Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConf: Initializing worksiteServer
iguratio: WorkSite::WorkSite -- Adding attributes
nSe: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
rver
Supervisor::createTask() - externalCo: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
mmsServer
Supervisor::createTask() - navigationS: WorkSite::WorkSite -- Finished loading parameters
erv: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
er
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
Supe: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
rviso: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
r::c: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
reateT: WorkSite server: 0x22eec
ask() - layeredCont: New Navigation component constructor
rol: Navigation - Using only the Dvl to compute altitude.
Server
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

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

iS: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
erver
: I'm the child...forking

: SerialDevice: done...

Supervisor: SerialDevice: done...

::createTask() - bluefinBattDriv: SerialDevice: done...

er
Supervis: SerialDevice: done...

or::createTask() - dvlServer
S: SerialDevice: done...

u: Gps: initializing

per: SerialDevice: done...

vi: SerialDevice: done...

s: BluefineBatt::init() - 1 batteries on 10 second interval
or::: SerialDevice: done...

cr: SerialDevice: done...

eateT: Gps: done initializing...

ask() - fanSe: **** EventTriggers::add() - attaching proxy
r: BluefinBatt.cc - Looking for Parosci server
: Crossbow.cc: Setting polled mode
ver
Supervis: SerialDevice: done...

or::cr: SerialDevice: done...

: Crossbow.cc: Setting polled mode
eat: BluefinBatt::init() - querying for batt ids
eTask: Crossbow.cc: In getSerialNumber()
() - : AshtechGps::processRecord() - $PASHR,ACK*3D

dropWeig: Crossbow.cc: _device->read failed with error
h: GpsUtils::parseFix() - $PASHR,ACK*3D


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

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

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

: SerialDevice: done...

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

:  t

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

: SerialDevice: done...

: ahrs if is Ahrs

: 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...

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

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

: AshtechGps::processRecord() - $GPGGA,230329.00,3654.80092,N,12153.27068,W,1,09,0.9,-8.83,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230329.00,3654.80092,N,12153.27068,W,1,09,0.9,-8.83,M,-32.59,M,,*71


: successfully parse sentence at 23:3:29

: AshtechGPS::processRecord -sample time is 1134428609
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Parosci.cc -- Initial pressure = 0.068948
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: Sonardyne - POS response: 
POS V4,1 R74.10,X-14.10,Y-8.86,Z-72.21

: Sonardyne - parsing R74.10,X-14.10,Y-8.86,Z-72.21

: Parosci.cc -- Parosci initial pressure period = 30.139020
: Sonardyne - read R = 74.100000 from 74.10,X-14.10,Y-8.86,Z-72.21

: Sonardyne - got all data, Vehicle coordinates,
    r=74.100000, x=72.210000, y=-14.100000, z=8.860000 tat = 570
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: Sonardyne - POSD response: 
POSD S+144.3,N34.5,D-6,U6,Q0.016037

: EX10011
>
: EA+04500
>
: Parosci.cc -- Parosci initial temp period = 5.842361
: WP0001
>
: Parosci.cc -- Paroscientific configured.
: AshtechGps::processRecord() - $GPGGA,230330.00,3654.80088,N,12153.27064,W,1,09,0.9,-8.88,M,-32.59,M,,*75

: **** EventTriggers::add() - attaching proxy
: GpsUtils::parseFix() - $GPGGA,230330.00,3654.80088,N,12153.27064,W,1,09,0.9,-8.88,M,-32.59,M,,*75


: WN25
>
: successfully parse sentence at 23:3:30

:  Dvl::initialize - The number of cells is 25.

: AshtechGPS::processRecord -sample time is 1134428610
: WV210
>
:  Dvl::initialize - 14 valid commands read in from dvl.cfg.

