570
: Sonardyne - POSD response: 
POSD S119.9,N20.6,D-56,U1,Q0.007356

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S119.9,N20.6,D-56,U1,Q0.007356

: AshtechGps::processRecord() - $GPGGA,221831.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221831.00,,,,,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,221832.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221832.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,221833.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221833.00,,,,,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,N13.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221834.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R127.99

: Sonardyne - parsing R127.99

: Sonardyne - read R = 127.990000 from 127.99

: Sonardyne - got range only (127.990000), tat = 570
: Sonardyne - POSD response: 
POSD S128.0,N25.1,D79,U5,Q0.000105

: Sonardyne - POSD response: 
POSD S128.0,N25.1,D79,U5,Q0.000105

: AshtechGps::processRecord() - $GPGGA,221835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221835.00,,,,,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,221836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221836.00,,,,,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,221837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221837.00,,,,,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,221838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221838.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221839.00,,,,,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 R129.55

: Sonardyne - parsing R129.55

: Sonardyne - read R = 129.550000 from 129.55

: Sonardyne - got range only (129.550000), tat = 570
: BluefinBatt Reply: $b6q0 d- 30.47  9.46 14.64 3.79 3.81 0 20844.26 07:23:01 m

: Sonardyne - POSD response: 
POSD S123.3,N26.3,D-44,U1,Q0.007271

: Sonardyne - POSD response: 
POSD S123.3,N26.3,D-44,U1,Q0.007271

: AshtechGps::processRecord() - $GPGGA,221840.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221840.00,,,,,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 R127.92,X99.59,Y-32.70,Z-73.33

: Sonardyne - parsing R127.92,X99.59,Y-32.70,Z-73.33

: Sonardyne - read R = 127.920000 from 127.92,X99.59,Y-32.70,Z-73.33

: Sonardyne - got all data, Vehicle coordinates,
    r=127.920000, x=73.330000, y=99.590000, z=32.700000 tat = 590
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: AshtechGps::processRecord() - $GPGGA,221841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221841.00,,,,,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 R127.90,X98.43,Y-35.29,Z-73.66

: Sonardyne - parsing R127.90,X98.43,Y-35.29,Z-73.66

: Sonardyne - read R = 127.900000 from 127.90,X98.43,Y-35.29,Z-73.66

: Sonardyne - got all data, Vehicle coordinates,
    r=127.900000, x=73.660000, y=98.430000, z=35.290000 tat = 590
: AshtechGps::processRecord() - $GPGGA,221842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221842.00,,,,,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 R127.89,X96.12,Y-34.85,Z-76.81

: Sonardyne - parsing R127.89,X96.12,Y-34.85,Z-76.81

: Sonardyne - read R = 127.890000 from 127.89,X96.12,Y-34.85,Z-76.81

: Sonardyne - got all data, Vehicle coordinates,
    r=127.890000, x=76.810000, y=96.120000, z=34.850000 tat = 590
: AshtechGps::processRecord() - $GPGGA,221843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221843.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R128.16,X95.16,Y-44.05,Z-73.68

: Sonardyne - parsing R128.16,X95.16,Y-44.05,Z-73.68

: Sonardyne - read R = 128.160000 from 128.16,X95.16,Y-44.05,Z-73.68

: Sonardyne - got all data, Vehicle coordinates,
    r=128.160000, x=73.680000, y=95.160000, z=44.050000 tat = 590
: AshtechGps::processRecord() - $GPGGA,221844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221844.00,,,,,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 R128.47

: Sonardyne - parsing R128.47

: Sonardyne - read R = 128.470000 from 128.47

: Sonardyne - got range only (128.470000), tat = 570
: Sonardyne - POSD response: 
POSD S125.5,N18.8,D-137,U5,Q0.004730

: Sonardyne - POSD response: 
POSD S125.5,N18.8,D-137,U5,Q0.004730

: AshtechGps::processRecord() - $GPGGA,221845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221845.00,,,,,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 R128.61

: Sonardyne - parsing R128.61

: Sonardyne - read R = 128.610000 from 128.61

: Sonardyne - got range only (128.610000), tat = 570
: Sonardyne - POSD response: 
POSD S120.0,N24.7,D9,U4,Q0.001664

: Sonardyne - POSD response: 
POSD S120.0,N24.7,D9,U4,Q0.001664

: AshtechGps::processRecord() - $GPGGA,221846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221846.00,,,,,0,00,,,M,,M,,*43


: 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 R130.37,X38.02,Y-115.80,Z-46.28

: Sonardyne - parsing R130.37,X38.02,Y-115.80,Z-46.28

: Sonardyne - read R = 130.370000 from 130.37,X38.02,Y-115.80,Z-46.28

: Sonardyne - got all data, Vehicle coordinates,
    r=130.370000, x=46.280000, y=38.020000, z=115.800000 tat = 600
: AshtechGps::processRecord() - $GPGGA,221847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221847.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R129.17

: Sonardyne - parsing R129.17

: Sonardyne - read R = 129.170000 from 129.17

: Sonardyne - got range only (129.170000), tat = 570
: Sonardyne - POSD response: 
POSD S118.2,N20.5,D1,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S118.2,N20.5,D1,U1,Q0.007526

: AshtechGps::processRecord() - $GPGGA,221848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221848.00,,,,,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 R136.43

: Sonardyne - parsing R136.43

: Sonardyne - read R = 136.430000 from 136.43

: Sonardyne - got range only (136.430000), tat = 580
: Sonardyne - POSD response: 
POSD S119.5,N24.4,D-1,U2,Q0.003304

: Sonardyne - POSD response: 
POSD S119.5,N24.4,D-1,U2,Q0.003304

: AshtechGps::processRecord() - $GPGGA,221849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221849.00,,,,,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 R129.99

: Sonardyne - parsing R129.99

: Sonardyne - read R = 129.990000 from 129.99

: Sonardyne - got range only (129.990000), tat = 570
: BluefinBatt Reply: $b6q0 d- 30.43  9.49 14.64 3.79 3.81 0 20843.61 07:23:11 m

: Sonardyne - POSD response: 
POSD S123.9,N23.5,D9,U5,Q0.005325

: Sonardyne - POSD response: 
POSD S123.9,N23.5,D9,U5,Q0.005325

: AshtechGps::processRecord() - $GPGGA,221850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221850.00,,,,,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 R130.47

: Sonardyne - parsing R130.47

: Sonardyne - read R = 130.470000 from 130.47

: Sonardyne - got range only (130.470000), tat = 570
: Sonardyne - POSD response: 
POSD S122.2,N23.3,D-43,U5,Q0.002095

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S122.2,N23.3,D-43,U5,Q0.002095

: AshtechGps::processRecord() - $GPGGA,221851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221851.00,,,,,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 R130.86

: Sonardyne - parsing R130.86

: Sonardyne - read R = 130.860000 from 130.86

: Sonardyne - got range only (130.860000), tat = 570
: Sonardyne - POSD response: 
POSD S123.1,N19.1,D-95,U5,Q0.000109

: Sonardyne - POSD response: 
POSD S123.1,N19.1,D-95,U5,Q0.000109

: AshtechGps::processRecord() - $GPGGA,221852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221852.00,,,,,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 R131.32,X102.58,Y-39.05,Z-72.09

: Sonardyne - parsing R131.32,X102.58,Y-39.05,Z-72.09

: Sonardyne - read R = 131.320000 from 131.32,X102.58,Y-39.05,Z-72.09

: Sonardyne - got all data, Vehicle coordinates,
    r=131.320000, x=72.090000, y=102.580000, z=39.050000 tat = 600
: AshtechGps::processRecord() - $GPGGA,221853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221853.00,,,,,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,221854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221854.00,,,,,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,221855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221855.00,,,,,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 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,221856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221856.00,,,,,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 R132.74

: Sonardyne - parsing R132.74

: Sonardyne - read R = 132.740000 from 132.74

: Sonardyne - got range only (132.740000), tat = 580
: Sonardyne - POSD response: 
POSD S116.1,N18.5,D-71,U1,Q0.012087

: Sonardyne - POSD response: 
POSD S116.1,N18.5,D-71,U1,Q0.012087

: AshtechGps::processRecord() - $GPGGA,221857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221857.00,,,,,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 R133.33

: Sonardyne - parsing R133.33

: Sonardyne - read R = 133.330000 from 133.33

: Sonardyne - got range only (133.330000), tat = 580
: Sonardyne - POSD response: 
POSD S119.8,N24.3,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.8,N24.3,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221858.00,,,,,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 R133.67

: Sonardyne - parsing R133.67

: Sonardyne - read R = 133.670000 from 133.67

: Sonardyne - got range only (133.670000), tat = 580
: Sonardyne - POSD response: 
POSD S109.9,N17.4,D56,U3,Q0.003151

: Sonardyne - POSD response: 
POSD S109.9,N17.4,D56,U3,Q0.003151

: AshtechGps::processRecord() - $GPGGA,221859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221859.00,,,,,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- 30.43  9.35 14.64 3.79 3.81 0 20842.62 07:23:21 m

: Sonardyne - POS response: 
POS V4,1 R134.37

: Sonardyne - parsing R134.37

: Sonardyne - read R = 134.370000 from 134.37

: Sonardyne - got range only (134.370000), tat = 580
: Sonardyne - POSD response: 
POSD S126.5,N28.3,D52,U2,Q0.005484

: Sonardyne - POSD response: 
POSD S126.5,N28.3,D52,U2,Q0.005484

: AshtechGps::processRecord() - $GPGGA,221900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221900.00,,,,,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

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POS response: 
POS V4,1 R134.94

: Sonardyne - parsing R134.94

: Sonardyne - read R = 134.940000 from 134.94

: Sonardyne - got range only (134.940000), tat = 580
: Sonardyne - POSD response: 
POSD S119.6,N24.3,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.6,N24.3,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221901.00,,,,,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,221902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221902.00,,,,,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,221903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221903.00,,,,,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,221904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221904.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221905.00,,,,,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,221906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221906.00,,,,,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,221907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221907.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,221908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221908.00,,,,,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,221909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221909.00,,,,,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- 30.39  9.85 14.64 3.79 3.82 0 20841.98 07:23:31 m

: AshtechGps::processRecord() - $GPGGA,221910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221910.00,,,,,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

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: AshtechGps::processRecord() - $GPGGA,221911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221911.00,,,,,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
:  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,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,221912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221912.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R142.21

: Sonardyne - parsing R142.21

: Sonardyne - read R = 142.210000 from 142.21

: Sonardyne - got range only (142.210000), tat = 590
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S119.0,N21.7,D-74,U4,Q0.004105

: Sonardyne - POSD response: 
POSD S119.0,N21.7,D-74,U4,Q0.004105

: AshtechGps::processRecord() - $GPGGA,221913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221913.00,,,,,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,221914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221914.00,,,,,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,221915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221915.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,221916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221916.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R146.84,X6.78,Y-18.58,Z-145.50

: Sonardyne - parsing R146.84,X6.78,Y-18.58,Z-145.50

: Sonardyne - read R = 146.840000 from 146.84,X6.78,Y-18.58,Z-145.50

: Sonardyne - got all data, Vehicle coordinates,
    r=146.840000, x=145.500000, y=6.780000, z=18.580000 tat = 619
: AshtechGps::processRecord() - $GPGGA,221917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221917.00,,,,,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,221918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221918.00,,,,,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,221919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221919.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.67 14.64 3.79 3.82 0 20841.05 07:23:41 m

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

: AshtechGps::processRecord() - $GPGGA,221920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221920.00,,,,,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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

:  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,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221921.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R150.59

: Sonardyne - parsing R150.59

: Sonardyne - read R = 150.590000 from 150.59

: Sonardyne - got range only (150.590000), tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S119.0,N21.7,D-29,U2,Q0.006143

: Sonardyne - POSD response: 
POSD S119.0,N21.7,D-29,U2,Q0.006143

: AshtechGps::processRecord() - $GPGGA,221922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221922.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R151.18

: Sonardyne - parsing R151.18

: Sonardyne - read R = 151.180000 from 151.18

: Sonardyne - got range only (151.180000), tat = 600
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S117.7,N21.5,D-28,U3,Q0.013088

: Sonardyne - POSD response: 
POSD S117.7,N21.5,D-28,U3,Q0.013088

: AshtechGps::processRecord() - $GPGGA,221923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221923.00,,,,,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,221924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221924.00,,,,,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,221925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221925.00,,,,,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

: 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

: AshtechGps::processRecord() - $GPGGA,221926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221926.00,,,,,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 R154.52

: Sonardyne - parsing R154.52

: Sonardyne - read R = 154.520000 from 154.52

: Sonardyne - got range only (154.520000), tat = 600
: Sonardyne - POSD response: 
POSD S121.8,N24.7,D63,U1,Q0.004032

: Sonardyne - POSD response: 
POSD S121.8,N24.7,D63,U1,Q0.004032

: AshtechGps::processRecord() - $GPGGA,221927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221927.00,,,,,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,221928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221928.00,,,,,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,221929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221929.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.06 14.64 3.79 3.81 0 20840.39 07:23:51 m

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

: AshtechGps::processRecord() - $GPGGA,221930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221930.00,,,,,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
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,221931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221931.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.80

: Sonardyne - parsing R160.80

: Sonardyne - read R = 160.800000 from 160.80

: Sonardyne - got range only (160.800000), tat = 610
: Sonardyne - POSD response: 
POSD S120.3,N20.7,D95,U1,Q0.001930

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

: Sonardyne - POSD response: 
POSD S120.3,N20.7,D95,U1,Q0.001930

: AshtechGps::processRecord() - $GPGGA,221932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221932.00,,,,,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,221933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221933.00,,,,,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,221934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221934.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221935.00,,,,,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,221936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221936.00,,,,,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,221937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221937.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,221938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221938.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,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,221939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221939.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.46 14.64 3.79 3.81 0 20839.40 07:24:01 m

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

: AshtechGps::processRecord() - $GPGGA,221940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221940.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,221941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221941.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,221942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221942.00,,,,,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 R173.88

: Sonardyne - parsing R173.88

: Sonardyne - read R = 173.880000 from 173.88

: Sonardyne - got range only (173.880000), tat = 630
: Sonardyne - POSD response: 
POSD S115.8,N21.8,D32,U1,Q0.014513

: Sonardyne - POSD response: 
POSD S115.8,N21.8,D32,U1,Q0.014513

: AshtechGps::processRecord() - $GPGGA,221943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221943.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R175.38

: Sonardyne - parsing R175.38

: Sonardyne - read R = 175.380000 from 175.38

: Sonardyne - got range only (175.380000), tat = 630
: Sonardyne - POSD response: 
POSD S117.5,N23.5,D83,U2,Q0.004844

: Sonardyne - POSD response: 
POSD S117.5,N23.5,D83,U2,Q0.004844

: AshtechGps::processRecord() - $GPGGA,221944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221944.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R176.26

: Sonardyne - parsing R176.26

: Sonardyne - read R = 176.260000 from 176.26

: Sonardyne - got range only (176.260000), tat = 630
: Sonardyne - POSD response: 
POSD S118.3,N30.6,D25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.3,N30.6,D25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221945.00,,,,,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 R177.20

: Sonardyne - parsing R177.20

: Sonardyne - read R = 177.200000 from 177.20

: Sonardyne - got range only (177.200000), tat = 640
: Sonardyne - POSD response: 
POSD S117.0,N20.5,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.0,N20.5,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221946.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,221947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221947.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,221948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221948.00,,,,,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,221949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221949.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: BluefinBatt Reply: $b6q0 d- 30.43  9.75 14.74 3.79 3.81 0 20838.76 07:24:11 m

: Sonardyne - POSD response: 
POSD S-100.0,N5.3,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,221950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221950.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,221951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221951.00,,,,,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,221952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221952.00,,,,,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 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,221953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221953.00,,,,,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,221954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221954.00,,,,,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,221955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221955.00,,,,,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,221956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221956.00,,,,,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,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,221957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221957.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221958.00,,,,,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,221959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221959.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.13 14.74 3.79 3.81 0 20837.81 07:24:21 m

:  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,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222000.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222000.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,222001.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222001.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222002.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222002.00,,,,,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,222003.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222003.00,,,,,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,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,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,222004.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222004.00,,,,,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,222005.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222005.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222006.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222006.00,,,,,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 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,222007.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222007.00,,,,,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,222008.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222008.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222009.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222009.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.71 14.74 3.79 3.81 0 20837.20 07:24:31 m

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

: AshtechGps::processRecord() - $GPGGA,222010.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222010.00,,,,,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,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: 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,222011.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222011.00,,,,,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,222012.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222012.00,,,,,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,222013.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222013.00,,,,,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,N8.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222014.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222014.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222015.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222015.00,,,,,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,222016.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222016.00,,,,,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,222017.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222017.00,,,,,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,N4.5,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,222018.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222018.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222019.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222019.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.06 14.74 3.79 3.81 0 20836.26 07:24:41 m

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

: AshtechGps::processRecord() - $GPGGA,222020.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222020.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

:  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,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222021.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222021.00,,,,,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 R225.47,X19.34,Y-4.99,Z-224.59

: Sonardyne - parsing R225.47,X19.34,Y-4.99,Z-224.59

: Sonardyne - read R = 225.470000 from 225.47,X19.34,Y-4.99,Z-224.59

: Sonardyne - got all data, Vehicle coordinates,
    r=225.470000, x=224.590000, y=19.340000, z=4.990000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222022.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222022.00,,,,,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,222023.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222023.00,,,,,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,222024.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222024.00,,,,,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,222025.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222025.00,,,,,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,N6.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,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,222026.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222026.00,,,,,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,222027.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222027.00,,,,,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,222028.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222028.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 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,222029.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222029.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.43  9.53 14.74 3.78 3.81 0 20835.64 07:24:51 m

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

: AshtechGps::processRecord() - $GPGGA,222030.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222030.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222031.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222031.00,,,,,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,222032.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222032.00,,,,,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,N5.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,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,222033.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222033.00,,,,,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,222034.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222034.00,,,,,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,222035.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222035.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222036.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222036.00,,,,,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,222037.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222037.00,,,,,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,222038.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222038.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,222039.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222039.00,,,,,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,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: BluefinBatt Reply: $b6q0 d- 30.39  9.38 14.84 3.78 3.81 0 20834.67 07:25:01 m

: Sonardyne - POSD response: 
POSD S-100.0,N5.5,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,222040.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222040.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222041.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222041.00,,,,,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,222042.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222042.00,,,,,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,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,222043.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222043.00,,,,,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,222044.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222044.00,,,,,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,222045.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222045.00,,,,,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,222046.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222046.00,,,,,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,N6.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,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,222047.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222047.00,,,,,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,222048.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222048.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,222049.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222049.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.02 14.84 3.78 3.81 0 20834.03 07:25:11 m

: 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,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222050.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222050.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222051.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222051.00,,,,,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,222052.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222052.00,,,,,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,222053.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222053.00,,,,,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,N5.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,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,222054.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222054.00,,,,,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,222055.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222055.00,,,,,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,222056.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222056.00,,,,,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,N5.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222057.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222057.00,,,,,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,222058.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222058.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222059.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222059.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.56 14.84 3.78 3.81 0 20833.03 07:25:21 m

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

: AshtechGps::processRecord() - $GPGGA,222100.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222100.00,,,,,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,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POSD response: 
POSD S-100.0,N4.5,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,222101.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222101.00,,,,,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,222102.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222102.00,,,,,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,222103.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222103.00,,,,,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,N3.2,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,N3.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222104.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222104.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222105.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222105.00,,,,,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,222106.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222106.00,,,,,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,222107.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222107.00,,,,,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,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,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,222108.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222108.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222109.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222109.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39 10.07 14.84 3.78 3.80 0 20832.35 07:25:31 m

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

: AshtechGps::processRecord() - $GPGGA,222110.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222110.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,222111.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222111.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222112.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222112.00,,,,,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,222113.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222113.00,,,,,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,222114.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222114.00,,,,,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,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,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,222115.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222115.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222116.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222116.00,,,,,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,222117.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222117.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,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,222118.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222118.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222119.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222119.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.38 14.94 3.78 3.80 0 20831.40 07:25:41 m

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

: AshtechGps::processRecord() - $GPGGA,222120.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222120.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222121.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222121.00,,,,,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,N9.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,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,222122.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222122.00,,,,,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,222123.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222123.00,,,,,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,222124.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222124.00,,,,,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,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,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,222125.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222125.00,,,,,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,222126.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222126.00,,,,,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,222127.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222127.00,,,,,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,222128.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222128.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,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,222129.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222129.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.13 14.94 3.78 3.80 0 20830.76 07:25:51 m

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

: AshtechGps::processRecord() - $GPGGA,222130.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222130.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222131.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222131.00,,,,,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,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,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,222132.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222132.00,,,,,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,222133.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222133.00,,,,,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,222134.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222134.00,,,,,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,222135.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222135.00,,,,,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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,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,222136.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222136.00,,,,,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,222137.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222137.00,,,,,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,222138.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222138.00,,,,,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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,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,222139.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222139.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  8.80 14.84 3.78 3.80 0 20829.83 07:26:01 m

: AshtechGps::processRecord() - $GPGGA,222140.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222140.00,,,,,0,00,,,M,,M,,*4F


:  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: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222141.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222141.00,,,,,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,222142.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222142.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222143.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222143.00,,,,,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,222144.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222144.00,,,,,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,222145.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222145.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,222146.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222146.00,,,,,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,222147.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222147.00,,,,,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,222148.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222148.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,222149.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222149.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 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
: BluefinBatt Reply: $b6q0 d- 30.39  9.82 14.94 3.78 3.81 0 20829.17 07:26:11 m

: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222150.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222150.00,,,,,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

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222151.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222151.00,,,,,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,222152.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222152.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222153.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222153.00,,,,,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,222154.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222154.00,,,,,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,222155.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222155.00,,,,,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,222156.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222156.00,,,,,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 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,222157.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222157.00,,,,,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,222158.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222158.00,,,,,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,222159.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222159.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.39  9.46 14.94 3.78 3.81 0 20828.21 07:26:21 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,222200.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222200.00,,,,,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 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222201.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222201.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222202.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222202.00,,,,,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,222203.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222203.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,222204.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222204.00,,,,,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,222205.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222205.00,,,,,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,222206.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222206.00,,,,,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,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,222207.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222207.00,,,,,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,222208.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222208.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,222209.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222209.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $b6q0 d- 30.39  9.13 14.94 3.78 3.81 0 20827.60 07:26:31 m

: AshtechGps::processRecord() - $GPGGA,222210.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222210.00,,,,,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 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
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222211.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222211.00,,,,,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,222212.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222212.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222213.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222213.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,222214.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222214.00,,,,,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,222215.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222215.00,,,,,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,222216.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222216.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222217.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222217.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222218.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222218.00,,,,,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,222219.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222219.00,,,,,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- 30.35  9.53 14.94 3.78 3.81 0 20826.68 07:26:41 m

: AshtechGps::processRecord() - $GPGGA,222220.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222220.00,,,,,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

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222221.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222221.00,,,,,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,222222.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222222.00,,,,,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,222223.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222223.00,,,,,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,222224.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222224.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

:  wdt = 00895,  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,N2.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222225.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222225.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222226.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222226.00,,,,,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,222227.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222227.00,,,,,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 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,222228.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222228.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222229.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222229.00,,,,,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- 30.39  9.64 14.94 3.78 3.81 0 20826.06 07:26:51 m

: AshtechGps::processRecord() - $GPGGA,222230.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222230.00,,,,,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

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222231.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222231.00,,,,,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 = 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,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,222232.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222232.00,,,,,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,222233.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222233.00,,,,,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,222234.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222234.00,,,,,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 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,222235.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222235.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4085789.7, 598579.2), 
  reached at t = 424.20                                          (wplog)

: Vehicle Position is error is (0.3, 0.1)

: LayeredControl::execute() -- (t = 424.200940) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 424.21                            (wplog)
  The current location (N,E) = 4085789.4      , 598579.1         (wplog)
  The next waypoint          = 4085572.0      , 598938.1         (wplog)
  The bearing to the next w.p. is 121.2 Degrees.