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

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

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Sonardyne - POS response: 
POS V4,1 R74.09

: Sonardyne - parsing R74.09

: Sonardyne - read R = 74.090000 from 74.09

: Sonardyne - got range only (74.090000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N46.7,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N46.7,D12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230331.00,3654.80088,N,12153.27058,W,1,09,0.9,-8.83,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,230331.00,3654.80088,N,12153.27058,W,1,09,0.9,-8.83,M,-32.59,M,,*70


: successfully parse sentence at 23:3:31

: AshtechGPS::processRecord -sample time is 1134428611
:  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 R74.08,X-11.58,Y-8.95,Z-72.62

: Sonardyne - parsing R74.08,X-11.58,Y-8.95,Z-72.62

: Sonardyne - read R = 74.080000 from 74.08,X-11.58,Y-8.95,Z-72.62

: Sonardyne - got all data, Vehicle coordinates,
    r=74.080000, x=72.620000, y=-11.580000, z=8.950000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.6,N32.2,D14,U8,Q0.014133

: AshtechGps::processRecord() - $GPGGA,230332.00,3654.80082,N,12153.27050,W,1,09,0.9,-8.75,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,230332.00,3654.80082,N,12153.27050,W,1,09,0.9,-8.75,M,-32.59,M,,*78


: successfully parse sentence at 23:3:32

: AshtechGPS::processRecord -sample time is 1134428612
:  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 R73.94,X-9.89,Y-0.11,Z-73.28

: Sonardyne - parsing R73.94,X-9.89,Y-0.11,Z-73.28

: Sonardyne - read R = 73.940000 from 73.94,X-9.89,Y-0.11,Z-73.28

: Sonardyne - got all data, Vehicle coordinates,
    r=73.940000, x=73.280000, y=-9.890000, z=0.110000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.6,N33.5,D11,U8,Q0.002224

: AshtechGps::processRecord() - $GPGGA,230333.00,3654.80080,N,12153.27045,W,1,09,0.9,-9.01,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,230333.00,3654.80080,N,12153.27045,W,1,09,0.9,-9.01,M,-32.59,M,,*7D


: successfully parse sentence at 23:3:33

: AshtechGPS::processRecord -sample time is 1134428613
:  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 R73.89

: Sonardyne - parsing R73.89

: Sonardyne - read R = 73.890000 from 73.89

: Sonardyne - got range only (73.890000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.6,N34.7,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N34.7,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230334.00,3654.80069,N,12153.27044,W,1,09,0.9,-8.63,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230334.00,3654.80069,N,12153.27044,W,1,09,0.9,-8.63,M,-32.59,M,,*79


: successfully parse sentence at 23:3:34

: AshtechGPS::processRecord -sample time is 1134428614
: BluefinBatt::init() - battery ids are b6  
: BluefinBatt::init() - found battery b6
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R73.92,X-8.97,Y-2.37,Z-73.34

: Sonardyne - parsing R73.92,X-8.97,Y-2.37,Z-73.34

: Sonardyne - read R = 73.920000 from 73.92,X-8.97,Y-2.37,Z-73.34

: Sonardyne - got all data, Vehicle coordinates,
    r=73.920000, x=73.340000, y=-8.970000, z=2.370000 tat = 570
: Sonardyne - POSD response: 
POSD S+142.2,N22.6,D7,U8,Q0.001220

: AshtechGps::processRecord() - $GPGGA,230335.00,3654.80076,N,12153.27022,W,1,09,0.9,-8.64,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230335.00,3654.80076,N,12153.27022,W,1,09,0.9,-8.64,M,-32.59,M,,*71


: successfully parse sentence at 23:3:35

: AshtechGPS::processRecord -sample time is 1134428615
:  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 R74.24

: Sonardyne - parsing R74.24

: Sonardyne - read R = 74.240000 from 74.24

: Sonardyne - got range only (74.240000), tat = 550
: Sonardyne - POSD response: 
POSD S+141.5,N26.3,D85,U5,Q0.004557

: Sonardyne - POSD response: 
POSD S+141.5,N26.3,D85,U5,Q0.004557

: AshtechGps::processRecord() - $GPGGA,230336.00,3654.80077,N,12153.27002,W,1,09,0.9,-8.64,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230336.00,3654.80077,N,12153.27002,W,1,09,0.9,-8.64,M,-32.59,M,,*71


: successfully parse sentence at 23:3:36

: AshtechGPS::processRecord -sample time is 1134428616
:  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 R74.47,X-7.10,Y-3.81,Z-74.03