: LayeredControl::execute() -- (t = 424.210940) Behavior waypoint_homing 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,222236.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222236.00,,,,,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,222237.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222237.00,,,,,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,222238.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222238.00,,,,,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,N4.7,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,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222239.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222239.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.43  8.84 15.03 3.78 3.81 0 20825.11 07:27:01 m

: AshtechGps::processRecord() - $GPGGA,222240.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222240.00,,,,,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 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222241.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222241.00,,,,,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,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,222242.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222242.00,,,,,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,222243.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222243.00,,,,,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,222244.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222244.00,,,,,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,222245.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222245.00,,,,,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,N4.0,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,N4.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222246.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222246.00,,,,,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 R436.94

: Sonardyne - parsing R436.94

: Sonardyne - read R = 436.940000 from 436.94

: Sonardyne - got range only (436.940000), tat = 990
: Sonardyne - POSD response: 
POSD S115.4,N21.9,D-7,U3,Q0.012932

: Sonardyne - POSD response: 
POSD S115.4,N21.9,D-7,U3,Q0.012932

: AshtechGps::processRecord() - $GPGGA,222247.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222247.00,,,,,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,222248.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222248.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R435.84,X-347.78,Y56.54,Z-256.53

: Sonardyne - parsing R435.84,X-347.78,Y56.54,Z-256.53

: Sonardyne - read R = 435.840000 from 435.84,X-347.78,Y56.54,Z-256.53

: Sonardyne - got all data, Vehicle coordinates,
    r=435.840000, x=256.530000, y=-347.780000, z=-56.540000 tat = 1010
: 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,222249.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222249.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35  9.38 15.03 3.78 3.81 0 20824.46 07:27:11 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 R435.04,X-251.50,Y91.70,Z-342.92

: Sonardyne - parsing R435.04,X-251.50,Y91.70,Z-342.92

: Sonardyne - read R = 435.040000 from 435.04,X-251.50,Y91.70,Z-342.92

: Sonardyne - got all data, Vehicle coordinates,
    r=435.040000, x=342.920000, y=-251.500000, z=-91.700000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,222250.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222250.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222251.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222251.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R434.34,X-163.68,Y57.13,Z-398.24

: Sonardyne - parsing R434.34,X-163.68,Y57.13,Z-398.24

: Sonardyne - read R = 434.340000 from 434.34,X-163.68,Y57.13,Z-398.24

: Sonardyne - got all data, Vehicle coordinates,
    r=434.340000, x=398.240000, y=-163.680000, z=-57.130000 tat = 1010
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222252.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222252.00,,,,,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 R433.52,X-63.22,Y55.59,Z-425.27

: Sonardyne - parsing R433.52,X-63.22,Y55.59,Z-425.27

: Sonardyne - read R = 433.520000 from 433.52,X-63.22,Y55.59,Z-425.27

: Sonardyne - got all data, Vehicle coordinates,
    r=433.520000, x=425.270000, y=-63.220000, z=-55.590000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,222253.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222253.00,,,,,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,222254.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222254.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R432.36,X-8.16,Y42.03,Z-430.24

: Sonardyne - parsing R432.36,X-8.16,Y42.03,Z-430.24

: Sonardyne - read R = 432.360000 from 432.36,X-8.16,Y42.03,Z-430.24

: Sonardyne - got all data, Vehicle coordinates,
    r=432.360000, x=430.240000, y=-8.160000, z=-42.030000 tat = 1000
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222255.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222255.00,,,,,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 R430.52,X21.68,Y33.28,Z-428.69

: Sonardyne - parsing R430.52,X21.68,Y33.28,Z-428.69

: Sonardyne - read R = 430.520000 from 430.52,X21.68,Y33.28,Z-428.69

: Sonardyne - got all data, Vehicle coordinates,
    r=430.520000, x=428.690000, y=21.680000, z=-33.280000 tat = 1000
: AshtechGps::processRecord() - $GPGGA,222256.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222256.00,,,,,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,222257.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222257.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R428.18,X40.34,Y21.09,Z-425.76

: Sonardyne - parsing R428.18,X40.34,Y21.09,Z-425.76

: Sonardyne - read R = 428.180000 from 428.18,X40.34,Y21.09,Z-425.76

: Sonardyne - got all data, Vehicle coordinates,
    r=428.180000, x=425.760000, y=40.340000, z=-21.090000 tat = 1000
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222258.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222258.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R425.00,X42.04,Y6.86,Z-422.86

: Sonardyne - parsing R425.00,X42.04,Y6.86,Z-422.86

: Sonardyne - read R = 425.000000 from 425.00,X42.04,Y6.86,Z-422.86

: Sonardyne - got all data, Vehicle coordinates,
    r=425.000000, x=422.860000, y=42.040000, z=-6.860000 tat = 990
: AshtechGps::processRecord() - $GPGGA,222259.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222259.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35 10.83 15.03 3.78 3.81 0 20823.42 07:27:21 m

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

: AshtechGps::processRecord() - $GPGGA,222300.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222300.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R422.66,X42.08,Y9.93,Z-420.44

: Sonardyne - parsing R422.66,X42.08,Y9.93,Z-420.44

: Sonardyne - read R = 422.660000 from 422.66,X42.08,Y9.93,Z-420.44

: Sonardyne - got all data, Vehicle coordinates,
    r=422.660000, x=420.440000, y=42.080000, z=-9.930000 tat = 990
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222301.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222301.00,,,,,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 R420.42,X36.55,Y13.35,Z-418.61

: Sonardyne - parsing R420.42,X36.55,Y13.35,Z-418.61

: Sonardyne - read R = 420.420000 from 420.42,X36.55,Y13.35,Z-418.61

: Sonardyne - got all data, Vehicle coordinates,
    r=420.420000, x=418.610000, y=36.550000, z=-13.350000 tat = 990
: AshtechGps::processRecord() - $GPGGA,222302.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222302.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222303.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222303.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R418.32,X27.64,Y16.26,Z-417.09

: Sonardyne - parsing R418.32,X27.64,Y16.26,Z-417.09

: Sonardyne - read R = 418.320000 from 418.32,X27.64,Y16.26,Z-417.09

: Sonardyne - got all data, Vehicle coordinates,
    r=418.320000, x=417.090000, y=27.640000, z=-16.260000 tat = 980
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222304.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222304.00,,,,,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 R416.78,X20.66,Y33.68,Z-414.91

: Sonardyne - parsing R416.78,X20.66,Y33.68,Z-414.91

: Sonardyne - read R = 416.780000 from 416.78,X20.66,Y33.68,Z-414.91

: Sonardyne - got all data, Vehicle coordinates,
    r=416.780000, x=414.910000, y=20.660000, z=-33.680000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222305.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222305.00,,,,,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 R416.11,X15.62,Y44.97,Z-413.38

: Sonardyne - parsing R416.11,X15.62,Y44.97,Z-413.38

: Sonardyne - read R = 416.110000 from 416.11,X15.62,Y44.97,Z-413.38

: Sonardyne - got all data, Vehicle coordinates,
    r=416.110000, x=413.380000, y=15.620000, z=-44.970000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222306.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222306.00,,,,,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 R414.52,X6.83,Y41.15,Z-412.42

: Sonardyne - parsing R414.52,X6.83,Y41.15,Z-412.42

: Sonardyne - read R = 414.520000 from 414.52,X6.83,Y41.15,Z-412.42

: Sonardyne - got all data, Vehicle coordinates,
    r=414.520000, x=412.420000, y=6.830000, z=-41.150000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222307.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222307.00,,,,,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 R412.61,X4.97,Y60.66,Z-408.09

: Sonardyne - parsing R412.61,X4.97,Y60.66,Z-408.09

: Sonardyne - read R = 412.610000 from 412.61,X4.97,Y60.66,Z-408.09

: Sonardyne - got all data, Vehicle coordinates,
    r=412.610000, x=408.090000, y=4.970000, z=-60.660000 tat = 970
: AshtechGps::processRecord() - $GPGGA,222308.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222308.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R413.73

: Sonardyne - parsing R413.73

: Sonardyne - read R = 413.730000 from 413.73

: Sonardyne - got range only (413.730000), tat = 950
: Sonardyne - POSD response: 
POSD S129.6,N30.6,D39,U2,Q0.000977

: Sonardyne - POSD response: 
POSD S129.6,N30.6,D39,U2,Q0.000977

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222309.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222309.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35  9.92 15.03 3.78 3.80 0 20822.72 07:27:31 m

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

: AshtechGps::processRecord() - $GPGGA,222310.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222310.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R408.06,X-11.25,Y37.46,Z-406.18

: Sonardyne - parsing R408.06,X-11.25,Y37.46,Z-406.18

: Sonardyne - read R = 408.060000 from 408.06,X-11.25,Y37.46,Z-406.18

: Sonardyne - got all data, Vehicle coordinates,
    r=408.060000, x=406.180000, y=-11.250000, z=-37.460000 tat = 970
: WaypointHoming: The Usbl has aquired the transponder!
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222311.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222311.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R405.94,X-15.42,Y21.57,Z-405.07

: Sonardyne - parsing R405.94,X-15.42,Y21.57,Z-405.07

: Sonardyne - read R = 405.940000 from 405.94,X-15.42,Y21.57,Z-405.07

: Sonardyne - got all data, Vehicle coordinates,
    r=405.940000, x=405.070000, y=-15.420000, z=-21.570000 tat = 969
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222312.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222312.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R404.18,X-12.27,Y40.00,Z-402.01

: Sonardyne - parsing R404.18,X-12.27,Y40.00,Z-402.01

: Sonardyne - read R = 404.180000 from 404.18,X-12.27,Y40.00,Z-402.01

: Sonardyne - got all data, Vehicle coordinates,
    r=404.180000, x=402.010000, y=-12.270000, z=-40.000000 tat = 970
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222313.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222313.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R402.37,X-13.08,Y24.75,Z-401.40

: Sonardyne - parsing R402.37,X-13.08,Y24.75,Z-401.40

: Sonardyne - read R = 402.370000 from 402.37,X-13.08,Y24.75,Z-401.40

: Sonardyne - got all data, Vehicle coordinates,
    r=402.370000, x=401.400000, y=-13.080000, z=-24.750000 tat = 960
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222314.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222314.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R403.67

: Sonardyne - parsing R403.67

: Sonardyne - read R = 403.670000 from 403.67

: Sonardyne - got range only (403.670000), tat = 940
: Sonardyne - POSD response: 
POSD S121.9,N21.1,D-59,U4,Q0.006750

: Sonardyne - POSD response: 
POSD S121.9,N21.1,D-59,U4,Q0.006750

: 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,222315.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222315.00,,,,,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 R398.08,X-14.06,Y10.97,Z-397.68

: Sonardyne - parsing R398.08,X-14.06,Y10.97,Z-397.68

: Sonardyne - read R = 398.080000 from 398.08,X-14.06,Y10.97,Z-397.68

: Sonardyne - got all data, Vehicle coordinates,
    r=398.080000, x=397.680000, y=-14.060000, z=-10.970000 tat = 960
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222316.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222316.00,,,,,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 R396.65,X-12.82,Y9.91,Z-396.32

: Sonardyne - parsing R396.65,X-12.82,Y9.91,Z-396.32

: Sonardyne - read R = 396.650000 from 396.65,X-12.82,Y9.91,Z-396.32

: Sonardyne - got all data, Vehicle coordinates,
    r=396.650000, x=396.320000, y=-12.820000, z=-9.910000 tat = 950
: AshtechGps::processRecord() - $GPGGA,222317.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222317.00,,,,,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 R395.06,X-8.07,Y24.42,Z-394.22

: Sonardyne - parsing R395.06,X-8.07,Y24.42,Z-394.22

: Sonardyne - read R = 395.060000 from 395.06,X-8.07,Y24.42,Z-394.22

: Sonardyne - got all data, Vehicle coordinates,
    r=395.060000, x=394.220000, y=-8.070000, z=-24.420000 tat = 950
: AshtechGps::processRecord() - $GPGGA,222318.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222318.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R393.67,X-11.88,Y19.04,Z-393.03

: Sonardyne - parsing R393.67,X-11.88,Y19.04,Z-393.03

: Sonardyne - read R = 393.670000 from 393.67,X-11.88,Y19.04,Z-393.03

: Sonardyne - got all data, Vehicle coordinates,
    r=393.670000, x=393.030000, y=-11.880000, z=-19.040000 tat = 950
: AshtechGps::processRecord() - $GPGGA,222319.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222319.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35 10.21 15.03 3.78 3.80 0 20821.78 07:27:41 m

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

: AshtechGps::processRecord() - $GPGGA,222320.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222320.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222321.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222321.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222322.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222322.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,222323.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222323.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R386.50,X-4.18,Y34.95,Z-384.90

: Sonardyne - parsing R386.50,X-4.18,Y34.95,Z-384.90

: Sonardyne - read R = 386.500000 from 386.50,X-4.18,Y34.95,Z-384.90

: Sonardyne - got all data, Vehicle coordinates,
    r=386.500000, x=384.900000, y=-4.180000, z=-34.950000 tat = 940
: 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,222324.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222324.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R385.84,X-6.29,Y24.44,Z-385.01

: Sonardyne - parsing R385.84,X-6.29,Y24.44,Z-385.01

: Sonardyne - read R = 385.840000 from 385.84,X-6.29,Y24.44,Z-385.01

: Sonardyne - got all data, Vehicle coordinates,
    r=385.840000, x=385.010000, y=-6.290000, z=-24.440000 tat = 940
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222325.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222325.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R384.05,X-3.00,Y27.22,Z-383.07

: Sonardyne - parsing R384.05,X-3.00,Y27.22,Z-383.07

: Sonardyne - read R = 384.050000 from 384.05,X-3.00,Y27.22,Z-383.07

: Sonardyne - got all data, Vehicle coordinates,
    r=384.050000, x=383.070000, y=-3.000000, z=-27.220000 tat = 939
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222326.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222326.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R381.16,X-10.71,Y12.91,Z-380.79

: Sonardyne - parsing R381.16,X-10.71,Y12.91,Z-380.79

: Sonardyne - read R = 381.160000 from 381.16,X-10.71,Y12.91,Z-380.79

: Sonardyne - got all data, Vehicle coordinates,
    r=381.160000, x=380.790000, y=-10.710000, z=-12.910000 tat = 930
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222327.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222327.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R379.32,X-7.37,Y17.19,Z-378.86

: Sonardyne - parsing R379.32,X-7.37,Y17.19,Z-378.86

: Sonardyne - read R = 379.320000 from 379.32,X-7.37,Y17.19,Z-378.86

: Sonardyne - got all data, Vehicle coordinates,
    r=379.320000, x=378.860000, y=-7.370000, z=-17.190000 tat = 930
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222328.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222328.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R377.42,X-7.24,Y14.24,Z-377.08

: Sonardyne - parsing R377.42,X-7.24,Y14.24,Z-377.08

: Sonardyne - read R = 377.420000 from 377.42,X-7.24,Y14.24,Z-377.08

: Sonardyne - got all data, Vehicle coordinates,
    r=377.420000, x=377.080000, y=-7.240000, z=-14.240000 tat = 930
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222329.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222329.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R375.65,X-9.06,Y7.65,Z-375.46

: Sonardyne - parsing R375.65,X-9.06,Y7.65,Z-375.46

: Sonardyne - read R = 375.650000 from 375.65,X-9.06,Y7.65,Z-375.46

: Sonardyne - got all data, Vehicle coordinates,
    r=375.650000, x=375.460000, y=-9.060000, z=-7.650000 tat = 920
: BluefinBatt Reply: $b6q0 d- 30.39 10.29 15.03 3.78 3.80 0 20821.15 07:27:51 m

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

: AshtechGps::processRecord() - $GPGGA,222330.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222330.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R373.68,X-5.93,Y8.19,Z-373.55

: Sonardyne - parsing R373.68,X-5.93,Y8.19,Z-373.55

: Sonardyne - read R = 373.680000 from 373.68,X-5.93,Y8.19,Z-373.55

: Sonardyne - got all data, Vehicle coordinates,
    r=373.680000, x=373.550000, y=-5.930000, z=-8.190000 tat = 920
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222331.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222331.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R372.06,X-7.06,Y4.56,Z-371.96

: Sonardyne - parsing R372.06,X-7.06,Y4.56,Z-371.96

: Sonardyne - read R = 372.060000 from 372.06,X-7.06,Y4.56,Z-371.96

: Sonardyne - got all data, Vehicle coordinates,
    r=372.060000, x=371.960000, y=-7.060000, z=-4.560000 tat = 920
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222332.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222332.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R370.53,X-1.87,Y21.83,Z-369.88

: Sonardyne - parsing R370.53,X-1.87,Y21.83,Z-369.88

: Sonardyne - read R = 370.530000 from 370.53,X-1.87,Y21.83,Z-369.88

: Sonardyne - got all data, Vehicle coordinates,
    r=370.530000, x=369.880000, y=-1.870000, z=-21.830000 tat = 920
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222333.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222333.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R368.85,X-1.21,Y18.56,Z-368.38

: Sonardyne - parsing R368.85,X-1.21,Y18.56,Z-368.38

: Sonardyne - read R = 368.850000 from 368.85,X-1.21,Y18.56,Z-368.38

: Sonardyne - got all data, Vehicle coordinates,
    r=368.850000, x=368.380000, y=-1.210000, z=-18.560000 tat = 920
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222334.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222334.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R367.40,X-0.92,Y19.20,Z-366.90

: Sonardyne - parsing R367.40,X-0.92,Y19.20,Z-366.90

: Sonardyne - read R = 367.400000 from 367.40,X-0.92,Y19.20,Z-366.90

: Sonardyne - got all data, Vehicle coordinates,
    r=367.400000, x=366.900000, y=-0.920000, z=-19.200000 tat = 910
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222335.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222335.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R369.23

: Sonardyne - parsing R369.23

: Sonardyne - read R = 369.230000 from 369.23

: Sonardyne - got range only (369.230000), tat = 890
: Sonardyne - POSD response: 
POSD S128.7,N25.6,D-28,U1,Q0.006893

: Sonardyne - POSD response: 
POSD S128.7,N25.6,D-28,U1,Q0.006893

: 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,222336.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222336.00,,,,,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 R364.03,X5.46,Y33.25,Z-362.46

: Sonardyne - parsing R364.03,X5.46,Y33.25,Z-362.46

: Sonardyne - read R = 364.030000 from 364.03,X5.46,Y33.25,Z-362.46

: Sonardyne - got all data, Vehicle coordinates,
    r=364.030000, x=362.460000, y=5.460000, z=-33.250000 tat = 910
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222337.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222337.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R362.19,X2.01,Y29.41,Z-360.99

: Sonardyne - parsing R362.19,X2.01,Y29.41,Z-360.99

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

: Sonardyne - read R = 362.190000 from 362.19,X2.01,Y29.41,Z-360.99

: Sonardyne - got all data, Vehicle coordinates,
    r=362.190000, x=360.990000, y=2.010000, z=-29.410000 tat = 910
: AshtechGps::processRecord() - $GPGGA,222338.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222338.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R360.56,X-2.65,Y19.64,Z-360.02

: Sonardyne - parsing R360.56,X-2.65,Y19.64,Z-360.02

: Sonardyne - read R = 360.560000 from 360.56,X-2.65,Y19.64,Z-360.02

: Sonardyne - got all data, Vehicle coordinates,
    r=360.560000, x=360.020000, y=-2.650000, z=-19.640000 tat = 910
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222339.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222339.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.27 15.03 3.78 3.80 0 20820.19 07:28:01 m

: Sonardyne - POS response: 
POS V4,1 R359.95

: Sonardyne - parsing R359.95

: Sonardyne - read R = 359.950000 from 359.95

: Sonardyne - got range only (359.950000), tat = 879
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.9,N25.3,D-134,U4,Q0.001836

: Sonardyne - POSD response: 
POSD S134.9,N25.3,D-134,U4,Q0.001836

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222340.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222340.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222341.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222341.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R356.52,X-7.17,Y24.90,Z-355.58

: Sonardyne - parsing R356.52,X-7.17,Y24.90,Z-355.58

: Sonardyne - read R = 356.520000 from 356.52,X-7.17,Y24.90,Z-355.58

: Sonardyne - got all data, Vehicle coordinates,
    r=356.520000, x=355.580000, y=-7.170000, z=-24.900000 tat = 900
: 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,222342.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222342.00,,,,,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,222343.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222343.00,,,,,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,222344.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222344.00,,,,,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,N6.6,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222345.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222345.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R347.55,X-4.58,Y2.19,Z-347.51

: Sonardyne - parsing R347.55,X-4.58,Y2.19,Z-347.51

: Sonardyne - read R = 347.550000 from 347.55,X-4.58,Y2.19,Z-347.51

: Sonardyne - got all data, Vehicle coordinates,
    r=347.550000, x=347.510000, y=-4.580000, z=-2.190000 tat = 890
: 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,222346.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222346.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R346.86

: Sonardyne - parsing R346.86

: Sonardyne - read R = 346.860000 from 346.86

: Sonardyne - got range only (346.860000), tat = 860
: Sonardyne - POSD response: 
POSD S128.9,N17.9,D105,U1,Q0.002010

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

: Sonardyne - POSD response: 
POSD S128.9,N17.9,D105,U1,Q0.002010

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222347.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222347.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R344.32,X3.09,Y15.50,Z-343.96

: Sonardyne - parsing R344.32,X3.09,Y15.50,Z-343.96

: Sonardyne - read R = 344.320000 from 344.32,X3.09,Y15.50,Z-343.96

: Sonardyne - got all data, Vehicle coordinates,
    r=344.320000, x=343.960000, y=3.090000, z=-15.500000 tat = 880
: 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,222348.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222348.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R342.79,X4.23,Y18.50,Z-342.26

: Sonardyne - parsing R342.79,X4.23,Y18.50,Z-342.26

: Sonardyne - read R = 342.790000 from 342.79,X4.23,Y18.50,Z-342.26

: Sonardyne - got all data, Vehicle coordinates,
    r=342.790000, x=342.260000, y=4.230000, z=-18.500000 tat = 880
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222349.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222349.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.53 15.03 3.78 3.80 0 20819.54 07:28:11 m

: Sonardyne - POS response: 
POS V4,1 R341.53,X5.80,Y26.79,Z-340.42

: Sonardyne - parsing R341.53,X5.80,Y26.79,Z-340.42

: Sonardyne - read R = 341.530000 from 341.53,X5.80,Y26.79,Z-340.42

: Sonardyne - got all data, Vehicle coordinates,
    r=341.530000, x=340.420000, y=5.800000, z=-26.790000 tat = 880
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222350.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222350.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R340.22,X3.18,Y19.28,Z-339.66

: Sonardyne - parsing R340.22,X3.18,Y19.28,Z-339.66

: Sonardyne - read R = 340.220000 from 340.22,X3.18,Y19.28,Z-339.66

: Sonardyne - got all data, Vehicle coordinates,
    r=340.220000, x=339.660000, y=3.180000, z=-19.280000 tat = 880
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222351.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222351.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R338.98,X2.00,Y28.93,Z-337.74

: Sonardyne - parsing R338.98,X2.00,Y28.93,Z-337.74

: Sonardyne - read R = 338.980000 from 338.98,X2.00,Y28.93,Z-337.74

: Sonardyne - got all data, Vehicle coordinates,
    r=338.980000, x=337.740000, y=2.000000, z=-28.930000 tat = 880
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222352.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222352.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R337.63,X3.24,Y26.35,Z-336.58

: Sonardyne - parsing R337.63,X3.24,Y26.35,Z-336.58

: Sonardyne - read R = 337.630000 from 337.63,X3.24,Y26.35,Z-336.58

: Sonardyne - got all data, Vehicle coordinates,
    r=337.630000, x=336.580000, y=3.240000, z=-26.350000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222353.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222353.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R336.18,X-0.96,Y31.57,Z-334.70

: Sonardyne - parsing R336.18,X-0.96,Y31.57,Z-334.70

: Sonardyne - read R = 336.180000 from 336.18,X-0.96,Y31.57,Z-334.70

: Sonardyne - got all data, Vehicle coordinates,
    r=336.180000, x=334.700000, y=-0.960000, z=-31.570000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222354.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222354.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R334.31,X-1.46,Y28.79,Z-333.06

: Sonardyne - parsing R334.31,X-1.46,Y28.79,Z-333.06

: Sonardyne - read R = 334.310000 from 334.31,X-1.46,Y28.79,Z-333.06

: Sonardyne - got all data, Vehicle coordinates,
    r=334.310000, x=333.060000, y=-1.460000, z=-28.790000 tat = 869
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222355.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222355.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R332.30,X-6.58,Y23.41,Z-331.41

: Sonardyne - parsing R332.30,X-6.58,Y23.41,Z-331.41

: Sonardyne - read R = 332.300000 from 332.30,X-6.58,Y23.41,Z-331.41

: Sonardyne - got all data, Vehicle coordinates,
    r=332.300000, x=331.410000, y=-6.580000, z=-23.410000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222356.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222356.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R330.64,X-2.36,Y30.72,Z-329.20

: Sonardyne - parsing R330.64,X-2.36,Y30.72,Z-329.20

: Sonardyne - read R = 330.640000 from 330.64,X-2.36,Y30.72,Z-329.20

: Sonardyne - got all data, Vehicle coordinates,
    r=330.640000, x=329.200000, y=-2.360000, z=-30.720000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222357.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222357.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R328.17,X-8.75,Y1.10,Z-328.05

: Sonardyne - parsing R328.17,X-8.75,Y1.10,Z-328.05

: Sonardyne - read R = 328.170000 from 328.17,X-8.75,Y1.10,Z-328.05

: Sonardyne - got all data, Vehicle coordinates,
    r=328.170000, x=328.050000, y=-8.750000, z=-1.100000 tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222358.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222358.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R327.57

: Sonardyne - parsing R327.57

: Sonardyne - read R = 327.570000 from 327.57

: Sonardyne - got range only (327.570000), tat = 840
: Sonardyne - POSD response: 
POSD S130.3,N19.2,D-139,U1,Q0.007459

: Sonardyne - POSD response: 
POSD S130.3,N19.2,D-139,U1,Q0.007459

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222359.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222359.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35  9.75 15.03 3.78 3.80 0 20818.58 07:28:21 m

: Sonardyne - POS response: 
POS V4,1 R324.02,X-3.94,Y13.02,Z-323.74

: Sonardyne - parsing R324.02,X-3.94,Y13.02,Z-323.74

: Sonardyne - read R = 324.020000 from 324.02,X-3.94,Y13.02,Z-323.74

: Sonardyne - got all data, Vehicle coordinates,
    r=324.020000, x=323.740000, y=-3.940000, z=-13.020000 tat = 860
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222400.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222400.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R322.45,X-1.56,Y21.64,Z-321.72

: Sonardyne - parsing R322.45,X-1.56,Y21.64,Z-321.72

: Sonardyne - read R = 322.450000 from 322.45,X-1.56,Y21.64,Z-321.72

: Sonardyne - got all data, Vehicle coordinates,
    r=322.450000, x=321.720000, y=-1.560000, z=-21.640000 tat = 860
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222401.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222401.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R320.77,X-5.83,Y5.89,Z-320.67

: Sonardyne - parsing R320.77,X-5.83,Y5.89,Z-320.67

: Sonardyne - read R = 320.770000 from 320.77,X-5.83,Y5.89,Z-320.67

: Sonardyne - got all data, Vehicle coordinates,
    r=320.770000, x=320.670000, y=-5.830000, z=-5.890000 tat = 850
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222402.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222402.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.53,X-2.62,Y8.31,Z-319.41

: Sonardyne - parsing R319.53,X-2.62,Y8.31,Z-319.41

: Sonardyne - read R = 319.530000 from 319.53,X-2.62,Y8.31,Z-319.41

: Sonardyne - got all data, Vehicle coordinates,
    r=319.530000, x=319.410000, y=-2.620000, z=-8.310000 tat = 850
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222403.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222403.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.46,X1.96,Y15.16,Z-318.09

: Sonardyne - parsing R318.46,X1.96,Y15.16,Z-318.09

: Sonardyne - read R = 318.460000 from 318.46,X1.96,Y15.16,Z-318.09

: Sonardyne - got all data, Vehicle coordinates,
    r=318.460000, x=318.090000, y=1.960000, z=-15.160000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222404.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222404.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R317.39,X0.86,Y21.76,Z-316.64

: Sonardyne - parsing R317.39,X0.86,Y21.76,Z-316.64

: Sonardyne - read R = 317.390000 from 317.39,X0.86,Y21.76,Z-316.64

: Sonardyne - got all data, Vehicle coordinates,
    r=317.390000, x=316.640000, y=0.860000, z=-21.760000 tat = 850
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222405.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222405.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R316.48,X3.63,Y23.35,Z-315.59

: Sonardyne - parsing R316.48,X3.63,Y23.35,Z-315.59

: Sonardyne - read R = 316.480000 from 316.48,X3.63,Y23.35,Z-315.59

: Sonardyne - got all data, Vehicle coordinates,
    r=316.480000, x=315.590000, y=3.630000, z=-23.350000 tat = 850
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222406.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222406.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R315.86,X10.00,Y46.73,Z-312.22

: Sonardyne - parsing R315.86,X10.00,Y46.73,Z-312.22

: Sonardyne - read R = 315.860000 from 315.86,X10.00,Y46.73,Z-312.22

: Sonardyne - got all data, Vehicle coordinates,
    r=315.860000, x=312.220000, y=10.000000, z=-46.730000 tat = 850
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222407.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222407.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.11,X6.14,Y48.82,Z-310.23

: Sonardyne - parsing R314.11,X6.14,Y48.82,Z-310.23

: Sonardyne - read R = 314.110000 from 314.11,X6.14,Y48.82,Z-310.23

: Sonardyne - got all data, Vehicle coordinates,
    r=314.110000, x=310.230000, y=6.140000, z=-48.820000 tat = 840
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222408.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222408.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R312.08

: Sonardyne - parsing R312.08

: Sonardyne - read R = 312.080000 from 312.08

: Sonardyne - got range only (312.080000), tat = 820
: Sonardyne - POSD response: 
POSD S131.7,N22.3,D24,U4,Q0.000444

: Sonardyne - POSD response: 
POSD S131.7,N22.3,D24,U4,Q0.000444

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222409.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222409.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.42 15.13 3.78 3.81 0 20817.98 07:28:31 m

: Sonardyne - POS response: 
POS V4,1 R310.08,X-3.14,Y18.72,Z-309.50

: Sonardyne - parsing R310.08,X-3.14,Y18.72,Z-309.50

: Sonardyne - read R = 310.080000 from 310.08,X-3.14,Y18.72,Z-309.50

: Sonardyne - got all data, Vehicle coordinates,
    r=310.080000, x=309.500000, y=-3.140000, z=-18.720000 tat = 839
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222410.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222410.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R307.94,X-3.76,Y16.77,Z-307.46

: Sonardyne - parsing R307.94,X-3.76,Y16.77,Z-307.46

: Sonardyne - read R = 307.940000 from 307.94,X-3.76,Y16.77,Z-307.46

: Sonardyne - got all data, Vehicle coordinates,
    r=307.940000, x=307.460000, y=-3.760000, z=-16.770000 tat = 830
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222411.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222411.00,,,,,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,222412.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222412.00,,,,,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,222413.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222413.00,,,,,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 = 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,N10.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222414.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222414.00,,,,,0,00,,,M,,M,,*4B


: 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

: Sonardyne - POS response: 
POS V4,1 R298.43,X-4.70,Y4.53,Z-298.35

: Sonardyne - parsing R298.43,X-4.70,Y4.53,Z-298.35

: Sonardyne - read R = 298.430000 from 298.43,X-4.70,Y4.53,Z-298.35

: Sonardyne - got all data, Vehicle coordinates,
    r=298.430000, x=298.350000, y=-4.700000, z=-4.530000 tat = 820
: AshtechGps::processRecord() - $GPGGA,222415.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222415.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R296.75,X-1.55,Y11.12,Z-296.54

: Sonardyne - parsing R296.75,X-1.55,Y11.12,Z-296.54

: Sonardyne - read R = 296.750000 from 296.75,X-1.55,Y11.12,Z-296.54

: Sonardyne - got all data, Vehicle coordinates,
    r=296.750000, x=296.540000, y=-1.550000, z=-11.120000 tat = 820
: AshtechGps::processRecord() - $GPGGA,222416.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222416.00,,,,,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 R295.54,X-1.46,Y6.58,Z-295.46

: Sonardyne - parsing R295.54,X-1.46,Y6.58,Z-295.46

: Sonardyne - read R = 295.540000 from 295.54,X-1.46,Y6.58,Z-295.46

: Sonardyne - got all data, Vehicle coordinates,
    r=295.540000, x=295.460000, y=-1.460000, z=-6.580000 tat = 820
: AshtechGps::processRecord() - $GPGGA,222417.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222417.00,,,,,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 R297.97

: Sonardyne - parsing R297.97

: Sonardyne - read R = 297.970000 from 297.97

: Sonardyne - got range only (297.970000), tat = 800
: AshtechGps::processRecord() - $GPGGA,222418.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222418.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S120.8,N30.0,D41,U1,Q0.006921

: Sonardyne - POSD response: 
POSD S120.8,N30.0,D41,U1,Q0.006921

: 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

: Sonardyne - POS response: 
POS V4,1 R294.08,X1.25,Y15.32,Z-293.68

: Sonardyne - parsing R294.08,X1.25,Y15.32,Z-293.68

: Sonardyne - read R = 294.080000 from 294.08,X1.25,Y15.32,Z-293.68

: Sonardyne - got all data, Vehicle coordinates,
    r=294.080000, x=293.680000, y=1.250000, z=-15.320000 tat = 810
: AshtechGps::processRecord() - $GPGGA,222419.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222419.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $b6q0 d- 30.39  9.06 15.13 3.78 3.81 0 20817.03 07:28:41 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 R292.82,X6.29,Y28.34,Z-291.38

: Sonardyne - parsing R292.82,X6.29,Y28.34,Z-291.38

: Sonardyne - read R = 292.820000 from 292.82,X6.29,Y28.34,Z-291.38

: Sonardyne - got all data, Vehicle coordinates,
    r=292.820000, x=291.380000, y=6.290000, z=-28.340000 tat = 810
: AshtechGps::processRecord() - $GPGGA,222420.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222420.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

:  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 R292.05,X0.92,Y8.63,Z-291.92

: Sonardyne - parsing R292.05,X0.92,Y8.63,Z-291.92

: Sonardyne - read R = 292.050000 from 292.05,X0.92,Y8.63,Z-291.92

: Sonardyne - got all data, Vehicle coordinates,
    r=292.050000, x=291.920000, y=0.920000, z=-8.630000 tat = 810
: AshtechGps::processRecord() - $GPGGA,222421.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222421.00,,,,,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 R289.97,X3.66,Y19.78,Z-289.27

: Sonardyne - parsing R289.97,X3.66,Y19.78,Z-289.27

: Sonardyne - read R = 289.970000 from 289.97,X3.66,Y19.78,Z-289.27

: Sonardyne - got all data, Vehicle coordinates,
    r=289.970000, x=289.270000, y=3.660000, z=-19.780000 tat = 810
: AshtechGps::processRecord() - $GPGGA,222422.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222422.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R288.36,X0.62,Y15.60,Z-287.94

: Sonardyne - parsing R288.36,X0.62,Y15.60,Z-287.94

: Sonardyne - read R = 288.360000 from 288.36,X0.62,Y15.60,Z-287.94

: Sonardyne - got all data, Vehicle coordinates,
    r=288.360000, x=287.940000, y=0.620000, z=-15.600000 tat = 810
: AshtechGps::processRecord() - $GPGGA,222423.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222423.00,,,,,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 R286.57,X9.86,Y36.74,Z-284.04

: Sonardyne - parsing R286.57,X9.86,Y36.74,Z-284.04

: Sonardyne - read R = 286.570000 from 286.57,X9.86,Y36.74,Z-284.04

: Sonardyne - got all data, Vehicle coordinates,
    r=286.570000, x=284.040000, y=9.860000, z=-36.740000 tat = 799
: AshtechGps::processRecord() - $GPGGA,222424.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222424.00,,,,,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 R283.47,X1.25,Y3.48,Z-283.45

: Sonardyne - parsing R283.47,X1.25,Y3.48,Z-283.45

: Sonardyne - read R = 283.470000 from 283.47,X1.25,Y3.48,Z-283.45

: Sonardyne - got all data, Vehicle coordinates,
    r=283.470000, x=283.450000, y=1.250000, z=-3.480000 tat = 800
: AshtechGps::processRecord() - $GPGGA,222425.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222425.00,,,,,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 R281.16,X0.27,Y10.09,Z-280.98

: Sonardyne - parsing R281.16,X0.27,Y10.09,Z-280.98

: Sonardyne - read R = 281.160000 from 281.16,X0.27,Y10.09,Z-280.98

: Sonardyne - got all data, Vehicle coordinates,
    r=281.160000, x=280.980000, y=0.270000, z=-10.090000 tat = 800
: AshtechGps::processRecord() - $GPGGA,222426.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222426.00,,,,,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 R278.75,X-2.36,Y11.71,Z-278.49

: Sonardyne - parsing R278.75,X-2.36,Y11.71,Z-278.49

: Sonardyne - read R = 278.750000 from 278.75,X-2.36,Y11.71,Z-278.49

: Sonardyne - got all data, Vehicle coordinates,
    r=278.750000, x=278.490000, y=-2.360000, z=-11.710000 tat = 800
: AshtechGps::processRecord() - $GPGGA,222427.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222427.00,,,,,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 R276.58

: Sonardyne - parsing R276.58

: Sonardyne - read R = 276.580000 from 276.58

: Sonardyne - got range only (276.580000), tat = 770
: Sonardyne - POSD response: 
POSD S135.6,N24.3,D21,U3,Q0.000101

: AshtechGps::processRecord() - $GPGGA,222428.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222428.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.6,N24.3,D21,U3,Q0.000101

: 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

: Sonardyne - POS response: 
POS V4,1 R275.04,X-2.97,Y3.23,Z-275.00

: Sonardyne - parsing R275.04,X-2.97,Y3.23,Z-275.00

: Sonardyne - read R = 275.040000 from 275.04,X-2.97,Y3.23,Z-275.00

: Sonardyne - got all data, Vehicle coordinates,
    r=275.040000, x=275.000000, y=-2.970000, z=-3.230000 tat = 790
: AshtechGps::processRecord() - $GPGGA,222429.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222429.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $b6q0 d- 30.35  9.85 15.13 3.78 3.80 0 20816.42 07:28:51 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 R273.50,X-0.63,Y8.39,Z-273.37

: Sonardyne - parsing R273.50,X-0.63,Y8.39,Z-273.37

: Sonardyne - read R = 273.500000 from 273.50,X-0.63,Y8.39,Z-273.37

: Sonardyne - got all data, Vehicle coordinates,
    r=273.500000, x=273.370000, y=-0.630000, z=-8.390000 tat = 790
: AshtechGps::processRecord() - $GPGGA,222430.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222430.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

:  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 R272.54,X-2.21,Y12.19,Z-272.26

: Sonardyne - parsing R272.54,X-2.21,Y12.19,Z-272.26

: Sonardyne - read R = 272.540000 from 272.54,X-2.21,Y12.19,Z-272.26

: Sonardyne - got all data, Vehicle coordinates,
    r=272.540000, x=272.260000, y=-2.210000, z=-12.190000 tat = 790
: AshtechGps::processRecord() - $GPGGA,222431.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222431.00,,,,,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 R271.83,X-2.59,Y3.01,Z-271.80

: Sonardyne - parsing R271.83,X-2.59,Y3.01,Z-271.80

: Sonardyne - read R = 271.830000 from 271.83,X-2.59,Y3.01,Z-271.80

: Sonardyne - got all data, Vehicle coordinates,
    r=271.830000, x=271.800000, y=-2.590000, z=-3.010000 tat = 790
: AshtechGps::processRecord() - $GPGGA,222432.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222432.00,,,,,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 R270.39,X-0.56,Y7.91,Z-270.28

: Sonardyne - parsing R270.39,X-0.56,Y7.91,Z-270.28

: Sonardyne - read R = 270.390000 from 270.39,X-0.56,Y7.91,Z-270.28

: Sonardyne - got all data, Vehicle coordinates,
    r=270.390000, x=270.280000, y=-0.560000, z=-7.910000 tat = 780
: AshtechGps::processRecord() - $GPGGA,222433.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222433.00,,,,,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 R269.52,X4.16,Y25.05,Z-268.32

: Sonardyne - parsing R269.52,X4.16,Y25.05,Z-268.32

: Sonardyne - read R = 269.520000 from 269.52,X4.16,Y25.05,Z-268.32

: Sonardyne - got all data, Vehicle coordinates,
    r=269.520000, x=268.320000, y=4.160000, z=-25.050000 tat = 780
: AshtechGps::processRecord() - $GPGGA,222434.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222434.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R267.93,X-1.03,Y12.81,Z-267.62

: Sonardyne - parsing R267.93,X-1.03,Y12.81,Z-267.62

: Sonardyne - read R = 267.930000 from 267.93,X-1.03,Y12.81,Z-267.62

: Sonardyne - got all data, Vehicle coordinates,
    r=267.930000, x=267.620000, y=-1.030000, z=-12.810000 tat = 780
: AshtechGps::processRecord() - $GPGGA,222435.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222435.00,,,,,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 R266.54,X-0.20,Y12.91,Z-266.22

: Sonardyne - parsing R266.54,X-0.20,Y12.91,Z-266.22

: Sonardyne - read R = 266.540000 from 266.54,X-0.20,Y12.91,Z-266.22

: Sonardyne - got all data, Vehicle coordinates,
    r=266.540000, x=266.220000, y=-0.200000, z=-12.910000 tat = 780
: AshtechGps::processRecord() - $GPGGA,222436.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222436.00,,,,,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 R264.59,X0.13,Y15.99,Z-264.11

: Sonardyne - parsing R264.59,X0.13,Y15.99,Z-264.11

: Sonardyne - read R = 264.590000 from 264.59,X0.13,Y15.99,Z-264.11

: Sonardyne - got all data, Vehicle coordinates,
    r=264.590000, x=264.110000, y=0.130000, z=-15.990000 tat = 780
: AshtechGps::processRecord() - $GPGGA,222437.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222437.00,,,,,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 R263.13,X-0.61,Y14.21,Z-262.75

: Sonardyne - parsing R263.13,X-0.61,Y14.21,Z-262.75

: Sonardyne - read R = 263.130000 from 263.13,X-0.61,Y14.21,Z-262.75

: Sonardyne - got all data, Vehicle coordinates,
    r=263.130000, x=262.750000, y=-0.610000, z=-14.210000 tat = 769
: AshtechGps::processRecord() - $GPGGA,222438.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222438.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R260.50,X1.40,Y20.36,Z-259.70

: Sonardyne - parsing R260.50,X1.40,Y20.36,Z-259.70

: Sonardyne - read R = 260.500000 from 260.50,X1.40,Y20.36,Z-259.70

: Sonardyne - got all data, Vehicle coordinates,
    r=260.500000, x=259.700000, y=1.400000, z=-20.360000 tat = 770
: AshtechGps::processRecord() - $GPGGA,222439.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222439.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35  9.42 15.13 3.78 3.80 0 20815.45 07:29:01 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 R258.38,X-0.36,Y10.45,Z-258.16

: Sonardyne - parsing R258.38,X-0.36,Y10.45,Z-258.16

: Sonardyne - read R = 258.380000 from 258.38,X-0.36,Y10.45,Z-258.16

: Sonardyne - got all data, Vehicle coordinates,
    r=258.380000, x=258.160000, y=-0.360000, z=-10.450000 tat = 770
: AshtechGps::processRecord() - $GPGGA,222440.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222440.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

:  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 R256.23,X-1.36,Y9.41,Z-256.05

: Sonardyne - parsing R256.23,X-1.36,Y9.41,Z-256.05

: Sonardyne - read R = 256.230000 from 256.23,X-1.36,Y9.41,Z-256.05

: Sonardyne - got all data, Vehicle coordinates,
    r=256.230000, x=256.050000, y=-1.360000, z=-9.410000 tat = 760
: AshtechGps::processRecord() - $GPGGA,222441.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222441.00,,,,,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 R254.78,X3.53,Y23.47,Z-253.67