: Sonardyne - parsing R74.47,X-7.10,Y-3.81,Z-74.03

: Sonardyne - read R = 74.470000 from 74.47,X-7.10,Y-3.81,Z-74.03

: Sonardyne - got all data, Vehicle coordinates,
    r=74.470000, x=74.030000, y=-7.100000, z=3.810000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N30.6,D27,U8,Q0.002578

: AshtechGps::processRecord() - $GPGGA,230337.00,3654.80082,N,12153.26984,W,1,09,0.9,-8.51,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230337.00,3654.80082,N,12153.26984,W,1,09,0.9,-8.51,M,-32.59,M,,*7A


: successfully parse sentence at 23:3:37

: AshtechGPS::processRecord -sample time is 1134428617
:  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 R74.82,X-9.50,Y-14.05,Z-72.87

: Sonardyne - parsing R74.82,X-9.50,Y-14.05,Z-72.87

: Sonardyne - read R = 74.820000 from 74.82,X-9.50,Y-14.05,Z-72.87

: Sonardyne - got all data, Vehicle coordinates,
    r=74.820000, x=72.870000, y=-9.500000, z=14.050000 tat = 570
: Sonardyne - POSD response: 
POSD S+141.0,N18.6,D-1,U7,Q0.003884

: AshtechGps::processRecord() - $GPGGA,230338.00,3654.80093,N,12153.26981,W,1,09,0.9,-8.24,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,230338.00,3654.80093,N,12153.26981,W,1,09,0.9,-8.24,M,-32.59,M,,*72


: successfully parse sentence at 23:3:38

: AshtechGPS::processRecord -sample time is 1134428618
:  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 R75.31,X-10.64,Y-3.24,Z-74.49

: Sonardyne - parsing R75.31,X-10.64,Y-3.24,Z-74.49

: Sonardyne - read R = 75.310000 from 75.31,X-10.64,Y-3.24,Z-74.49

: Sonardyne - got all data, Vehicle coordinates,
    r=75.310000, x=74.490000, y=-10.640000, z=3.240000 tat = 570
: Sonardyne - POSD response: 
POSD S+142.0,N24.2,D-25,U7,Q0.006151

: AshtechGps::processRecord() - $GPGGA,230339.00,3654.80116,N,12153.26945,W,1,09,0.9,-8.52,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230339.00,3654.80116,N,12153.26945,W,1,09,0.9,-8.52,M,-32.59,M,,*76


: successfully parse sentence at 23:3:39

: AshtechGPS::processRecord -sample time is 1134428619
: BluefinBatt::init() - battery watchdog state is $b6wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R75.97,X-8.86,Y-7.74,Z-75.05

: Sonardyne - parsing R75.97,X-8.86,Y-7.74,Z-75.05

: Sonardyne - read R = 75.970000 from 75.97,X-8.86,Y-7.74,Z-75.05

: Sonardyne - got all data, Vehicle coordinates,
    r=75.970000, x=75.050000, y=-8.860000, z=7.740000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.0,N24.8,D-5,U8,Q0.005308

: AshtechGps::processRecord() - $GPGGA,230340.00,3654.80128,N,12153.26920,W,1,09,0.9,-8.17,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,230340.00,3654.80128,N,12153.26920,W,1,09,0.9,-8.17,M,-32.59,M,,*77


: successfully parse sentence at 23:3:40

: AshtechGPS::processRecord -sample time is 1134428620
:  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 R76.76,X-9.41,Y4.95,Z-76.02

: Sonardyne - parsing R76.76,X-9.41,Y4.95,Z-76.02

: Sonardyne - read R = 76.760000 from 76.76,X-9.41,Y4.95,Z-76.02

: Sonardyne - got all data, Vehicle coordinates,
    r=76.760000, x=76.020000, y=-9.410000, z=-4.950000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.5,N33.7,D15,U8,Q0.000451

: AshtechGps::processRecord() - $GPGGA,230341.00,3654.80140,N,12153.26898,W,1,09,0.9,-8.36,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230341.00,3654.80140,N,12153.26898,W,1,09,0.9,-8.36,M,-32.59,M,,*79