: Sonardyne - parsing R254.78,X3.53,Y23.47,Z-253.67

: Sonardyne - read R = 254.780000 from 254.78,X3.53,Y23.47,Z-253.67

: Sonardyne - got all data, Vehicle coordinates,
    r=254.780000, x=253.670000, y=3.530000, z=-23.470000 tat = 760
: AshtechGps::processRecord() - $GPGGA,222442.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222442.00,,,,,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 R252.25,X0.58,Y17.51,Z-251.65

: Sonardyne - parsing R252.25,X0.58,Y17.51,Z-251.65

: Sonardyne - read R = 252.250000 from 252.25,X0.58,Y17.51,Z-251.65

: Sonardyne - got all data, Vehicle coordinates,
    r=252.250000, x=251.650000, y=0.580000, z=-17.510000 tat = 760
: AshtechGps::processRecord() - $GPGGA,222443.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222443.00,,,,,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 R250.88,X-4.44,Y-4.18,Z-250.80

: Sonardyne - parsing R250.88,X-4.44,Y-4.18,Z-250.80

: Sonardyne - read R = 250.880000 from 250.88,X-4.44,Y-4.18,Z-250.80

: Sonardyne - got all data, Vehicle coordinates,
    r=250.880000, x=250.800000, y=-4.440000, z=4.180000 tat = 760
: AshtechGps::processRecord() - $GPGGA,222444.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222444.00,,,,,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 R249.39,X-0.31,Y7.78,Z-249.27

: Sonardyne - parsing R249.39,X-0.31,Y7.78,Z-249.27

: Sonardyne - read R = 249.390000 from 249.39,X-0.31,Y7.78,Z-249.27

: Sonardyne - got all data, Vehicle coordinates,
    r=249.390000, x=249.270000, y=-0.310000, z=-7.780000 tat = 760
: AshtechGps::processRecord() - $GPGGA,222445.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222445.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.82,X-3.30,Y-5.93,Z-247.72

: Sonardyne - parsing R247.82,X-3.30,Y-5.93,Z-247.72

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

: Sonardyne - read R = 247.820000 from 247.82,X-3.30,Y-5.93,Z-247.72

: Sonardyne - got all data, Vehicle coordinates,
    r=247.820000, x=247.720000, y=-3.300000, z=5.930000 tat = 750
: AshtechGps::processRecord() - $GPGGA,222446.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222446.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R246.58,X0.05,Y10.28,Z-246.36

: Sonardyne - parsing R246.58,X0.05,Y10.28,Z-246.36

: Sonardyne - read R = 246.580000 from 246.58,X0.05,Y10.28,Z-246.36

: Sonardyne - got all data, Vehicle coordinates,
    r=246.580000, x=246.360000, y=0.050000, z=-10.280000 tat = 750
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222447.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222447.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.33,X2.14,Y17.58,Z-244.69

: Sonardyne - parsing R245.33,X2.14,Y17.58,Z-244.69

: Sonardyne - read R = 245.330000 from 245.33,X2.14,Y17.58,Z-244.69

: Sonardyne - got all data, Vehicle coordinates,
    r=245.330000, x=244.690000, y=2.140000, z=-17.580000 tat = 750
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222448.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222448.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.57,X-2.22,Y1.81,Z-243.55

: Sonardyne - parsing R243.57,X-2.22,Y1.81,Z-243.55

: Sonardyne - read R = 243.570000 from 243.57,X-2.22,Y1.81,Z-243.55

: Sonardyne - got all data, Vehicle coordinates,
    r=243.570000, x=243.550000, y=-2.220000, z=-1.810000 tat = 750
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222449.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222449.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.39  9.06 15.13 3.78 3.80 0 20814.82 07:29:11 m

: Sonardyne - POS response: 
POS V4,1 R242.26,X1.00,Y15.98,Z-241.73

: Sonardyne - parsing R242.26,X1.00,Y15.98,Z-241.73

: Sonardyne - read R = 242.260000 from 242.26,X1.00,Y15.98,Z-241.73

: Sonardyne - got all data, Vehicle coordinates,
    r=242.260000, x=241.730000, y=1.000000, z=-15.980000 tat = 750
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222450.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222450.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R240.67,X-0.23,Y10.70,Z-240.43

: Sonardyne - parsing R240.67,X-0.23,Y10.70,Z-240.43

: Sonardyne - read R = 240.670000 from 240.67,X-0.23,Y10.70,Z-240.43

: Sonardyne - got all data, Vehicle coordinates,
    r=240.670000, x=240.430000, y=-0.230000, z=-10.700000 tat = 740
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222451.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222451.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.12,X1.75,Y17.35,Z-238.48

: Sonardyne - parsing R239.12,X1.75,Y17.35,Z-238.48

: Sonardyne - read R = 239.120000 from 239.12,X1.75,Y17.35,Z-238.48

: Sonardyne - got all data, Vehicle coordinates,
    r=239.120000, x=238.480000, y=1.750000, z=-17.350000 tat = 740
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222452.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222452.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.47,X2.26,Y16.50,Z-236.89

: Sonardyne - parsing R237.47,X2.26,Y16.50,Z-236.89

: Sonardyne - read R = 237.470000 from 237.47,X2.26,Y16.50,Z-236.89

: Sonardyne - got all data, Vehicle coordinates,
    r=237.470000, x=236.890000, y=2.260000, z=-16.500000 tat = 739
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222453.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222453.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.86,X2.75,Y20.87,Z-234.91

: Sonardyne - parsing R235.86,X2.75,Y20.87,Z-234.91

: Sonardyne - read R = 235.860000 from 235.86,X2.75,Y20.87,Z-234.91

: Sonardyne - got all data, Vehicle coordinates,
    r=235.860000, x=234.910000, y=2.750000, z=-20.870000 tat = 740
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222454.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222454.00,,,,,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,222455.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222455.00,,,,,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,222456.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222456.00,,,,,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,222457.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222457.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: 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

: AshtechGps::processRecord() - $GPGGA,222458.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222458.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R227.77,X0.24,Y19.58,Z-226.93

: Sonardyne - parsing R227.77,X0.24,Y19.58,Z-226.93

: Sonardyne - read R = 227.770000 from 227.77,X0.24,Y19.58,Z-226.93

: Sonardyne - got all data, Vehicle coordinates,
    r=227.770000, x=226.930000, y=0.240000, z=-19.580000 tat = 730
: 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,222459.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222459.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.35 10.00 15.13 3.78 3.80 0 20813.84 07:29:21 m

: Sonardyne - POS response: 
POS V4,1 R225.82,X-1.81,Y9.84,Z-225.59

: Sonardyne - parsing R225.82,X-1.81,Y9.84,Z-225.59

: Sonardyne - read R = 225.820000 from 225.82,X-1.81,Y9.84,Z-225.59

: Sonardyne - got all data, Vehicle coordinates,
    r=225.820000, x=225.590000, y=-1.810000, z=-9.840000 tat = 720
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222500.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222500.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R223.90,X-3.14,Y6.05,Z-223.80

: Sonardyne - parsing R223.90,X-3.14,Y6.05,Z-223.80

: Sonardyne - read R = 223.900000 from 223.90,X-3.14,Y6.05,Z-223.80

: Sonardyne - got all data, Vehicle coordinates,
    r=223.900000, x=223.800000, y=-3.140000, z=-6.050000 tat = 720
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222501.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222501.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R222.02,X-3.48,Y-0.46,Z-221.99

: Sonardyne - parsing R222.02,X-3.48,Y-0.46,Z-221.99

: Sonardyne - read R = 222.020000 from 222.02,X-3.48,Y-0.46,Z-221.99

: Sonardyne - got all data, Vehicle coordinates,
    r=222.020000, x=221.990000, y=-3.480000, z=0.460000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222502.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222502.00,,,,,0,00,,,M,,M,,*4D


:  wdt = 00898,  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 R226.38,X10.55,Y55.55,Z-219.21

: Sonardyne - parsing R226.38,X10.55,Y55.55,Z-219.21

: Sonardyne - read R = 226.380000 from 226.38,X10.55,Y55.55,Z-219.21

: Sonardyne - got all data, Vehicle coordinates,
    r=226.380000, x=219.210000, y=10.550000, z=-55.550000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222503.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222503.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R218.70,X-5.04,Y-2.98,Z-218.62

: Sonardyne - parsing R218.70,X-5.04,Y-2.98,Z-218.62

: Sonardyne - read R = 218.700000 from 218.70,X-5.04,Y-2.98,Z-218.62

: Sonardyne - got all data, Vehicle coordinates,
    r=218.700000, x=218.620000, y=-5.040000, z=2.980000 tat = 710
: AshtechGps::processRecord() - $GPGGA,222504.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222504.00,,,,,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 R217.34,X-7.95,Y-7.19,Z-217.07

: Sonardyne - parsing R217.34,X-7.95,Y-7.19,Z-217.07

: Sonardyne - read R = 217.340000 from 217.34,X-7.95,Y-7.19,Z-217.07

: Sonardyne - got all data, Vehicle coordinates,
    r=217.340000, x=217.070000, y=-7.950000, z=7.190000 tat = 710
: AshtechGps::processRecord() - $GPGGA,222505.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222505.00,,,,,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,222506.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222506.00,,,,,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,222507.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222507.00,,,,,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 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,222508.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222508.00,,,,,0,00,,,M,,M,,*47


: 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 R211.43,X4.71,Y23.05,Z-210.12

: Sonardyne - parsing R211.43,X4.71,Y23.05,Z-210.12

: Sonardyne - read R = 211.430000 from 211.43,X4.71,Y23.05,Z-210.12

: Sonardyne - got all data, Vehicle coordinates,
    r=211.430000, x=210.120000, y=4.710000, z=-23.050000 tat = 710
: AshtechGps::processRecord() - $GPGGA,222509.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222509.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $b6q0 d- 30.35  9.78 15.13 3.78 3.81 0 20813.21 07:29:31 m

: Sonardyne - POS response: 
POS V4,1 R209.75,X2.47,Y9.28,Z-209.53

: Sonardyne - parsing R209.75,X2.47,Y9.28,Z-209.53

: Sonardyne - read R = 209.750000 from 209.75,X2.47,Y9.28,Z-209.53

: Sonardyne - got all data, Vehicle coordinates,
    r=209.750000, x=209.530000, y=2.470000, z=-9.280000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222510.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222510.00,,,,,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

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R209.81

: Sonardyne - parsing R209.81

: Sonardyne - read R = 209.810000 from 209.81

: Sonardyne - got range only (209.810000), tat = 680
: Sonardyne - POSD response: 
POSD S133.6,N14.2,D-71,U5,Q0.001803

: Sonardyne - POSD response: 
POSD S133.6,N14.2,D-71,U5,Q0.001803

: AshtechGps::processRecord() - $GPGGA,222511.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222511.00,,,,,0,00,,,M,,M,,*4F


: 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 R205.97

: Sonardyne - parsing R205.97

: Sonardyne - read R = 205.970000 from 205.97

: Sonardyne - got range only (205.970000), tat = 670
: Sonardyne - POSD response: 
POSD S134.7,N20.0,D-47,U3,Q0.000306

: Sonardyne - POSD response: 
POSD S134.7,N20.0,D-47,U3,Q0.000306

: AshtechGps::processRecord() - $GPGGA,222512.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222512.00,,,,,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,222513.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222513.00,,,,,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,222514.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222514.00,,,,,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,222515.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222515.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222516.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222516.00,,,,,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 R197.40,X1.38,Y-5.62,Z-197.32

: Sonardyne - parsing R197.40,X1.38,Y-5.62,Z-197.32

: Sonardyne - read R = 197.400000 from 197.40,X1.38,Y-5.62,Z-197.32

: Sonardyne - got all data, Vehicle coordinates,
    r=197.400000, x=197.320000, y=1.380000, z=5.620000 tat = 690
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222517.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222517.00,,,,,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 R195.83,X2.10,Y-1.30,Z-195.81

: Sonardyne - parsing R195.83,X2.10,Y-1.30,Z-195.81

: Sonardyne - read R = 195.830000 from 195.83,X2.10,Y-1.30,Z-195.81

: Sonardyne - got all data, Vehicle coordinates,
    r=195.830000, x=195.810000, y=2.100000, z=1.300000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222518.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222518.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R194.25,X0.67,Y-3.17,Z-194.22

: Sonardyne - parsing R194.25,X0.67,Y-3.17,Z-194.22

: Sonardyne - read R = 194.250000 from 194.25,X0.67,Y-3.17,Z-194.22

: Sonardyne - got all data, Vehicle coordinates,
    r=194.250000, x=194.220000, y=0.670000, z=3.170000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222519.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222519.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.35  9.09 15.13 3.78 3.81 0 20812.28 07:29:41 m

: Sonardyne - POS response: 
POS V4,1 R192.87,X1.74,Y3.65,Z-192.83

: Sonardyne - parsing R192.87,X1.74,Y3.65,Z-192.83

: Sonardyne - read R = 192.870000 from 192.87,X1.74,Y3.65,Z-192.83

: Sonardyne - got all data, Vehicle coordinates,
    r=192.870000, x=192.830000, y=1.740000, z=-3.650000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222520.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222520.00,,,,,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 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R191.33,X-0.29,Y0.79,Z-191.33

: Sonardyne - parsing R191.33,X-0.29,Y0.79,Z-191.33

: Sonardyne - read R = 191.330000 from 191.33,X-0.29,Y0.79,Z-191.33

: Sonardyne - got all data, Vehicle coordinates,
    r=191.330000, x=191.330000, y=-0.290000, z=-0.790000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222521.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222521.00,,,,,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 R189.74,X-0.48,Y2.76,Z-189.72

: Sonardyne - parsing R189.74,X-0.48,Y2.76,Z-189.72

: Sonardyne - read R = 189.740000 from 189.74,X-0.48,Y2.76,Z-189.72

: Sonardyne - got all data, Vehicle coordinates,
    r=189.740000, x=189.720000, y=-0.480000, z=-2.760000 tat = 670
: AshtechGps::processRecord() - $GPGGA,222522.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222522.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R192.05

: Sonardyne - parsing R192.05

: Sonardyne - read R = 192.050000 from 192.05

: Sonardyne - got range only (192.050000), tat = 650
: Sonardyne - POSD response: 
POSD S134.6,N25.6,D21,U4,Q0.015438

: Sonardyne - POSD response: 
POSD S134.6,N25.6,D21,U4,Q0.015438

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222523.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222523.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R186.40

: Sonardyne - parsing R186.40

: Sonardyne - read R = 186.400000 from 186.40

: Sonardyne - got range only (186.400000), tat = 650
: Sonardyne - POSD response: 
POSD S134.6,N18.1,D105,U5,Q0.000089

: Sonardyne - POSD response: 
POSD S134.6,N18.1,D105,U5,Q0.000089

: AshtechGps::processRecord() - $GPGGA,222524.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222524.00,,,,,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 R186.16

: Sonardyne - parsing R186.16

: Sonardyne - read R = 186.160000 from 186.16

: Sonardyne - got range only (186.160000), tat = 650
: Sonardyne - POSD response: 
POSD S+141.1,N28.1,D-69,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.1,N28.1,D-69,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222525.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222525.00,,,,,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 R183.93,X10.42,Y52.35,Z-176.01

: Sonardyne - parsing R183.93,X10.42,Y52.35,Z-176.01

: Sonardyne - read R = 183.930000 from 183.93,X10.42,Y52.35,Z-176.01

: Sonardyne - got all data, Vehicle coordinates,
    r=183.930000, x=176.010000, y=10.420000, z=-52.350000 tat = 670
: Sonardyne - POSD response: 
POSD S132.9,N18.4,D-142,U6,Q0.000255

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222526.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222526.00,,,,,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 R181.48,X4.20,Y22.44,Z-180.04

: Sonardyne - parsing R181.48,X4.20,Y22.44,Z-180.04

: Sonardyne - read R = 181.480000 from 181.48,X4.20,Y22.44,Z-180.04

: Sonardyne - got all data, Vehicle coordinates,
    r=181.480000, x=180.040000, y=4.200000, z=-22.440000 tat = 660
: AshtechGps::processRecord() - $GPGGA,222527.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222527.00,,,,,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 R179.95,X-1.07,Y7.47,Z-179.79

: Sonardyne - parsing R179.95,X-1.07,Y7.47,Z-179.79

: Sonardyne - read R = 179.950000 from 179.95,X-1.07,Y7.47,Z-179.79

: Sonardyne - got all data, Vehicle coordinates,
    r=179.950000, x=179.790000, y=-1.070000, z=-7.470000 tat = 660
: AshtechGps::processRecord() - $GPGGA,222528.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222528.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R178.42,X-2.32,Y7.13,Z-178.27

: Sonardyne - parsing R178.42,X-2.32,Y7.13,Z-178.27

: Sonardyne - read R = 178.420000 from 178.42,X-2.32,Y7.13,Z-178.27

: Sonardyne - got all data, Vehicle coordinates,
    r=178.420000, x=178.270000, y=-2.320000, z=-7.130000 tat = 660
: AshtechGps::processRecord() - $GPGGA,222529.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222529.00,,,,,0,00,,,M,,M,,*44


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

: BluefinBatt Reply: $b6q0 d- 30.35  9.53 15.13 3.78 3.80 0 20811.64 07:29:51 m

: Sonardyne - POS response: 
POS V4,1 R176.85,X-2.82,Y5.74,Z-176.73

: Sonardyne - parsing R176.85,X-2.82,Y5.74,Z-176.73

: Sonardyne - read R = 176.850000 from 176.85,X-2.82,Y5.74,Z-176.73

: Sonardyne - got all data, Vehicle coordinates,
    r=176.850000, x=176.730000, y=-2.820000, z=-5.740000 tat = 660
: AshtechGps::processRecord() - $GPGGA,222530.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222530.00,,,,,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 3.780000, mean min cell voltage 3.780000

: Sonardyne - POS response: 
POS V4,1 R175.31,X-4.34,Y-1.92,Z-175.24

: Sonardyne - parsing R175.31,X-4.34,Y-1.92,Z-175.24

: Sonardyne - read R = 175.310000 from 175.31,X-4.34,Y-1.92,Z-175.24

: Sonardyne - got all data, Vehicle coordinates,
    r=175.310000, x=175.240000, y=-4.340000, z=1.920000 tat = 660
: AshtechGps::processRecord() - $GPGGA,222531.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222531.00,,,,,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 R173.64,X-3.53,Y2.27,Z-173.59

: Sonardyne - parsing R173.64,X-3.53,Y2.27,Z-173.59

: Sonardyne - read R = 173.640000 from 173.64,X-3.53,Y2.27,Z-173.59

: Sonardyne - got all data, Vehicle coordinates,
    r=173.640000, x=173.590000, y=-3.530000, z=-2.270000 tat = 650
: AshtechGps::processRecord() - $GPGGA,222532.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222532.00,,,,,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 R172.01

: Sonardyne - parsing R172.01

: Sonardyne - read R = 172.010000 from 172.01

: Sonardyne - got range only (172.010000), tat = 630
: Sonardyne - POSD response: 
POSD S+144.2,N24.9,D73,U5,Q0.000131

: Sonardyne - POSD response: 
POSD S+144.2,N24.9,D73,U5,Q0.000131

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222533.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222533.00,,,,,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 R170.07,X-3.44,Y-2.65,Z-170.02

: Sonardyne - parsing R170.07,X-3.44,Y-2.65,Z-170.02

: Sonardyne - read R = 170.070000 from 170.07,X-3.44,Y-2.65,Z-170.02

: Sonardyne - got all data, Vehicle coordinates,
    r=170.070000, x=170.020000, y=-3.440000, z=2.650000 tat = 650
: Sonardyne - POSD response: 
POSD S+144.3,N31.4,D-25,U8,Q0.000067

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222534.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222534.00,,,,,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 R167.75,X-2.24,Y1.03,Z-167.73

: Sonardyne - parsing R167.75,X-2.24,Y1.03,Z-167.73

: Sonardyne - read R = 167.750000 from 167.75,X-2.24,Y1.03,Z-167.73

: Sonardyne - got all data, Vehicle coordinates,
    r=167.750000, x=167.730000, y=-2.240000, z=-1.030000 tat = 640
: Sonardyne - POSD response: 
POSD S+144.1,N33.0,D73,U8,Q0.000067

: AshtechGps::processRecord() - $GPGGA,222535.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222535.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R166.23,X-1.71,Y0.61,Z-166.22

: Sonardyne - parsing R166.23,X-1.71,Y0.61,Z-166.22

: Sonardyne - read R = 166.230000 from 166.23,X-1.71,Y0.61,Z-166.22

: Sonardyne - got all data, Vehicle coordinates,
    r=166.230000, x=166.220000, y=-1.710000, z=-0.610000 tat = 640
: Sonardyne - POSD response: 
POSD S+141.5,N30.5,D111,U7,Q0.000765

: AshtechGps::processRecord() - $GPGGA,222536.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222536.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R164.11,X0.42,Y5.19,Z-164.02

: Sonardyne - parsing R164.11,X0.42,Y5.19,Z-164.02

: Sonardyne - read R = 164.110000 from 164.11,X0.42,Y5.19,Z-164.02

: Sonardyne - got all data, Vehicle coordinates,
    r=164.110000, x=164.020000, y=0.420000, z=-5.190000 tat = 639
: Sonardyne - POSD response: 
POSD S+143.9,N28.8,D-72,U8,Q0.000089

: AshtechGps::processRecord() - $GPGGA,222537.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222537.00,,,,,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 R162.49,X0.85,Y2.38,Z-162.47

: Sonardyne - parsing R162.49,X0.85,Y2.38,Z-162.47

: Sonardyne - read R = 162.490000 from 162.49,X0.85,Y2.38,Z-162.47

: Sonardyne - got all data, Vehicle coordinates,
    r=162.490000, x=162.470000, y=0.850000, z=-2.380000 tat = 640
: Sonardyne - POSD response: 
POSD S+142.7,N24.5,D13,U6,Q0.000067

: AshtechGps::processRecord() - $GPGGA,222538.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222538.00,,,,,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 R160.92,X1.39,Y3.95,Z-160.86

: Sonardyne - parsing R160.92,X1.39,Y3.95,Z-160.86

: Sonardyne - read R = 160.920000 from 160.92,X1.39,Y3.95,Z-160.86

: Sonardyne - got all data, Vehicle coordinates,
    r=160.920000, x=160.860000, y=1.390000, z=-3.950000 tat = 630
: Sonardyne - POSD response: 
POSD S+143.1,N31.0,D-22,U8,Q0.000089

: AshtechGps::processRecord() - $GPGGA,222539.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222539.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.39  8.76 15.13 3.78 3.80 0 20810.67 07:30:01 m

: Sonardyne - POS response: 
POS V4,1 R159.44,X1.76,Y5.17,Z-159.35

: Sonardyne - parsing R159.44,X1.76,Y5.17,Z-159.35

: Sonardyne - read R = 159.440000 from 159.44,X1.76,Y5.17,Z-159.35

: Sonardyne - got all data, Vehicle coordinates,
    r=159.440000, x=159.350000, y=1.760000, z=-5.170000 tat = 630
: Sonardyne - POSD response: 
POSD S+143.7,N30.1,D-23,U8,Q0.000211

: AshtechGps::processRecord() - $GPGGA,222540.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222540.00,,,,,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 R158.02,X1.97,Y6.97,Z-157.86

: Sonardyne - parsing R158.02,X1.97,Y6.97,Z-157.86

: Sonardyne - read R = 158.020000 from 158.02,X1.97,Y6.97,Z-157.86

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - got all data, Vehicle coordinates,
    r=158.020000, x=157.860000, y=1.970000, z=-6.970000 tat = 630
: Sonardyne - POSD response: 
POSD S138.2,N21.4,D79,U8,Q0.000175

: AshtechGps::processRecord() - $GPGGA,222541.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222541.00,,,,,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 R157.63,X7.64,Y27.72,Z-154.99

: Sonardyne - parsing R157.63,X7.64,Y27.72,Z-154.99

: Sonardyne - read R = 157.630000 from 157.63,X7.64,Y27.72,Z-154.99

: Sonardyne - got all data, Vehicle coordinates,
    r=157.630000, x=154.990000, y=7.640000, z=-27.720000 tat = 630
: AshtechGps::processRecord() - $GPGGA,222542.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222542.00,,,,,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 R156.73,X5.12,Y25.51,Z-154.55

: Sonardyne - parsing R156.73,X5.12,Y25.51,Z-154.55

: Sonardyne - read R = 156.730000 from 156.73,X5.12,Y25.51,Z-154.55

: Sonardyne - got all data, Vehicle coordinates,
    r=156.730000, x=154.550000, y=5.120000, z=-25.510000 tat = 630
: AshtechGps::processRecord() - $GPGGA,222543.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222543.00,,,,,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 R154.22,X-0.80,Y13.84,Z-153.60

: Sonardyne - parsing R154.22,X-0.80,Y13.84,Z-153.60

: Sonardyne - read R = 154.220000 from 154.22,X-0.80,Y13.84,Z-153.60

: Sonardyne - got all data, Vehicle coordinates,
    r=154.220000, x=153.600000, y=-0.800000, z=-13.840000 tat = 630
: AshtechGps::processRecord() - $GPGGA,222544.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222544.00,,,,,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 R152.55,X-2.39,Y11.02,Z-152.14

: Sonardyne - parsing R152.55,X-2.39,Y11.02,Z-152.14

: Sonardyne - read R = 152.550000 from 152.55,X-2.39,Y11.02,Z-152.14

: Sonardyne - got all data, Vehicle coordinates,
    r=152.550000, x=152.140000, y=-2.390000, z=-11.020000 tat = 630
: AshtechGps::processRecord() - $GPGGA,222545.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222545.00,,,,,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 R150.90

: Sonardyne - parsing R150.90

: Sonardyne - read R = 150.900000 from 150.90

: Sonardyne - got range only (150.900000), tat = 600
: Sonardyne - POSD response: 
POSD S137.3,N21.3,D-7,U5,Q0.000359

: Sonardyne - POSD response: 
POSD S137.3,N21.3,D-7,U5,Q0.000359

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222546.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222546.00,,,,,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 R149.21,X-4.20,Y3.42,Z-149.11

: Sonardyne - parsing R149.21,X-4.20,Y3.42,Z-149.11

: Sonardyne - read R = 149.210000 from 149.21,X-4.20,Y3.42,Z-149.11

: Sonardyne - got all data, Vehicle coordinates,
    r=149.210000, x=149.110000, y=-4.200000, z=-3.420000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222547.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222547.00,,,,,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 R147.24,X-4.31,Y1.87,Z-147.16

: Sonardyne - parsing R147.24,X-4.31,Y1.87,Z-147.16

: Sonardyne - read R = 147.240000 from 147.24,X-4.31,Y1.87,Z-147.16

: Sonardyne - got all data, Vehicle coordinates,
    r=147.240000, x=147.160000, y=-4.310000, z=-1.870000 tat = 620
: AshtechGps::processRecord() - $GPGGA,222548.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222548.00,,,,,0,00,,,M,,M,,*43


: 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 R145.16,X-2.94,Y7.59,Z-144.94

: Sonardyne - parsing R145.16,X-2.94,Y7.59,Z-144.94

: Sonardyne - read R = 145.160000 from 145.16,X-2.94,Y7.59,Z-144.94

: Sonardyne - got all data, Vehicle coordinates,
    r=145.160000, x=144.940000, y=-2.940000, z=-7.590000 tat = 610
: AshtechGps::processRecord() - $GPGGA,222549.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222549.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R146.59

: Sonardyne - parsing R146.59

: Sonardyne - read R = 146.590000 from 146.59

: Sonardyne - got range only (146.590000), tat = 590
: BluefinBatt Reply: $b6q0 d- 30.35  9.42 15.13 3.78 3.80 0 20810.03 07:30:11 m

: Sonardyne - POSD response: 
POSD S+140.5,N24.0,D-2,U4,Q0.008005

: Sonardyne - POSD response: 
POSD S+140.5,N24.0,D-2,U4,Q0.008005

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222550.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222550.00,,,,,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 R141.50,X-1.56,Y2.71,Z-141.46

: Sonardyne - parsing R141.50,X-1.56,Y2.71,Z-141.46

: Sonardyne - read R = 141.500000 from 141.50,X-1.56,Y2.71,Z-141.46

: Sonardyne - got all data, Vehicle coordinates,
    r=141.500000, x=141.460000, y=-1.560000, z=-2.710000 tat = 610
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POSD response: 
POSD S+143.7,N23.9,D-83,U8,Q0.000063

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222551.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222551.00,,,,,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 R139.60,X-1.37,Y2.27,Z-139.57

: Sonardyne - parsing R139.60,X-1.37,Y2.27,Z-139.57

: Sonardyne - read R = 139.600000 from 139.60,X-1.37,Y2.27,Z-139.57

: Sonardyne - got all data, Vehicle coordinates,
    r=139.600000, x=139.570000, y=-1.370000, z=-2.270000 tat = 609
: Sonardyne - POSD response: 
POSD S+144.2,N30.7,D10,U8,Q0.000058

: AshtechGps::processRecord() - $GPGGA,222552.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222552.00,,,,,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 R137.80,X-0.19,Y4.50,Z-137.72

: Sonardyne - parsing R137.80,X-0.19,Y4.50,Z-137.72

: Sonardyne - read R = 137.800000 from 137.80,X-0.19,Y4.50,Z-137.72

: Sonardyne - got all data, Vehicle coordinates,
    r=137.800000, x=137.720000, y=-0.190000, z=-4.500000 tat = 600
: Sonardyne - POSD response: 
POSD S132.1,N19.0,D73,U8,Q0.000468

: AshtechGps::processRecord() - $GPGGA,222553.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222553.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.15

: Sonardyne - parsing R136.15

: Sonardyne - read R = 136.150000 from 136.15

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

: Sonardyne - got range only (136.150000), tat = 580
: Sonardyne - POSD response: 
POSD S133.6,N16.8,D31,U3,Q0.000953

: Sonardyne - POSD response: 
POSD S133.6,N16.8,D31,U3,Q0.000953

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222554.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222554.00,,,,,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 R134.62,X-0.25,Y4.32,Z-134.55

: Sonardyne - parsing R134.62,X-0.25,Y4.32,Z-134.55

: Sonardyne - read R = 134.620000 from 134.62,X-0.25,Y4.32,Z-134.55

: Sonardyne - got all data, Vehicle coordinates,
    r=134.620000, x=134.550000, y=-0.250000, z=-4.320000 tat = 600
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,222555.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222555.00,,,,,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 R136.38,X-7.01,Y-33.40,Z-132.04

: Sonardyne - parsing R136.38,X-7.01,Y-33.40,Z-132.04

: Sonardyne - read R = 136.380000 from 136.38,X-7.01,Y-33.40,Z-132.04

: Sonardyne - got all data, Vehicle coordinates,
    r=136.380000, x=132.040000, y=-7.010000, z=33.400000 tat = 610
: AshtechGps::processRecord() - $GPGGA,222556.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222556.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.84,X1.08,Y3.33,Z-131.79

: Sonardyne - parsing R131.84,X1.08,Y3.33,Z-131.79

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

: Sonardyne - read R = 131.840000 from 131.84,X1.08,Y3.33,Z-131.79

: Sonardyne - got all data, Vehicle coordinates,
    r=131.840000, x=131.790000, y=1.080000, z=-3.330000 tat = 600
: AshtechGps::processRecord() - $GPGGA,222557.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222557.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.39,X2.22,Y-0.81,Z-130.37

: Sonardyne - parsing R130.39,X2.22,Y-0.81,Z-130.37

: Sonardyne - read R = 130.390000 from 130.39,X2.22,Y-0.81,Z-130.37

: Sonardyne - got all data, Vehicle coordinates,
    r=130.390000, x=130.370000, y=2.220000, z=0.810000 tat = 600
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222558.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222558.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.94,X1.96,Y1.58,Z-128.91

: Sonardyne - parsing R128.94,X1.96,Y1.58,Z-128.91

: Sonardyne - read R = 128.940000 from 128.94,X1.96,Y1.58,Z-128.91

: Sonardyne - got all data, Vehicle coordinates,
    r=128.940000, x=128.910000, y=1.960000, z=-1.580000 tat = 590
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222559.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222559.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.33,X1.91,Y2.78,Z-127.28

: Sonardyne - parsing R127.33,X1.91,Y2.78,Z-127.28

: Sonardyne - read R = 127.330000 from 127.33,X1.91,Y2.78,Z-127.28

: Sonardyne - got all data, Vehicle coordinates,
    r=127.330000, x=127.280000, y=1.910000, z=-2.780000 tat = 590
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 30.35 10.03 15.13 3.78 3.80 0 20809.09 07:30:21 m

: AshtechGps::processRecord() - $GPGGA,222600.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222600.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.72,X2.08,Y5.70,Z-125.57

: Sonardyne - parsing R125.72,X2.08,Y5.70,Z-125.57

: Sonardyne - read R = 125.720000 from 125.72,X2.08,Y5.70,Z-125.57

: Sonardyne - got all data, Vehicle coordinates,
    r=125.720000, x=125.570000, y=2.080000, z=-5.700000 tat = 590
:  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 3.780000, mean min cell voltage 3.780000

: AshtechGps::processRecord() - $GPGGA,222601.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222601.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.27

: Sonardyne - parsing R127.27

: Sonardyne - read R = 127.270000 from 127.27

: Sonardyne - got range only (127.270000), tat = 570
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S137.8,N26.2,D14,U5,Q0.006581

: Sonardyne - POSD response: 
POSD S137.8,N26.2,D14,U5,Q0.006581

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222602.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222602.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.71,X0.25,Y4.02,Z-122.64

: Sonardyne - parsing R122.71,X0.25,Y4.02,Z-122.64

: Sonardyne - read R = 122.710000 from 122.71,X0.25,Y4.02,Z-122.64

: Sonardyne - got all data, Vehicle coordinates,
    r=122.710000, x=122.640000, y=0.250000, z=-4.020000 tat = 580
:  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,222603.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222603.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.87,X0.38,Y7.34,Z-120.64

: Sonardyne - parsing R120.87,X0.38,Y7.34,Z-120.64

: Sonardyne - read R = 120.870000 from 120.87,X0.38,Y7.34,Z-120.64

: Sonardyne - got all data, Vehicle coordinates,
    r=120.870000, x=120.640000, y=0.380000, z=-7.340000 tat = 580
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222604.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222604.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.30,X-0.03,Y5.40,Z-119.18

: Sonardyne - parsing R119.30,X-0.03,Y5.40,Z-119.18

: Sonardyne - read R = 119.300000 from 119.30,X-0.03,Y5.40,Z-119.18

: Sonardyne - got all data, Vehicle coordinates,
    r=119.300000, x=119.180000, y=-0.030000, z=-5.400000 tat = 580
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222605.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222605.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.58,X-0.43,Y4.47,Z-117.49

: Sonardyne - parsing R117.58,X-0.43,Y4.47,Z-117.49

: Sonardyne - read R = 117.580000 from 117.58,X-0.43,Y4.47,Z-117.49

: Sonardyne - got all data, Vehicle coordinates,
    r=117.580000, x=117.490000, y=-0.430000, z=-4.470000 tat = 580
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222606.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222606.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.61,X0.27,Y5.81,Z-115.46

: Sonardyne - parsing R115.61,X0.27,Y5.81,Z-115.46

: Sonardyne - read R = 115.610000 from 115.61,X0.27,Y5.81,Z-115.46

: Sonardyne - got all data, Vehicle coordinates,
    r=115.610000, x=115.460000, y=0.270000, z=-5.810000 tat = 580
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222607.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222607.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R113.71,X0.78,Y5.87,Z-113.56

: Sonardyne - parsing R113.71,X0.78,Y5.87,Z-113.56

: Sonardyne - read R = 113.710000 from 113.71,X0.78,Y5.87,Z-113.56

: Sonardyne - got all data, Vehicle coordinates,
    r=113.710000, x=113.560000, y=0.780000, z=-5.870000 tat = 570
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222608.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222608.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.79,X-0.13,Y-0.26,Z-111.79

: Sonardyne - parsing R111.79,X-0.13,Y-0.26,Z-111.79

: Sonardyne - read R = 111.790000 from 111.79,X-0.13,Y-0.26,Z-111.79

: Sonardyne - got all data, Vehicle coordinates,
    r=111.790000, x=111.790000, y=-0.130000, z=0.260000 tat = 570
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222609.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222609.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.86,X-0.31,Y-1.46,Z-109.85

: Sonardyne - parsing R109.86,X-0.31,Y-1.46,Z-109.85

: Sonardyne - read R = 109.860000 from 109.86,X-0.31,Y-1.46,Z-109.85

: Sonardyne - got all data, Vehicle coordinates,
    r=109.860000, x=109.850000, y=-0.310000, z=1.460000 tat = 570
: BluefinBatt Reply: $b6q0 d- 30.35  8.87 15.13 3.78 3.80 0 20808.46 07:30:31 m

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

: AshtechGps::processRecord() - $GPGGA,222610.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222610.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R107.98

: Sonardyne - parsing R107.98

: Sonardyne - read R = 107.980000 from 107.98

: Sonardyne - got range only (107.980000), tat = 540
: Sonardyne - POSD response: 
POSD S138.8,N21.0,D52,U0,Q0.000000

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

: Sonardyne - POSD response: 
POSD S138.8,N21.0,D52,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,222611.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222611.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.23,X-0.24,Y-0.53,Z-106.23

: Sonardyne - parsing R106.23,X-0.24,Y-0.53,Z-106.23

: Sonardyne - read R = 106.230000 from 106.23,X-0.24,Y-0.53,Z-106.23

: Sonardyne - got all data, Vehicle coordinates,
    r=106.230000, x=106.230000, y=-0.240000, z=0.530000 tat = 560
:  wdt = 00899,  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,222612.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222612.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.60,X-0.63,Y-2.57,Z-104.57

: Sonardyne - parsing R104.60,X-0.63,Y-2.57,Z-104.57

: Sonardyne - read R = 104.600000 from 104.60,X-0.63,Y-2.57,Z-104.57

: Sonardyne - got all data, Vehicle coordinates,
    r=104.600000, x=104.570000, y=-0.630000, z=2.570000 tat = 560
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222613.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222613.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.12,X-0.56,Y-2.15,Z-103.09

: Sonardyne - parsing R103.12,X-0.56,Y-2.15,Z-103.09

: Sonardyne - read R = 103.120000 from 103.12,X-0.56,Y-2.15,Z-103.09

: Sonardyne - got all data, Vehicle coordinates,
    r=103.120000, x=103.090000, y=-0.560000, z=2.150000 tat = 560
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222614.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222614.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R101.84,X-0.45,Y-0.89,Z-101.83

: Sonardyne - parsing R101.84,X-0.45,Y-0.89,Z-101.83

: Sonardyne - read R = 101.840000 from 101.84,X-0.45,Y-0.89,Z-101.83

: Sonardyne - got all data, Vehicle coordinates,
    r=101.840000, x=101.830000, y=-0.450000, z=0.890000 tat = 560
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222615.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222615.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R101.82,X6.45,Y26.95,Z-97.97

: Sonardyne - parsing R101.82,X6.45,Y26.95,Z-97.97

: Sonardyne - read R = 101.820000 from 101.82,X6.45,Y26.95,Z-97.97

: Sonardyne - got all data, Vehicle coordinates,
    r=101.820000, x=97.970000, y=6.450000, z=-26.950000 tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222616.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222616.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R99.32,X-0.57,Y1.62,Z-99.31

: Sonardyne - parsing R99.32,X-0.57,Y1.62,Z-99.31

: Sonardyne - read R = 99.320000 from 99.32,X-0.57,Y1.62,Z-99.31

: Sonardyne - got all data, Vehicle coordinates,
    r=99.320000, x=99.310000, y=-0.570000, z=-1.620000 tat = 550
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222617.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222617.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.06,X-1.50,Y2.74,Z-98.01

: Sonardyne - parsing R98.06,X-1.50,Y2.74,Z-98.01

: Sonardyne - read R = 98.060000 from 98.06,X-1.50,Y2.74,Z-98.01

: Sonardyne - got all data, Vehicle coordinates,
    r=98.060000, x=98.010000, y=-1.500000, z=-2.740000 tat = 550
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222618.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222618.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.60,X-1.44,Y3.51,Z-96.53

: Sonardyne - parsing R96.60,X-1.44,Y3.51,Z-96.53

: Sonardyne - read R = 96.600000 from 96.60,X-1.44,Y3.51,Z-96.53

: Sonardyne - got all data, Vehicle coordinates,
    r=96.600000, x=96.530000, y=-1.440000, z=-3.510000 tat = 550
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222619.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222619.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.99,X-0.91,Y4.26,Z-94.89

: Sonardyne - parsing R94.99,X-0.91,Y4.26,Z-94.89

: Sonardyne - read R = 94.990000 from 94.99,X-0.91,Y4.26,Z-94.89

: Sonardyne - got all data, Vehicle coordinates,
    r=94.990000, x=94.890000, y=-0.910000, z=-4.260000 tat = 540
: BluefinBatt Reply: $b6q0 d- 30.35  9.89 15.13 3.78 3.80 0 20807.55 07:30:41 m

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

: AshtechGps::processRecord() - $GPGGA,222620.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222620.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.11,X-0.65,Y2.96,Z-93.07

: Sonardyne - parsing R93.11,X-0.65,Y2.96,Z-93.07

: Sonardyne - read R = 93.110000 from 93.11,X-0.65,Y2.96,Z-93.07

: Sonardyne - got all data, Vehicle coordinates,
    r=93.110000, x=93.070000, y=-0.650000, z=-2.960000 tat = 539
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222621.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222621.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R91.20,X-0.04,Y5.00,Z-91.07

: Sonardyne - parsing R91.20,X-0.04,Y5.00,Z-91.07

: Sonardyne - read R = 91.200000 from 91.20,X-0.04,Y5.00,Z-91.07

: Sonardyne - got all data, Vehicle coordinates,
    r=91.200000, x=91.070000, y=-0.040000, z=-5.000000 tat = 540
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222622.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222622.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.20,X-0.63,Y0.69,Z-89.19

: Sonardyne - parsing R89.20,X-0.63,Y0.69,Z-89.19

: Sonardyne - read R = 89.200000 from 89.20,X-0.63,Y0.69,Z-89.19

: Sonardyne - got all data, Vehicle coordinates,
    r=89.200000, x=89.190000, y=-0.630000, z=-0.690000 tat = 540
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222623.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222623.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.04,X0.38,Y2.19,Z-87.01

: Sonardyne - parsing R87.04,X0.38,Y2.19,Z-87.01

: Sonardyne - read R = 87.040000 from 87.04,X0.38,Y2.19,Z-87.01

: Sonardyne - got all data, Vehicle coordinates,
    r=87.040000, x=87.010000, y=0.380000, z=-2.190000 tat = 530
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222624.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222624.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.06,X-0.44,Y-2.77,Z-85.01

: Sonardyne - parsing R85.06,X-0.44,Y-2.77,Z-85.01

: Sonardyne - read R = 85.060000 from 85.06,X-0.44,Y-2.77,Z-85.01

: Sonardyne - got all data, Vehicle coordinates,
    r=85.060000, x=85.010000, y=-0.440000, z=2.770000 tat = 530
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222625.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222625.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R83.16,X-0.20,Y-1.87,Z-83.14

: Sonardyne - parsing R83.16,X-0.20,Y-1.87,Z-83.14

: Sonardyne - read R = 83.160000 from 83.16,X-0.20,Y-1.87,Z-83.14

: Sonardyne - got all data, Vehicle coordinates,
    r=83.160000, x=83.140000, y=-0.200000, z=1.870000 tat = 530
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222626.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222626.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R81.34,X-0.27,Y-3.66,Z-81.26

: Sonardyne - parsing R81.34,X-0.27,Y-3.66,Z-81.26

: Sonardyne - read R = 81.340000 from 81.34,X-0.27,Y-3.66,Z-81.26

: Sonardyne - got all data, Vehicle coordinates,
    r=81.340000, x=81.260000, y=-0.270000, z=3.660000 tat = 530
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222627.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222627.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R79.69,X0.10,Y-1.07,Z-79.68

: Sonardyne - parsing R79.69,X0.10,Y-1.07,Z-79.68

: Sonardyne - read R = 79.690000 from 79.69,X0.10,Y-1.07,Z-79.68

: Sonardyne - got all data, Vehicle coordinates,
    r=79.690000, x=79.680000, y=0.100000, z=1.070000 tat = 520
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222628.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222628.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R78.21,X-0.36,Y-2.72,Z-78.16

: Sonardyne - parsing R78.21,X-0.36,Y-2.72,Z-78.16

: Sonardyne - read R = 78.210000 from 78.21,X-0.36,Y-2.72,Z-78.16

: Sonardyne - got all data, Vehicle coordinates,
    r=78.210000, x=78.160000, y=-0.360000, z=2.720000 tat = 520
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222629.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222629.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R76.79,X-0.12,Y-0.71,Z-76.79

: Sonardyne - parsing R76.79,X-0.12,Y-0.71,Z-76.79

: Sonardyne - read R = 76.790000 from 76.79,X-0.12,Y-0.71,Z-76.79

: Sonardyne - got all data, Vehicle coordinates,
    r=76.790000, x=76.790000, y=-0.120000, z=0.710000 tat = 520
: BluefinBatt Reply: $b6q0 d- 30.35  9.85 15.23 3.78 3.80 0 20806.93 07:30:51 m

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

: AshtechGps::processRecord() - $GPGGA,222630.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222630.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R75.52,X-0.45,Y-1.31,Z-75.51

: Sonardyne - parsing R75.52,X-0.45,Y-1.31,Z-75.51

: Sonardyne - read R = 75.520000 from 75.52,X-0.45,Y-1.31,Z-75.51

: Sonardyne - got all data, Vehicle coordinates,
    r=75.520000, x=75.510000, y=-0.450000, z=1.310000 tat = 520
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222631.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222631.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.16,X-0.85,Y0.20,Z-74.15

: Sonardyne - parsing R74.16,X-0.85,Y0.20,Z-74.15

: Sonardyne - read R = 74.160000 from 74.16,X-0.85,Y0.20,Z-74.15

: Sonardyne - got all data, Vehicle coordinates,
    r=74.160000, x=74.150000, y=-0.850000, z=-0.200000 tat = 520
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222632.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222632.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.88,X0.25,Y2.52,Z-72.84

: Sonardyne - parsing R72.88,X0.25,Y2.52,Z-72.84

: Sonardyne - read R = 72.880000 from 72.88,X0.25,Y2.52,Z-72.84

: Sonardyne - got all data, Vehicle coordinates,
    r=72.880000, x=72.840000, y=0.250000, z=-2.520000 tat = 510
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222633.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222633.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.35,X0.23,Y2.09,Z-71.32

: Sonardyne - parsing R71.35,X0.23,Y2.09,Z-71.32

: Sonardyne - read R = 71.350000 from 71.35,X0.23,Y2.09,Z-71.32

: Sonardyne - got all data, Vehicle coordinates,
    r=71.350000, x=71.320000, y=0.230000, z=-2.090000 tat = 510
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222634.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222634.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.92,X0.29,Y1.30,Z-69.90

: Sonardyne - parsing R69.92,X0.29,Y1.30,Z-69.90

: Sonardyne - read R = 69.920000 from 69.92,X0.29,Y1.30,Z-69.90

: Sonardyne - got all data, Vehicle coordinates,
    r=69.920000, x=69.900000, y=0.290000, z=-1.300000 tat = 510
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222635.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222635.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.23,X0.55,Y1.02,Z-68.22

: Sonardyne - parsing R68.23,X0.55,Y1.02,Z-68.22

: Sonardyne - read R = 68.230000 from 68.23,X0.55,Y1.02,Z-68.22

: Sonardyne - got all data, Vehicle coordinates,
    r=68.230000, x=68.220000, y=0.550000, z=-1.020000 tat = 510
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222636.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222636.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.49,X1.15,Y2.26,Z-66.44

: Sonardyne - parsing R66.49,X1.15,Y2.26,Z-66.44

: Sonardyne - read R = 66.490000 from 66.49,X1.15,Y2.26,Z-66.44

: Sonardyne - got all data, Vehicle coordinates,
    r=66.490000, x=66.440000, y=1.150000, z=-2.260000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222637.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222637.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.67,X5.63,Y21.89,Z-63.78

: Sonardyne - parsing R67.67,X5.63,Y21.89,Z-63.78

: Sonardyne - read R = 67.670000 from 67.67,X5.63,Y21.89,Z-63.78

: Sonardyne - got all data, Vehicle coordinates,
    r=67.670000, x=63.780000, y=5.630000, z=-21.890000 tat = 510
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222638.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222638.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R62.84

: Sonardyne - parsing R62.84

: Sonardyne - read R = 62.840000 from 62.84

: Sonardyne - got range only (62.840000), tat = 480
: Sonardyne - POSD response: 
POSD S+144.1,N20.1,D-147,U5,Q0.000053

: Sonardyne - POSD response: 
POSD S+144.1,N20.1,D-147,U5,Q0.000053

: 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

: AshtechGps::processRecord() - $GPGGA,222639.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222639.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R60.93,X-0.81,Y0.88,Z-60.92

: Sonardyne - parsing R60.93,X-0.81,Y0.88,Z-60.92

: Sonardyne - read R = 60.930000 from 60.93,X-0.81,Y0.88,Z-60.92

: Sonardyne - got all data, Vehicle coordinates,
    r=60.930000, x=60.920000, y=-0.810000, z=-0.880000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.4,N21.0,D-134,U6,Q0.000051

: BluefinBatt Reply: $b6q0 d- 30.35  9.16 15.23 3.78 3.80 0 20805.98 07:31:01 m

: 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,222640.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222640.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R59.09,X-2.23,Y-1.00,Z-59.04

: Sonardyne - parsing R59.09,X-2.23,Y-1.00,Z-59.04

: Sonardyne - read R = 59.090000 from 59.09,X-2.23,Y-1.00,Z-59.04

: Sonardyne - got all data, Vehicle coordinates,
    r=59.090000, x=59.040000, y=-2.230000, z=1.000000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.6,N25.9,D-77,U8,Q0.000061

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222641.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222641.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R57.25,X-1.76,Y-1.43,Z-57.20

: Sonardyne - parsing R57.25,X-1.76,Y-1.43,Z-57.20

: Sonardyne - read R = 57.250000 from 57.25,X-1.76,Y-1.43,Z-57.20

: Sonardyne - got all data, Vehicle coordinates,
    r=57.250000, x=57.200000, y=-1.760000, z=1.430000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N36.8,D-24,U8,Q0.000057

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

: AshtechGps::processRecord() - $GPGGA,222642.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222642.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.47,X-1.19,Y-1.35,Z-55.44

: Sonardyne - parsing R55.47,X-1.19,Y-1.35,Z-55.44

: Sonardyne - read R = 55.470000 from 55.47,X-1.19,Y-1.35,Z-55.44

: Sonardyne - got all data, Vehicle coordinates,
    r=55.470000, x=55.440000, y=-1.190000, z=1.350000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N29.7,D45,U8,Q0.000056

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

: AshtechGps::processRecord() - $GPGGA,222643.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222643.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.77,X-0.69,Y-0.74,Z-53.76

: Sonardyne - parsing R53.77,X-0.69,Y-0.74,Z-53.76

: Sonardyne - read R = 53.770000 from 53.77,X-0.69,Y-0.74,Z-53.76

: Sonardyne - got all data, Vehicle coordinates,
    r=53.770000, x=53.760000, y=-0.690000, z=0.740000 tat = 490
: Sonardyne - POSD response: 
POSD S+143.1,N27.8,D-50,U8,Q0.000052

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

: AshtechGps::processRecord() - $GPGGA,222644.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222644.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.12,X-0.64,Y-0.69,Z-52.11

: Sonardyne - parsing R52.12,X-0.64,Y-0.69,Z-52.11

: Sonardyne - read R = 52.120000 from 52.12,X-0.64,Y-0.69,Z-52.11

: Sonardyne - got all data, Vehicle coordinates,
    r=52.120000, x=52.110000, y=-0.640000, z=0.690000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.4,N22.0,D-113,U7,Q0.000073

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

: AshtechGps::processRecord() - $GPGGA,222645.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222645.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.56,X-0.37,Y-1.35,Z-50.54

: Sonardyne - parsing R50.56,X-0.37,Y-1.35,Z-50.54

: Sonardyne - read R = 50.560000 from 50.56,X-0.37,Y-1.35,Z-50.54

: Sonardyne - got all data, Vehicle coordinates,
    r=50.560000, x=50.540000, y=-0.370000, z=1.350000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N24.0,D-95,U6,Q0.000066

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

: AshtechGps::processRecord() - $GPGGA,222646.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222646.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.04,X-0.53,Y-2.22,Z-48.99

: Sonardyne - parsing R49.04,X-0.53,Y-2.22,Z-48.99

: Sonardyne - read R = 49.040000 from 49.04,X-0.53,Y-2.22,Z-48.99

: Sonardyne - got all data, Vehicle coordinates,
    r=49.040000, x=48.990000, y=-0.530000, z=2.220000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N30.1,D-48,U8,Q0.000090

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

: AshtechGps::processRecord() - $GPGGA,222647.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222647.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.47,X-0.45,Y-2.07,Z-47.42

: Sonardyne - parsing R47.47,X-0.45,Y-2.07,Z-47.42

: Sonardyne - read R = 47.470000 from 47.47,X-0.45,Y-2.07,Z-47.42

: Sonardyne - got all data, Vehicle coordinates,
    r=47.470000, x=47.420000, y=-0.450000, z=2.070000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N39.2,D7,U8,Q0.000065

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

: AshtechGps::processRecord() - $GPGGA,222648.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222648.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R45.97,X-0.21,Y-1.33,Z-45.95

: Sonardyne - parsing R45.97,X-0.21,Y-1.33,Z-45.95

: Sonardyne - read R = 45.970000 from 45.97,X-0.21,Y-1.33,Z-45.95

: Sonardyne - got all data, Vehicle coordinates,
    r=45.970000, x=45.950000, y=-0.210000, z=1.330000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.4,N26.1,D64,U8,Q0.000071

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

: AshtechGps::processRecord() - $GPGGA,222649.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222649.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R44.50,X0.05,Y-0.47,Z-44.50

: Sonardyne - parsing R44.50,X0.05,Y-0.47,Z-44.50

: Sonardyne - read R = 44.500000 from 44.50,X0.05,Y-0.47,Z-44.50

: Sonardyne - got all data, Vehicle coordinates,
    r=44.500000, x=44.500000, y=0.050000, z=0.470000 tat = 480
: Sonardyne - POSD response: 
POSD S+143.4,N18.0,D-148,U6,Q0.000046

: BluefinBatt Reply: $b6q0 d- 30.35  9.53 15.23 3.78 3.80 0 20805.36 07:31:11 m

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

: AshtechGps::processRecord() - $GPGGA,222650.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222650.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R43.15,X0.04,Y-0.51,Z-43.15

: Sonardyne - parsing R43.15,X0.04,Y-0.51,Z-43.15

: Sonardyne - read R = 43.150000 from 43.15,X0.04,Y-0.51,Z-43.15

: Sonardyne - got all data, Vehicle coordinates,
    r=43.150000, x=43.150000, y=0.040000, z=0.510000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N26.6,D-71,U7,Q0.000051

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222651.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222651.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.78,X0.07,Y-0.08,Z-41.78

: Sonardyne - parsing R41.78,X0.07,Y-0.08,Z-41.78

: Sonardyne - read R = 41.780000 from 41.78,X0.07,Y-0.08,Z-41.78

: Sonardyne - got all data, Vehicle coordinates,
    r=41.780000, x=41.780000, y=0.070000, z=0.080000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N26.1,D52,U8,Q0.000057

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

: AshtechGps::processRecord() - $GPGGA,222652.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222652.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R40.42,X0.22,Y0.16,Z-40.42

: Sonardyne - parsing R40.42,X0.22,Y0.16,Z-40.42

: Sonardyne - read R = 40.420000 from 40.42,X0.22,Y0.16,Z-40.42

: Sonardyne - got all data, Vehicle coordinates,
    r=40.420000, x=40.420000, y=0.220000, z=-0.160000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N28.0,D-57,U8,Q0.000053

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

: AshtechGps::processRecord() - $GPGGA,222653.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222653.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.97,X0.33,Y0.59,Z-38.96

: Sonardyne - parsing R38.97,X0.33,Y0.59,Z-38.96

: Sonardyne - read R = 38.970000 from 38.97,X0.33,Y0.59,Z-38.96

: Sonardyne - got all data, Vehicle coordinates,
    r=38.970000, x=38.960000, y=0.330000, z=-0.590000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.8,N29.8,D-49,U8,Q0.000053

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

: AshtechGps::processRecord() - $GPGGA,222654.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222654.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.28,X0.36,Y0.77,Z-37.27

: Sonardyne - parsing R37.28,X0.36,Y0.77,Z-37.27

: Sonardyne - read R = 37.280000 from 37.28,X0.36,Y0.77,Z-37.27

: Sonardyne - got all data, Vehicle coordinates,
    r=37.280000, x=37.270000, y=0.360000, z=-0.770000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.7,N18.5,D-117,U7,Q0.000046

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

: AshtechGps::processRecord() - $GPGGA,222655.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222655.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R35.35,X0.33,Y0.58,Z-35.35

: Sonardyne - parsing R35.35,X0.33,Y0.58,Z-35.35

: Sonardyne - read R = 35.350000 from 35.35,X0.33,Y0.58,Z-35.35

: Sonardyne - got all data, Vehicle coordinates,
    r=35.350000, x=35.350000, y=0.330000, z=-0.580000 tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N22.6,D-84,U8,Q0.000048

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

: AshtechGps::processRecord() - $GPGGA,222656.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222656.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.44,X0.30,Y0.00,Z-33.44

: Sonardyne - parsing R33.44,X0.30,Y0.00,Z-33.44

: Sonardyne - read R = 33.440000 from 33.44,X0.30,Y0.00,Z-33.44

: Sonardyne - got all data, Vehicle coordinates,
    r=33.440000, x=33.440000, y=0.300000, z=0.000000 tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N31.2,D-47,U8,Q0.000051

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

: AshtechGps::processRecord() - $GPGGA,222657.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222657.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.39,X0.27,Y-0.68,Z-31.38

: Sonardyne - parsing R31.39,X0.27,Y-0.68,Z-31.38

: Sonardyne - read R = 31.390000 from 31.39,X0.27,Y-0.68,Z-31.38

: Sonardyne - got all data, Vehicle coordinates,
    r=31.390000, x=31.380000, y=0.270000, z=0.680000 tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N25.3,D-52,U8,Q0.000075

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

: AshtechGps::processRecord() - $GPGGA,222658.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222658.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.44,X0.22,Y-1.51,Z-29.40

: Sonardyne - parsing R29.44,X0.22,Y-1.51,Z-29.40

: Sonardyne - read R = 29.440000 from 29.44,X0.22,Y-1.51,Z-29.40

: Sonardyne - got all data, Vehicle coordinates,
    r=29.440000, x=29.400000, y=0.220000, z=1.510000 tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N29.6,D-47,U8,Q0.000147

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

: AshtechGps::processRecord() - $GPGGA,222659.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222659.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.55,X0.19,Y-2.15,Z-27.46

: Sonardyne - parsing R27.55,X0.19,Y-2.15,Z-27.46

: Sonardyne - read R = 27.550000 from 27.55,X0.19,Y-2.15,Z-27.46

: Sonardyne - got all data, Vehicle coordinates,
    r=27.550000, x=27.460000, y=0.190000, z=2.150000 tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-44,U8,Q0.000293

: BluefinBatt Reply: $b6q0 d- 30.35  9.56 15.23 3.78 3.80 0 20804.39 07:31:21 m

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

: AshtechGps::processRecord() - $GPGGA,222700.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222700.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.82,X0.07,Y-2.61,Z-25.69

: Sonardyne - parsing R25.82,X0.07,Y-2.61,Z-25.69

: Sonardyne - read R = 25.820000 from 25.82,X0.07,Y-2.61,Z-25.69

: Sonardyne - got all data, Vehicle coordinates,
    r=25.820000, x=25.690000, y=0.070000, z=2.610000 tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N32.2,D-39,U8,Q0.000350

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222701.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222701.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.25,X-0.08,Y-2.98,Z-24.07

: Sonardyne - parsing R24.25,X-0.08,Y-2.98,Z-24.07

: Sonardyne - read R = 24.250000 from 24.25,X-0.08,Y-2.98,Z-24.07

: Sonardyne - got all data, Vehicle coordinates,
    r=24.250000, x=24.070000, y=-0.080000, z=2.980000 tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N30.2,D-39,U8,Q0.000750

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

: AshtechGps::processRecord() - $GPGGA,222702.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222702.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.80,X-0.21,Y-2.99,Z-22.60

: Sonardyne - parsing R22.80,X-0.21,Y-2.99,Z-22.60

: Sonardyne - read R = 22.800000 from 22.80,X-0.21,Y-2.99,Z-22.60

: Sonardyne - got all data, Vehicle coordinates,
    r=22.800000, x=22.600000, y=-0.210000, z=2.990000 tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N29.9,D-37,U8,Q0.000929

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

: AshtechGps::processRecord() - $GPGGA,222703.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222703.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.39,X-0.18,Y-2.76,Z-21.21

: Sonardyne - parsing R21.39,X-0.18,Y-2.76,Z-21.21

: Sonardyne - read R = 21.390000 from 21.39,X-0.18,Y-2.76,Z-21.21

: Sonardyne - got all data, Vehicle coordinates,
    r=21.390000, x=21.210000, y=-0.180000, z=2.760000 tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N31.9,D-37,U8,Q0.000892

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

: AshtechGps::processRecord() - $GPGGA,222704.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222704.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.90,X-0.17,Y-2.38,Z-19.75

: Sonardyne - parsing R19.90,X-0.17,Y-2.38,Z-19.75

: Sonardyne - read R = 19.900000 from 19.90,X-0.17,Y-2.38,Z-19.75

: Sonardyne - got all data, Vehicle coordinates,
    r=19.900000, x=19.750000, y=-0.170000, z=2.380000 tat = 439
: Sonardyne - POSD response: 
POSD S+144.9,N30.8,D-39,U8,Q0.000786

:  WaypointHoming has set the state to finished.

: WaypointHoming (4085842.8, 598997.0), 
  reached at t = 693.19                                          (wplog)

: Vehicle Position is error is (2.3, 19.8)

: LayeredControl::execute() -- (t = 693.192513) Behavior waypoint_homing has changed to state Finished

: LayeredControl::execute() -- (t = 693.192513) Behavior ascend has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,222705.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222705.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.46,X-0.19,Y-2.09,Z-18.34

: Sonardyne - parsing R18.46,X-0.19,Y-2.09,Z-18.34

: Sonardyne - read R = 18.460000 from 18.46,X-0.19,Y-2.09,Z-18.34

: Sonardyne - got all data, Vehicle coordinates,
    r=18.460000, x=18.340000, y=-0.190000, z=2.090000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.9,N31.8,D-37,U8,Q0.000693

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

: AshtechGps::processRecord() - $GPGGA,222706.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222706.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.01,X-1.59,Y-2.81,Z-16.70

: Sonardyne - parsing R17.01,X-1.59,Y-2.81,Z-16.70

: Sonardyne - read R = 17.010000 from 17.01,X-1.59,Y-2.81,Z-16.70

: Sonardyne - got all data, Vehicle coordinates,
    r=17.010000, x=16.700000, y=-1.590000, z=2.810000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.9,N30.7,D-35,U8,Q0.000961

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

: AshtechGps::processRecord() - $GPGGA,222707.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222707.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.61,X-4.19,Y-4.50,Z-14.35

: Sonardyne - parsing R15.61,X-4.19,Y-4.50,Z-14.35

: Sonardyne - read R = 15.610000 from 15.61,X-4.19,Y-4.50,Z-14.35

: Sonardyne - got all data, Vehicle coordinates,
    r=15.610000, x=14.350000, y=-4.190000, z=4.500000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.9,N31.9,D-34,U8,Q0.000045

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

: AshtechGps::processRecord() - $GPGGA,222708.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222708.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.44,X-6.64,Y-5.49,Z-11.58

: Sonardyne - parsing R14.44,X-6.64,Y-5.49,Z-11.58

: Sonardyne - read R = 14.440000 from 14.44,X-6.64,Y-5.49,Z-11.58

: Sonardyne - got all data, Vehicle coordinates,
    r=14.440000, x=11.580000, y=-6.640000, z=5.490000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.9,N36.0,D-25,U8,Q0.010310

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

: AshtechGps::processRecord() - $GPGGA,222709.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222709.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.56,X-9.84,Y-5.29,Z-7.69

: Sonardyne - parsing R13.56,X-9.84,Y-5.29,Z-7.69

: Sonardyne - read R = 13.560000 from 13.56,X-9.84,Y-5.29,Z-7.69

: Sonardyne - got all data, Vehicle coordinates,
    r=13.560000, x=7.690000, y=-9.840000, z=5.290000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.7,N35.9,D-14,U8,Q0.007269

: BluefinBatt Reply: $b6q0 d- 30.35  9.38 15.23 3.78 3.80 0 20803.78 07:31:31 m

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

: AshtechGps::processRecord() - $GPGGA,222710.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222710.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.08

: Sonardyne - parsing R13.08

: Sonardyne - read R = 13.080000 from 13.08

: Sonardyne - got range only (13.080000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.5,N46.5,D-2,U3,Q0.014719

: Sonardyne - POSD response: 
POSD S+144.5,N46.5,D-2,U3,Q0.014719

: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222711.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222711.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 = 410
: Sonardyne - POSD response: 
POSD S+144.5,N41.6,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N41.6,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,222712.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222712.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.58

: Sonardyne - parsing R14.58

: Sonardyne - read R = 14.580000 from 14.58

: Sonardyne - got range only (14.580000), tat = 420
: Sonardyne - POSD response: 
POSD S120.0,N20.0,D-111,U1,Q0.015155

: Sonardyne - POSD response: 
POSD S120.0,N20.0,D-111,U1,Q0.015155

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

: AshtechGps::processRecord() - $GPGGA,222713.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222713.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.08

: Sonardyne - parsing R14.08

: Sonardyne - read R = 14.080000 from 14.08

: Sonardyne - got range only (14.080000), tat = 410
: Sonardyne - POSD response: 
POSD S128.7,N24.4,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N24.4,D34,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,222714.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222714.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 = 410
: Sonardyne - POSD response: 
POSD S127.4,N32.5,D19,U2,Q0.000187

: Sonardyne - POSD response: 
POSD S127.4,N32.5,D19,U2,Q0.000187

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

: AshtechGps::processRecord() - $GPGGA,222715.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222715.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.99,X-6.24,Y7.64,Z-12.59

: Sonardyne - parsing R15.99,X-6.24,Y7.64,Z-12.59

: Sonardyne - read R = 15.990000 from 15.99,X-6.24,Y7.64,Z-12.59

: Sonardyne - got all data, Vehicle coordinates,
    r=15.990000, x=12.590000, y=-6.240000, z=-7.640000 tat = 450
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222716.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222716.00,,,,,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,222717.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222717.00,,,,,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,222718.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222718.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,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,222719.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222719.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.10,X20.08,Y-0.90,Z0.00

: Sonardyne - parsing R20.10,X20.08,Y-0.90,Z0.00

: Sonardyne - read R = 20.100000 from 20.10,X20.08,Y-0.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=20.100000, x=0.000000, y=20.080000, z=0.900000 tat = 440
: BluefinBatt Reply: $b6q0 d- 30.35  9.31 15.23 3.78 3.80 0 20802.81 07:31:41 m

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

: AshtechGps::processRecord() - $GPGGA,222720.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222720.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.780000, mean min cell voltage 3.780000

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

: AshtechGps::processRecord() - $GPGGA,222721.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222721.00,,,,,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,222722.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222722.00,,,,,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,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,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,222723.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222723.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.86

: Sonardyne - parsing R22.86

: Sonardyne - read R = 22.860000 from 22.86

: Sonardyne - got range only (22.860000), tat = 430
: Sonardyne - POSD response: 
POSD S133.0,N30.5,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.0,N30.5,D29,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,222724.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222724.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.46,X22.71,Y-5.87,Z0.00

: Sonardyne - parsing R23.46,X22.71,Y-5.87,Z0.00

: Sonardyne - read R = 23.460000 from 23.46,X22.71,Y-5.87,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=23.460000, x=0.000000, y=22.710000, z=5.870000 tat = 450
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222725.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222725.00,,,,,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,222726.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222726.00,,,,,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,222727.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222727.00,,,,,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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,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,222728.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222728.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.74,X15.15,Y-14.39,Z-8.96

: Sonardyne - parsing R22.74,X15.15,Y-14.39,Z-8.96

: Sonardyne - read R = 22.740000 from 22.74,X15.15,Y-14.39,Z-8.96

: Sonardyne - got all data, Vehicle coordinates,
    r=22.740000, x=8.960000, y=15.150000, z=14.390000 tat = 450
: LayeredControl::execute() -- (t = 717.400855) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 717.400855) Behavior getgps has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,222729.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222729.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.32 10.03 15.33 3.77 3.80 0 20802.03 07:31:51 m

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

: AshtechGps::processRecord() - $GPGGA,222730.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222730.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

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

: AshtechGps::processRecord() - $GPGGA,222731.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222731.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,222732.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222732.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.36

: Sonardyne - parsing R21.36

: Sonardyne - read R = 21.360000 from 21.36

: Sonardyne - got range only (21.360000), tat = 420
: Sonardyne - POSD response: 
POSD S+144.7,N27.4,D-58,U2,Q0.000520

: Sonardyne - POSD response: 
POSD S+144.7,N27.4,D-58,U2,Q0.000520

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

: AshtechGps::processRecord() - $GPGGA,222733.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222733.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.93,X6.53,Y-11.67,Z-14.78

: Sonardyne - parsing R19.93,X6.53,Y-11.67,Z-14.78

: Sonardyne - read R = 19.930000 from 19.93,X6.53,Y-11.67,Z-14.78

: Sonardyne - got all data, Vehicle coordinates,
    r=19.930000, x=14.780000, y=6.530000, z=11.670000 tat = 449
: Sonardyne - POSD response: 
POSD S+144.6,N30.5,D-42,U8,Q0.001179

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

: AshtechGps::processRecord() - $GPGGA,222734.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222734.00,,,,,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,222735.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222735.00,,,,,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,222736.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222736.00,,,,,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
:  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,N2.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222737.00,3654.78793,N,12153.32934,W,1,08,1.0,-6.33,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222737.00,3654.78793,N,12153.32934,W,1,08,1.0,-6.33,M,-32.59,M,,*70


: successfully parse sentence at 22:27:37

: AshtechGPS::processRecord -sample time is 1134426457
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R18.33

: Sonardyne - parsing R18.33

: Sonardyne - read R = 18.330000 from 18.33

: Sonardyne - got range only (18.330000), tat = 420
: Sonardyne - POSD response: 
POSD S+144.8,N38.9,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N38.9,D-12,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222738.00,3654.78792,N,12153.32927,W,1,08,1.0,-6.67,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222738.00,3654.78792,N,12153.32927,W,1,08,1.0,-6.67,M,-32.59,M,,*7D


: successfully parse sentence at 22:27:38

: AshtechGPS::processRecord -sample time is 1134426458
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R18.02

: Sonardyne - parsing R18.02

: Sonardyne - read R = 18.020000 from 18.02

: Sonardyne - got range only (18.020000), tat = 420
: Sonardyne - POSD response: 
POSD S+144.6,N29.5,D-15,U3,Q0.003388

: Sonardyne - POSD response: 
POSD S+144.6,N29.5,D-15,U3,Q0.003388

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

: AshtechGps::processRecord() - $GPGGA,222739.00,3654.78823,N,12153.32931,W,1,08,1.0,-7.39,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,222739.00,3654.78823,N,12153.32931,W,1,08,1.0,-7.39,M,-32.59,M,,*74


: successfully parse sentence at 22:27:39

: AshtechGPS::processRecord -sample time is 1134426459
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: BluefinBatt Reply: $b6q0 d- 30.58  3.37 15.33 3.77 3.80 0 20801.44 07:32:01 m

: Sonardyne - POS response: 
POS V4,1 R17.90

: Sonardyne - parsing R17.90

: Sonardyne - read R = 17.900000 from 17.90

: Sonardyne - got range only (17.900000), tat = 420
: Sonardyne - POSD response: 
POSD S+144.4,N25.5,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.4,N25.5,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,222740.00,3654.78828,N,12153.32923,W,1,08,1.0,-6.77,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,222740.00,3654.78828,N,12153.32923,W,1,08,1.0,-6.77,M,-32.59,M,,*79


: successfully parse sentence at 22:27:40

: AshtechGPS::processRecord -sample time is 1134426460
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: Sonardyne - POS response: 
POS V4,1 R17.72

: Sonardyne - parsing R17.72

: Sonardyne - read R = 17.720000 from 17.72

: Sonardyne - got range only (17.720000), tat = 420
: Sonardyne - POSD response: 
POSD S+142.5,N26.5,D-5,U1,Q0.003169

: Sonardyne - POSD response: 
POSD S+142.5,N26.5,D-5,U1,Q0.003169

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

: AshtechGps::processRecord() - $GPGGA,222741.00,3654.78854,N,12153.32867,W,1,08,1.0,-5.60,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,222741.00,3654.78854,N,12153.32867,W,1,08,1.0,-5.60,M,-32.59,M,,*77


: successfully parse sentence at 22:27:41

: AshtechGPS::processRecord -sample time is 1134426461
: GetGPS::execute() -- Got a new GPS hit: 5 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,222742.00,3654.78880,N,12153.32761,W,1,08,1.0,-5.83,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,222742.00,3654.78880,N,12153.32761,W,1,08,1.0,-5.83,M,-32.59,M,,*79


: successfully parse sentence at 22:27:42

: AshtechGPS::processRecord -sample time is 1134426462
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222743.00,3654.78914,N,12153.32773,W,1,08,1.0,-6.10,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222743.00,3654.78914,N,12153.32773,W,1,08,1.0,-6.10,M,-32.59,M,,*7E


: successfully parse sentence at 22:27:43

: AshtechGPS::processRecord -sample time is 1134426463
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222744.00,3654.78951,N,12153.32677,W,1,08,1.0,-6.23,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222744.00,3654.78951,N,12153.32677,W,1,08,1.0,-6.23,M,-32.59,M,,*7D


: successfully parse sentence at 22:27:44

: AshtechGPS::processRecord -sample time is 1134426464
: GetGPS::execute() -- Got a new GPS hit: 8 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,N6.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,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,222745.00,3654.78980,N,12153.32586,W,1,08,1.0,-6.26,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222745.00,3654.78980,N,12153.32586,W,1,08,1.0,-6.26,M,-32.59,M,,*78


: successfully parse sentence at 22:27:45

: AshtechGPS::processRecord -sample time is 1134426465
: Sonardyne - POS response: 
POS V4,1 R17.20,X4.55,Y-14.12,Z-8.70

: Sonardyne - parsing R17.20,X4.55,Y-14.12,Z-8.70

: Sonardyne - read R = 17.200000 from 17.20,X4.55,Y-14.12,Z-8.70

: Sonardyne - got all data, Vehicle coordinates,
    r=17.200000, x=8.700000, y=4.550000, z=14.120000 tat = 440
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222746.00,3654.79010,N,12153.32521,W,1,08,1.0,-6.64,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222746.00,3654.79010,N,12153.32521,W,1,08,1.0,-6.64,M,-32.59,M,,*71


: successfully parse sentence at 22:27:46

: AshtechGPS::processRecord -sample time is 1134426466
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 735.199636) 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 = 735.399622) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 735.399622) Behavior missionTimer 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,222747.00,3654.79019,N,12153.32475,W,1,08,1.0,-7.24,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222747.00,3654.79019,N,12153.32475,W,1,08,1.0,-7.24,M,-32.59,M,,*7C


: successfully parse sentence at 22:27:47

: AshtechGPS::processRecord -sample time is 1134426467
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222748.00,3654.79026,N,12153.32459,W,1,08,1.0,-7.58,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222748.00,3654.79026,N,12153.32459,W,1,08,1.0,-7.58,M,-32.59,M,,*7A


: successfully parse sentence at 22:27:48

: AshtechGPS::processRecord -sample time is 1134426468
: 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

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

: AshtechGps::processRecord() - $GPGGA,222749.00,3654.79019,N,12153.32463,W,1,08,1.0,-8.02,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222749.00,3654.79019,N,12153.32463,W,1,08,1.0,-8.02,M,-32.59,M,,*7E


: successfully parse sentence at 22:27:49

: AshtechGPS::processRecord -sample time is 1134426469
: 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 = 420
: Sonardyne - POSD response: 
POSD S+144.7,N30.1,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N30.1,D8,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.58  3.33 15.33 3.81 3.83 0 20801.24 07:32:11 m

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

: AshtechGps::processRecord() - $GPGGA,222750.00,3654.79011,N,12153.32488,W,1,08,1.0,-8.03,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222750.00,3654.79011,N,12153.32488,W,1,08,1.0,-8.03,M,-32.59,M,,*7A


: successfully parse sentence at 22:27:50

: AshtechGPS::processRecord -sample time is 1134426470
: Sonardyne - POS response: 
POS V4,1 R14.75,X4.05,Y13.34,Z-4.82

: Sonardyne - parsing R14.75,X4.05,Y13.34,Z-4.82

: Sonardyne - read R = 14.750000 from 14.75,X4.05,Y13.34,Z-4.82

: Sonardyne - got all data, Vehicle coordinates,
    r=14.750000, x=4.820000, y=4.050000, z=-13.340000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.8,N33.0,D-15,U8,Q0.005857

: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

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

: AshtechGps::processRecord() - $GPGGA,222751.00,3654.78993,N,12153.32507,W,1,08,1.0,-7.66,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,222751.00,3654.78993,N,12153.32507,W,1,08,1.0,-7.66,M,-32.59,M,,*73


: successfully parse sentence at 22:27:51

: AshtechGPS::processRecord -sample time is 1134426471
: Sonardyne - POS response: 
POS V4,1 R15.06,X-9.55,Y-11.64,Z0.00

: Sonardyne - parsing R15.06,X-9.55,Y-11.64,Z0.00

: Sonardyne - read R = 15.060000 from 15.06,X-9.55,Y-11.64,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.060000, x=0.000000, y=-9.550000, z=11.640000 tat = 440
: Sonardyne - POSD response: 
POSD S+142.5,N29.7,D-45,U6,Q0.003860

:  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 S101.7,N14.1,D62,U1,Q0.004928

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,222752.00,3654.78986,N,12153.32510,W,1,08,1.0,-7.52,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,222752.00,3654.78986,N,12153.32510,W,1,08,1.0,-7.52,M,-32.59,M,,*75


: successfully parse sentence at 22:27:52

: AshtechGPS::processRecord -sample time is 1134426472
: Sonardyne - POSD response: 
POSD S101.7,N14.1,D62,U1,Q0.004928

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

: AshtechGps::processRecord() - $GPGGA,222753.00,3654.78983,N,12153.32508,W,1,08,1.0,-7.35,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,222753.00,3654.78983,N,12153.32508,W,1,08,1.0,-7.35,M,-32.59,M,,*79


: successfully parse sentence at 22:27:53

: AshtechGPS::processRecord -sample time is 1134426473
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222754.00,3654.78987,N,12153.32494,W,1,08,1.0,-7.00,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222754.00,3654.78987,N,12153.32494,W,1,08,1.0,-7.00,M,-32.59,M,,*78


: successfully parse sentence at 22:27:54

: AshtechGPS::processRecord -sample time is 1134426474
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222755.00,3654.78999,N,12153.32440,W,1,08,1.0,-6.55,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222755.00,3654.78999,N,12153.32440,W,1,08,1.0,-6.55,M,-32.59,M,,*7E


: successfully parse sentence at 22:27:55

: AshtechGPS::processRecord -sample time is 1134426475
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222756.00,3654.79009,N,12153.32374,W,1,08,1.0,-6.35,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222756.00,3654.79009,N,12153.32374,W,1,08,1.0,-6.35,M,-32.59,M,,*7A


: successfully parse sentence at 22:27:56

: AshtechGPS::processRecord -sample time is 1134426476
: 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 = 420
: Sonardyne - POSD response: 
POSD S+144.2,N33.2,D15,U2,Q0.008308

: Sonardyne - POSD response: 
POSD S+144.2,N33.2,D15,U2,Q0.008308

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

: AshtechGps::processRecord() - $GPGGA,222757.00,3654.79032,N,12153.32309,W,1,08,1.0,-6.33,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222757.00,3654.79032,N,12153.32309,W,1,08,1.0,-6.33,M,-32.59,M,,*7F


: successfully parse sentence at 22:27:57

: AshtechGPS::processRecord -sample time is 1134426477
: Sonardyne - POS response: 
POS V4,1 R15.52,X1.28,Y-15.46,Z0.00

: Sonardyne - parsing R15.52,X1.28,Y-15.46,Z0.00

: Sonardyne - read R = 15.520000 from 15.52,X1.28,Y-15.46,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.520000, x=0.000000, y=1.280000, z=15.460000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.8,N44.3,D7,U8,Q0.005369

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

: AshtechGps::processRecord() - $GPGGA,222758.00,3654.79055,N,12153.32241,W,1,08,1.0,-6.40,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222758.00,3654.79055,N,12153.32241,W,1,08,1.0,-6.40,M,-32.59,M,,*78


: successfully parse sentence at 22:27:58

: AshtechGPS::processRecord -sample time is 1134426478
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222759.00,3654.79071,N,12153.32182,W,1,08,1.0,-6.75,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,222759.00,3654.79071,N,12153.32182,W,1,08,1.0,-6.75,M,-32.59,M,,*75


: successfully parse sentence at 22:27:59

: AshtechGPS::processRecord -sample time is 1134426479
: BluefinBatt Reply: $b6q0 d- 30.62  2.21 15.33 3.81 3.83 0 20800.97 07:32:21 m

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

: AshtechGps::processRecord() - $GPGGA,222800.00,3654.79070,N,12153.32149,W,1,08,1.0,-7.14,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,222800.00,3654.79070,N,12153.32149,W,1,08,1.0,-7.14,M,-32.59,M,,*76


: successfully parse sentence at 22:28:0

: AshtechGPS::processRecord -sample time is 1134426480
: batts online 1, min cell voltage 3.810000, mean min cell voltage 3.810000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222801.00,3654.79072,N,12153.32140,W,1,08,1.0,-7.54,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222801.00,3654.79072,N,12153.32140,W,1,08,1.0,-7.54,M,-32.59,M,,*78


: successfully parse sentence at 22:28:1

: AshtechGPS::processRecord -sample time is 1134426481
: Sonardyne - POS response: 
POS V4,1 R13.91

: Sonardyne - parsing R13.91

: Sonardyne - read R = 13.910000 from 13.91

: Sonardyne - got range only (13.910000), tat = 420
: Sonardyne - POSD response: 
POSD S+144.8,N30.0,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N30.0,D-26,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,222802.00,3654.79060,N,12153.32145,W,1,08,1.0,-7.67,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222802.00,3654.79060,N,12153.32145,W,1,08,1.0,-7.67,M,-32.59,M,,*7D


: successfully parse sentence at 22:28:2

: AshtechGPS::processRecord -sample time is 1134426482
: Sonardyne - POS response: 
POS V4,1 R13.55

: Sonardyne - parsing R13.55

: Sonardyne - read R = 13.550000 from 13.55

: Sonardyne - got range only (13.550000), tat = 409
: Sonardyne - POSD response: 
POSD S+144.1,N22.2,D-35,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S+144.1,N22.2,D-35,U1,Q0.016109

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

: AshtechGps::processRecord() - $GPGGA,222803.00,3654.79055,N,12153.32153,W,1,08,1.0,-7.64,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222803.00,3654.79055,N,12153.32153,W,1,08,1.0,-7.64,M,-32.59,M,,*7E


: successfully parse sentence at 22:28:3

: AshtechGPS::processRecord -sample time is 1134426483
: Sonardyne - POS response: 
POS V4,1 R13.75,X2.07,Y-12.43,Z-5.52

: Sonardyne - parsing R13.75,X2.07,Y-12.43,Z-5.52

: Sonardyne - read R = 13.750000 from 13.75,X2.07,Y-12.43,Z-5.52

: Sonardyne - got all data, Vehicle coordinates,
    r=13.750000, x=5.520000, y=2.070000, z=12.430000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.9,N31.8,D13,U8,Q0.001699

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

: AshtechGps::processRecord() - $GPGGA,222804.00,3654.79036,N,12153.32164,W,1,08,1.0,-7.61,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222804.00,3654.79036,N,12153.32164,W,1,08,1.0,-7.61,M,-32.59,M,,*7D


: successfully parse sentence at 22:28:4

: AshtechGPS::processRecord -sample time is 1134426484
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222805.00,3654.79014,N,12153.32175,W,1,08,1.0,-7.56,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222805.00,3654.79014,N,12153.32175,W,1,08,1.0,-7.56,M,-32.59,M,,*78


: successfully parse sentence at 22:28:5

: AshtechGPS::processRecord -sample time is 1134426485
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222806.00,3654.78999,N,12153.32174,W,1,08,1.0,-7.28,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222806.00,3654.78999,N,12153.32174,W,1,08,1.0,-7.28,M,-32.59,M,,*7E


: successfully parse sentence at 22:28:6

: AshtechGPS::processRecord -sample time is 1134426486
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222807.00,3654.78990,N,12153.32157,W,1,08,1.0,-6.65,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222807.00,3654.78990,N,12153.32157,W,1,08,1.0,-6.65,M,-32.59,M,,*7F


: successfully parse sentence at 22:28:7

: AshtechGPS::processRecord -sample time is 1134426487
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.5,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,222808.00,3654.78993,N,12153.32114,W,1,08,1.0,-6.35,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222808.00,3654.78993,N,12153.32114,W,1,08,1.0,-6.35,M,-32.59,M,,*71


: successfully parse sentence at 22:28:8

: AshtechGPS::processRecord -sample time is 1134426488
: Sonardyne - POS response: 
POS V4,1 R14.38,X-13.42,Y5.18,Z0.00

: Sonardyne - parsing R14.38,X-13.42,Y5.18,Z0.00

: Sonardyne - read R = 14.380000 from 14.38,X-13.42,Y5.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=14.380000, x=0.000000, y=-13.420000, z=-5.180000 tat = 430
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222809.00,3654.78993,N,12153.32055,W,1,08,1.0,-6.20,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222809.00,3654.78993,N,12153.32055,W,1,08,1.0,-6.20,M,-32.59,M,,*70


: successfully parse sentence at 22:28:9

: AshtechGPS::processRecord -sample time is 1134426489
: BluefinBatt Reply: $b6q0 d- 30.66  2.10 15.33 3.82 3.84 0 20800.82 07:32:31 m

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

: AshtechGps::processRecord() - $GPGGA,222810.00,3654.78999,N,12153.32001,W,1,08,1.0,-6.33,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222810.00,3654.78999,N,12153.32001,W,1,08,1.0,-6.33,M,-32.59,M,,*71


: successfully parse sentence at 22:28:10

: AshtechGPS::processRecord -sample time is 1134426490
: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

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

: AshtechGps::processRecord() - $GPGGA,222811.00,3654.79002,N,12153.31961,W,1,08,1.0,-6.53,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222811.00,3654.79002,N,12153.31961,W,1,08,1.0,-6.53,M,-32.59,M,,*70


: successfully parse sentence at 22:28:11

: AshtechGPS::processRecord -sample time is 1134426491
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N11.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222812.00,3654.79000,N,12153.31937,W,1,08,1.0,-6.73,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222812.00,3654.79000,N,12153.31937,W,1,08,1.0,-6.73,M,-32.59,M,,*70


: successfully parse sentence at 22:28:12

: AshtechGPS::processRecord -sample time is 1134426492
: Sonardyne - POS response: 
POS V4,1 R14.06

: Sonardyne - parsing R14.06

: Sonardyne - read R = 14.060000 from 14.06

: Sonardyne - got range only (14.060000), tat = 410
: Sonardyne - POSD response: 
POSD S+143.6,N24.9,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.6,N24.9,D-39,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,222813.00,3654.78999,N,12153.31915,W,1,08,1.0,-7.04,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222813.00,3654.78999,N,12153.31915,W,1,08,1.0,-7.04,M,-32.59,M,,*78


: successfully parse sentence at 22:28:13

: AshtechGPS::processRecord -sample time is 1134426493
: Sonardyne - POS response: 
POS V4,1 R13.71

: Sonardyne - parsing R13.71

: Sonardyne - read R = 13.710000 from 13.71

: Sonardyne - got range only (13.710000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.6,N25.9,D22,U1,Q0.005330

: Sonardyne - POSD response: 
POSD S+144.6,N25.9,D22,U1,Q0.005330

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

: AshtechGps::processRecord() - $GPGGA,222814.00,3654.78986,N,12153.31917,W,1,08,1.0,-7.24,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222814.00,3654.78986,N,12153.31917,W,1,08,1.0,-7.24,M,-32.59,M,,*71


: successfully parse sentence at 22:28:14

: AshtechGPS::processRecord -sample time is 1134426494
: Sonardyne - POS response: 
POS V4,1 R13.44,X0.93,Y-11.69,Z-6.56

: Sonardyne - parsing R13.44,X0.93,Y-11.69,Z-6.56

: Sonardyne - read R = 13.440000 from 13.44,X0.93,Y-11.69,Z-6.56

: Sonardyne - got all data, Vehicle coordinates,
    r=13.440000, x=6.560000, y=0.930000, z=11.690000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.9,N36.0,D7,U8,Q0.000196

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

: AshtechGps::processRecord() - $GPGGA,222815.00,3654.78975,N,12153.31925,W,1,08,1.0,-7.34,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222815.00,3654.78975,N,12153.31925,W,1,08,1.0,-7.34,M,-32.59,M,,*7C


: successfully parse sentence at 22:28:15

: AshtechGPS::processRecord -sample time is 1134426495
: Sonardyne - POS response: 
POS V4,1 R13.23,X0.29,Y-12.48,Z-4.39

: Sonardyne - parsing R13.23,X0.29,Y-12.48,Z-4.39

: Sonardyne - read R = 13.230000 from 13.23,X0.29,Y-12.48,Z-4.39

: Sonardyne - got all data, Vehicle coordinates,
    r=13.230000, x=4.390000, y=0.290000, z=12.480000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.8,N47.5,D4,U8,Q0.001510

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

: AshtechGps::processRecord() - $GPGGA,222816.00,3654.78955,N,12153.31949,W,1,08,1.0,-7.32,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222816.00,3654.78955,N,12153.31949,W,1,08,1.0,-7.32,M,-32.59,M,,*71


: successfully parse sentence at 22:28:16

: AshtechGPS::processRecord -sample time is 1134426496
: Sonardyne - POS response: 
POS V4,1 R13.14

: Sonardyne - parsing R13.14

: Sonardyne - read R = 13.140000 from 13.14

: Sonardyne - got range only (13.140000), tat = 410
: Sonardyne - POSD response: 
POSD S+143.9,N22.4,D-13,U1,Q0.017937

: Sonardyne - POSD response: 
POSD S+143.9,N22.4,D-13,U1,Q0.017937

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

: AshtechGps::processRecord() - $GPGGA,222817.00,3654.78942,N,12153.31945,W,1,08,1.0,-7.07,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222817.00,3654.78942,N,12153.31945,W,1,08,1.0,-7.07,M,-32.59,M,,*7C


: successfully parse sentence at 22:28:17

: AshtechGPS::processRecord -sample time is 1134426497
: Sonardyne - POS response: 
POS V4,1 R13.34,X0.01,Y11.61,Z-6.56

: Sonardyne - parsing R13.34,X0.01,Y11.61,Z-6.56

: Sonardyne - read R = 13.340000 from 13.34,X0.01,Y11.61,Z-6.56

: Sonardyne - got all data, Vehicle coordinates,
    r=13.340000, x=6.560000, y=0.010000, z=-11.610000 tat = 429
: Sonardyne - POSD response: 
POSD S+144.7,N26.7,D-23,U8,Q0.001860

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

: AshtechGps::processRecord() - $GPGGA,222818.00,3654.78930,N,12153.31947,W,1,08,1.0,-6.98,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,222818.00,3654.78930,N,12153.31947,W,1,08,1.0,-6.98,M,-32.59,M,,*73


: successfully parse sentence at 22:28:18

: AshtechGPS::processRecord -sample time is 1134426498
: Sonardyne - POS response: 
POS V4,1 R13.41

: Sonardyne - parsing R13.41

: Sonardyne - read R = 13.410000 from 13.41

: Sonardyne - got range only (13.410000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.7,N28.4,D15,U2,Q0.004602

: Sonardyne - POSD response: 
POSD S+144.7,N28.4,D15,U2,Q0.004602

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

: AshtechGps::processRecord() - $GPGGA,222819.00,3654.78919,N,12153.31946,W,1,08,1.0,-6.72,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222819.00,3654.78919,N,12153.31946,W,1,08,1.0,-6.72,M,-32.59,M,,*7C


: successfully parse sentence at 22:28:19

: AshtechGPS::processRecord -sample time is 1134426499
: Sonardyne - POS response: 
POS V4,1 R13.47,X-1.76,Y11.14,Z-7.37

: Sonardyne - parsing R13.47,X-1.76,Y11.14,Z-7.37

: Sonardyne - read R = 13.470000 from 13.47,X-1.76,Y11.14,Z-7.37

: Sonardyne - got all data, Vehicle coordinates,
    r=13.470000, x=7.370000, y=-1.760000, z=-11.140000 tat = 430
: Sonardyne - POSD response: 
POSD S+140.2,N29.1,D-29,U6,Q0.001482

: BluefinBatt Reply: $b6q0 d- 30.62  3.33 15.42 3.82 3.84 0 20800.59 07:32:41 m

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

: AshtechGps::processRecord() - $GPGGA,222820.00,3654.78911,N,12153.31920,W,1,08,1.0,-6.39,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222820.00,3654.78911,N,12153.31920,W,1,08,1.0,-6.39,M,-32.59,M,,*71


: successfully parse sentence at 22:28:20

: AshtechGPS::processRecord -sample time is 1134426500
: Sonardyne - POS response: 
POS V4,1 R14.21

: Sonardyne - parsing R14.21

: Sonardyne - read R = 14.210000 from 14.21

: Sonardyne - got range only (14.210000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.7,N33.1,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N33.1,D5,U0,Q0.000000

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

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

: AshtechGps::processRecord() - $GPGGA,222821.00,3654.78907,N,12153.31890,W,1,08,1.0,-6.38,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222821.00,3654.78907,N,12153.31890,W,1,08,1.0,-6.38,M,-32.59,M,,*7C


: successfully parse sentence at 22:28:21

: AshtechGPS::processRecord -sample time is 1134426501
: Sonardyne - POS response: 
POS V4,1 R13.98

: Sonardyne - parsing R13.98

: Sonardyne - read R = 13.980000 from 13.98

: Sonardyne - got range only (13.980000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.7,N25.8,D-34,U1,Q0.008738

: Sonardyne - POSD response: 
POSD S+144.7,N25.8,D-34,U1,Q0.008738

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

: AshtechGps::processRecord() - $GPGGA,222822.00,3654.78903,N,12153.31862,W,1,08,1.0,-6.34,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222822.00,3654.78903,N,12153.31862,W,1,08,1.0,-6.34,M,-32.59,M,,*7A


: successfully parse sentence at 22:28:22

: AshtechGPS::processRecord -sample time is 1134426502
: Sonardyne - POS response: 
POS V4,1 R13.88,X-1.30,Y-13.82,Z0.00

: Sonardyne - parsing R13.88,X-1.30,Y-13.82,Z0.00

: Sonardyne - read R = 13.880000 from 13.88,X-1.30,Y-13.82,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=13.880000, x=0.000000, y=-1.300000, z=13.820000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.0,N24.4,D44,U8,Q0.006817

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

: AshtechGps::processRecord() - $GPGGA,222823.00,3654.78901,N,12153.31824,W,1,08,1.0,-6.48,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222823.00,3654.78901,N,12153.31824,W,1,08,1.0,-6.48,M,-32.59,M,,*70


: successfully parse sentence at 22:28:23

: AshtechGPS::processRecord -sample time is 1134426503
: Sonardyne - POS response: 
POS V4,1 R13.90

: Sonardyne - parsing R13.90

: Sonardyne - read R = 13.900000 from 13.90

: Sonardyne - got range only (13.900000), tat = 410
: Sonardyne - POSD response: 
POSD S+142.5,N30.8,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.5,N30.8,D-31,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,222824.00,3654.78897,N,12153.31813,W,1,08,1.0,-6.47,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,222824.00,3654.78897,N,12153.31813,W,1,08,1.0,-6.47,M,-32.59,M,,*72


: successfully parse sentence at 22:28:24

: AshtechGPS::processRecord -sample time is 1134426504
: Sonardyne - POS response: 
POS V4,1 R13.81

: Sonardyne - parsing R13.81

: Sonardyne - read R = 13.810000 from 13.81

: Sonardyne - got range only (13.810000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.2,N31.5,D-11,U1,Q0.006624

: Sonardyne - POSD response: 
POSD S+144.2,N31.5,D-11,U1,Q0.006624

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

: AshtechGps::processRecord() - $GPGGA,222825.00,3654.78894,N,12153.31791,W,1,08,1.0,-6.62,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,222825.00,3654.78894,N,12153.31791,W,1,08,1.0,-6.62,M,-32.59,M,,*72


: successfully parse sentence at 22:28:25

: AshtechGPS::processRecord -sample time is 1134426505
: Sonardyne - POS response: 
POS V4,1 R13.72

: Sonardyne - parsing R13.72

: Sonardyne - read R = 13.720000 from 13.72

: Sonardyne - got range only (13.720000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.8,N38.1,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N38.1,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,222826.00,3654.78886,N,12153.31791,W,1,08,1.0,-6.86,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,222826.00,3654.78886,N,12153.31791,W,1,08,1.0,-6.86,M,-32.59,M,,*78


: successfully parse sentence at 22:28:26

: AshtechGPS::processRecord -sample time is 1134426506
: Sonardyne - POS response: 
POS V4,1 R13.41

: Sonardyne - parsing R13.41

: Sonardyne - read R = 13.410000 from 13.41

: Sonardyne - got range only (13.410000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.8,N30.7,D14,U2,Q0.000651

: Sonardyne - POSD response: 
POSD S+144.8,N30.7,D14,U2,Q0.000651

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

: AshtechGps::processRecord() - $GPGGA,222827.00,3654.78878,N,12153.31796,W,1,08,1.0,-6.71,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,222827.00,3654.78878,N,12153.31796,W,1,08,1.0,-6.71,M,-32.59,M,,*77


: successfully parse sentence at 22:28:27

: AshtechGPS::processRecord -sample time is 1134426507
: Sonardyne - POS response: 
POS V4,1 R13.52,X-0.45,Y-13.08,Z-3.37

: Sonardyne - parsing R13.52,X-0.45,Y-13.08,Z-3.37

: Sonardyne - read R = 13.520000 from 13.52,X-0.45,Y-13.08,Z-3.37

: Sonardyne - got all data, Vehicle coordinates,
    r=13.520000, x=3.370000, y=-0.450000, z=13.080000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.8,N32.8,D12,U8,Q0.009069

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

: AshtechGps::processRecord() - $GPGGA,222828.00,3654.78872,N,12153.31777,W,1,08,1.0,-6.82,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222828.00,3654.78872,N,12153.31777,W,1,08,1.0,-6.82,M,-32.59,M,,*71


: successfully parse sentence at 22:28:28

: AshtechGPS::processRecord -sample time is 1134426508
: Sonardyne - POS response: 
POS V4,1 R13.44

: Sonardyne - parsing R13.44

: Sonardyne - read R = 13.440000 from 13.44

: Sonardyne - got range only (13.440000), tat = 410
: Sonardyne - POSD response: 
POSD S+142.9,N25.0,D21,U4,Q0.010281

: Sonardyne - POSD response: 
POSD S+142.9,N25.0,D21,U4,Q0.010281

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

: AshtechGps::processRecord() - $GPGGA,222829.00,3654.78860,N,12153.31798,W,1,08,1.0,-6.90,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222829.00,3654.78860,N,12153.31798,W,1,08,1.0,-6.90,M,-32.59,M,,*71


: successfully parse sentence at 22:28:29

: AshtechGPS::processRecord -sample time is 1134426509
: 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 = 410
: Sonardyne - POSD response: 
POSD S+142.7,N32.9,D-17,U1,Q0.011963

: Sonardyne - POSD response: 
POSD S+142.7,N32.9,D-17,U1,Q0.011963

: BluefinBatt Reply: $b6q0 d- 30.58  4.05 15.33 3.82 3.83 0 20800.38 07:32:51 m

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

: AshtechGps::processRecord() - $GPGGA,222830.00,3654.78851,N,12153.31798,W,1,08,1.0,-6.99,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,222830.00,3654.78851,N,12153.31798,W,1,08,1.0,-6.99,M,-32.59,M,,*72


: successfully parse sentence at 22:28:30

: AshtechGPS::processRecord -sample time is 1134426510
: 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+144.9,N29.2,D-31,U8,Q0.003634

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-31,U8,Q0.003634

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

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

: AshtechGps::processRecord() - $GPGGA,222831.00,3654.78838,N,12153.31813,W,1,08,1.0,-7.00,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,222831.00,3654.78838,N,12153.31813,W,1,08,1.0,-7.00,M,-32.59,M,,*71


: successfully parse sentence at 22:28:31

: AshtechGPS::processRecord -sample time is 1134426511
: Sonardyne - POS response: 
POS V4,1 R13.28

: Sonardyne - parsing R13.28

: Sonardyne - read R = 13.280000 from 13.28

: Sonardyne - got range only (13.280000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.8,N26.9,D-36,U2,Q0.003031

: Sonardyne - POSD response: 
POSD S+144.8,N26.9,D-36,U2,Q0.003031

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

: AshtechGps::processRecord() - $GPGGA,222832.00,3654.78828,N,12153.31823,W,1,08,1.0,-6.87,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222832.00,3654.78828,N,12153.31823,W,1,08,1.0,-6.87,M,-32.59,M,,*7E


: successfully parse sentence at 22:28:32

: AshtechGPS::processRecord -sample time is 1134426512
: Sonardyne - POS response: 
POS V4,1 R13.30,X0.46,Y-12.85,Z-3.39

: Sonardyne - parsing R13.30,X0.46,Y-12.85,Z-3.39

: Sonardyne - read R = 13.300000 from 13.30,X0.46,Y-12.85,Z-3.39

: Sonardyne - got all data, Vehicle coordinates,
    r=13.300000, x=3.390000, y=0.460000, z=12.850000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.6,N47.1,D-3,U8,Q0.001108

: AshtechGps::processRecord() - $GPGGA,222833.00,3654.78818,N,12153.31816,W,1,08,1.0,-6.71,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,222833.00,3654.78818,N,12153.31816,W,1,08,1.0,-6.71,M,-32.59,M,,*73


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

: successfully parse sentence at 22:28:33

: AshtechGPS::processRecord -sample time is 1134426513
: Sonardyne - POS response: 
POS V4,1 R13.49

: Sonardyne - parsing R13.49

: Sonardyne - read R = 13.490000 from 13.49

: Sonardyne - got range only (13.490000), tat = 410
: Sonardyne - POSD response: 
POSD S+144.7,N32.3,D-11,U4,Q0.012403

: Sonardyne - POSD response: 
POSD S+144.7,N32.3,D-11,U4,Q0.012403

: AshtechGps::processRecord() - $GPGGA,222834.00,3654.78813,N,12153.31816,W,1,08,1.0,-6.48,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,222834.00,3654.78813,N,12153.31816,W,1,08,1.0,-6.48,M,-32.59,M,,*75


: successfully parse sentence at 22:28:34

: AshtechGPS::processRecord -sample time is 1134426514
:  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 R14.10,X0.43,Y-13.48,Z-4.10

: Sonardyne - parsing R14.10,X0.43,Y-13.48,Z-4.10

: Sonardyne - read R = 14.100000 from 14.10,X0.43,Y-13.48,Z-4.10

: Sonardyne - got all data, Vehicle coordinates,
    r=14.100000, x=4.100000, y=0.430000, z=13.480000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.8,N43.9,D-9,U8,Q0.001118

: AshtechGps::processRecord() - $GPGGA,222835.00,3654.78812,N,12153.31791,W,1,08,1.0,-6.29,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,222835.00,3654.78812,N,12153.31791,W,1,08,1.0,-6.29,M,-32.59,M,,*72


: successfully parse sentence at 22:28:35

: AshtechGPS::processRecord -sample time is 1134426515
:  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 R13.84,X-0.64,Y-13.76,Z-1.30

: Sonardyne - parsing R13.84,X-0.64,Y-13.76,Z-1.30

: Sonardyne - read R = 13.840000 from 13.84,X-0.64,Y-13.76,Z-1.30

: Sonardyne - got all data, Vehicle coordinates,
    r=13.840000, x=1.300000, y=-0.640000, z=13.760000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.5,N49.8,D-2,U8,Q0.004733

: AshtechGps::processRecord() - $GPGGA,222836.00,3654.78811,N,12153.31767,W,1,08,1.0,-6.26,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,222836.00,3654.78811,N,12153.31767,W,1,08,1.0,-6.26,M,-32.59,M,,*74


: successfully parse sentence at 22:28:36

: AshtechGPS::processRecord -sample time is 1134426516
:  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 R13.97,X0.45,Y-13.40,Z-3.90

: Sonardyne - parsing R13.97,X0.45,Y-13.40,Z-3.90

: Sonardyne - read R = 13.970000 from 13.97,X0.45,Y-13.40,Z-3.90

: Sonardyne - got all data, Vehicle coordinates,
    r=13.970000, x=3.900000, y=0.450000, z=13.400000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.7,N39.9,D-12,U8,Q0.000803

: AshtechGps::processRecord() - $GPGGA,222837.00,3654.78814,N,12153.31740,W,1,08,1.0,-6.27,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,222837.00,3654.78814,N,12153.31740,W,1,08,1.0,-6.27,M,-32.59,M,,*74


: successfully parse sentence at 22:28:37

: AshtechGPS::processRecord -sample time is 1134426517
:  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 R13.97,X0.48,Y-13.77,Z-2.33

: Sonardyne - parsing R13.97,X0.48,Y-13.77,Z-2.33

: Sonardyne - read R = 13.970000 from 13.97,X0.48,Y-13.77,Z-2.33

: Sonardyne - got all data, Vehicle coordinates,
    r=13.970000, x=2.330000, y=0.480000, z=13.770000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.6,N47.6,D0,U8,Q0.001510

: AshtechGps::processRecord() - $GPGGA,222838.00,3654.78816,N,12153.31721,W,1,08,1.0,-6.27,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222838.00,3654.78816,N,12153.31721,W,1,08,1.0,-6.27,M,-32.59,M,,*7E


: successfully parse sentence at 22:28:38

: AshtechGPS::processRecord -sample time is 1134426518
:  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 R13.87,X0.86,Y-13.55,Z-2.85

: Sonardyne - parsing R13.87,X0.86,Y-13.55,Z-2.85

: Sonardyne - read R = 13.870000 from 13.87,X0.86,Y-13.55,Z-2.85

: Sonardyne - got all data, Vehicle coordinates,
    r=13.870000, x=2.850000, y=0.860000, z=13.550000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.1,N36.1,D-5,U8,Q0.001079

: AshtechGps::processRecord() - $GPGGA,222839.00,3654.78816,N,12153.31701,W,1,08,1.0,-6.42,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222839.00,3654.78816,N,12153.31701,W,1,08,1.0,-6.42,M,-32.59,M,,*7E


: successfully parse sentence at 22:28:39

: AshtechGPS::processRecord -sample time is 1134426519
:  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 R13.89

: Sonardyne - parsing R13.89

: Sonardyne - read R = 13.890000 from 13.89

: Sonardyne - got range only (13.890000), tat = 410
: Sonardyne - POSD response: 
POSD S+142.8,N27.4,D-26,U1,Q0.005493

: Sonardyne - POSD response: 
POSD S+142.8,N27.4,D-26,U1,Q0.005493

: BluefinBatt Reply: $b6q0 d- 30.62  3.22 15.33 3.82 3.83 0 20800.08 07:33:01 m

: AshtechGps::processRecord() - $GPGGA,222840.00,3654.78816,N,12153.31694,W,1,08,1.0,-6.71,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222840.00,3654.78816,N,12153.31694,W,1,08,1.0,-6.71,M,-32.59,M,,*7D


: successfully parse sentence at 22:28:40

: AshtechGPS::processRecord -sample time is 1134426520
:  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 R13.49,X1.61,Y-12.53,Z-4.71

: Sonardyne - parsing R13.49,X1.61,Y-12.53,Z-4.71

: Sonardyne - read R = 13.490000 from 13.49,X1.61,Y-12.53,Z-4.71

: Sonardyne - got all data, Vehicle coordinates,
    r=13.490000, x=4.710000, y=1.610000, z=12.530000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.5,N24.4,D-37,U8,Q0.002571

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

: AshtechGps::processRecord() - $GPGGA,222841.00,3654.78805,N,12153.31700,W,1,08,1.0,-6.88,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,222841.00,3654.78805,N,12153.31700,W,1,08,1.0,-6.88,M,-32.59,M,,*74


: successfully parse sentence at 22:28:41

: AshtechGPS::processRecord -sample time is 1134426521
:  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 R13.32,X0.45,Y-12.97,Z-3.03

: Sonardyne - parsing R13.32,X0.45,Y-12.97,Z-3.03

: Sonardyne - read R = 13.320000 from 13.32,X0.45,Y-12.97,Z-3.03

: Sonardyne - got all data, Vehicle coordinates,
    r=13.320000, x=3.030000, y=0.450000, z=12.970000 tat = 440
: Sonardyne - POSD response: 
POSD S+144.0,N33.1,D-3,U8,Q0.000214

: AshtechGps::processRecord() - $GPGGA,222842.00,3654.78800,N,12153.31709,W,1,08,1.0,-7.01,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222842.00,3654.78800,N,12153.31709,W,1,08,1.0,-7.01,M,-32.59,M,,*7B


: successfully parse sentence at 22:28:42

: AshtechGPS::processRecord -sample time is 1134426522
: 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 = 410
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.2,N21.9,D-54,U1,Q0.005205

: Sonardyne - POSD response: 
POSD S+144.2,N21.9,D-54,U1,Q0.005205

: AshtechGps::processRecord() - $GPGGA,222843.00,3654.78796,N,12153.31728,W,1,08,1.0,-7.10,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,222843.00,3654.78796,N,12153.31728,W,1,08,1.0,-7.10,M,-32.59,M,,*79


: successfully parse sentence at 22:28:43

: AshtechGPS::processRecord -sample time is 1134426523
: Sonardyne - POS response: 
POS V4,1 R13.08

: Sonardyne - parsing R13.08

: Sonardyne - read R = 13.080000 from 13.08

: Sonardyne - got range only (13.080000), tat = 410
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N25.8,D-32,U2,Q0.000467

: Sonardyne - POSD response: 
POSD S+144.6,N25.8,D-32,U2,Q0.000467

: AshtechGps::processRecord() - $GPGGA,222844.00,3654.78790,N,12153.31739,W,1,08,1.0,-7.09,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,222844.00,3654.78790,N,12153.31739,W,1,08,1.0,-7.09,M,-32.59,M,,*70


: successfully parse sentence at 22:28:44

: AshtechGPS::processRecord -sample time is 1134426524
:  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 R13.23,X1.01,Y-12.37,Z-4.60

: Sonardyne - parsing R13.23,X1.01,Y-12.37,Z-4.60

: Sonardyne - read R = 13.230000 from 13.23,X1.01,Y-12.37,Z-4.60

: Sonardyne - got all data, Vehicle coordinates,
    r=13.230000, x=4.600000, y=1.010000, z=12.370000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.5,N23.5,D-48,U8,Q0.002069

: AshtechGps::processRecord() - $GPGGA,222845.00,3654.78784,N,12153.31766,W,1,08,1.0,-7.03,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,222845.00,3654.78784,N,12153.31766,W,1,08,1.0,-7.03,M,-32.59,M,,*74


: successfully parse sentence at 22:28:45

: AshtechGPS::processRecord -sample time is 1134426525
: Sonardyne - POS response: 
POS V4,1 R13.25,X0.58,Y-13.05,Z-2.23

: Sonardyne - parsing R13.25,X0.58,Y-13.05,Z-2.23

: Sonardyne - read R = 13.250000 from 13.25,X0.58,Y-13.05,Z-2.23

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

: Sonardyne - got all data, Vehicle coordinates,
    r=13.250000, x=2.230000, y=0.580000, z=13.050000 tat = 430
: Sonardyne - POSD response: 
POSD S+144.6,N44.5,D7,U8,Q0.001107

: 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()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task EH?j - 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()

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

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

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

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

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

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

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

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

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

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

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

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

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

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

: **** SharedData destructor for object navigationOutput ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task EH?j - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

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

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

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

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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