: successfully parse sentence at 23:3:41

: AshtechGPS::processRecord -sample time is 1134428621
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: Sonardyne - POS response: 
POS V4,1 R77.08,X-7.67,Y3.58,Z-76.61

: Sonardyne - parsing R77.08,X-7.67,Y3.58,Z-76.61

: Sonardyne - read R = 77.080000 from 77.08,X-7.67,Y3.58,Z-76.61

: Sonardyne - got all data, Vehicle coordinates,
    r=77.080000, x=76.610000, y=-7.670000, z=-3.580000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.2,N22.9,D-49,U8,Q0.002374

: AshtechGps::processRecord() - $GPGGA,230342.00,3654.80150,N,12153.26881,W,1,09,0.9,-8.93,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,230342.00,3654.80150,N,12153.26881,W,1,09,0.9,-8.93,M,-32.59,M,,*7C


: successfully parse sentence at 23:3:42

: AshtechGPS::processRecord -sample time is 1134428622
:  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 R77.40

: Sonardyne - parsing R77.40

: Sonardyne - read R = 77.400000 from 77.40

: Sonardyne - got range only (77.400000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.6,N32.1,D-24,U1,Q0.015155

: Sonardyne - POSD response: 
POSD S+144.6,N32.1,D-24,U1,Q0.015155

: AshtechGps::processRecord() - $GPGGA,230343.00,3654.80155,N,12153.26878,W,1,09,0.9,-8.78,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,230343.00,3654.80155,N,12153.26878,W,1,09,0.9,-8.78,M,-32.59,M,,*7B


: successfully parse sentence at 23:3:43

: AshtechGPS::processRecord -sample time is 1134428623
:  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 R77.51

: Sonardyne - parsing R77.51

: Sonardyne - read R = 77.510000 from 77.51

: Sonardyne - got range only (77.510000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.3,N22.7,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230344.00,3654.80154,N,12153.26866,W,1,09,0.9,-8.92,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230344.00,3654.80154,N,12153.26866,W,1,09,0.9,-8.92,M,-32.59,M,,*76


: Sonardyne - POSD response: 
POSD S+144.3,N22.7,D34,U0,Q0.000000

: successfully parse sentence at 23:3:44

: AshtechGPS::processRecord -sample time is 1134428624
:  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 R77.53

: Sonardyne - parsing R77.53

: Sonardyne - read R = 77.530000 from 77.53

: Sonardyne - got range only (77.530000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N34.7,D-12,U1,Q0.003997

: AshtechGps::processRecord() - $GPGGA,230345.00,3654.80147,N,12153.26868,W,1,09,0.9,-9.11,M,-32.59,M,,*71

: Sonardyne - POSD response: 
POSD S+144.8,N34.7,D-12,U1,Q0.003997

: GpsUtils::parseFix() - $GPGGA,230345.00,3654.80147,N,12153.26868,W,1,09,0.9,-9.11,M,-32.59,M,,*71


: successfully parse sentence at 23:3:45

: AshtechGPS::processRecord -sample time is 1134428625
:  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 R77.13,X-2.68,Y4.13,Z-76.98

: Sonardyne - parsing R77.13,X-2.68,Y4.13,Z-76.98

: Sonardyne - read R = 77.130000 from 77.13,X-2.68,Y4.13,Z-76.98

: Sonardyne - got all data, Vehicle coordinates,
    r=77.130000, x=76.980000, y=-2.680000, z=-4.130000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N27.3,D-18,U8,Q0.002056

: AshtechGps::processRecord() - $GPGGA,230346.00,3654.80135,N,12153.26881,W,1,09,0.9,-8.99,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230346.00,3654.80135,N,12153.26881,W,1,09,0.9,-8.99,M,-32.59,M,,*71


: successfully parse sentence at 23:3:46

: AshtechGPS::processRecord -sample time is 1134428626
:  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 R76.85,X-1.98,Y1.71,Z-76.80

: Sonardyne - parsing R76.85,X-1.98,Y1.71,Z-76.80

: Sonardyne - read R = 76.850000 from 76.85,X-1.98,Y1.71,Z-76.80

: Sonardyne - got all data, Vehicle coordinates,
    r=76.850000, x=76.800000, y=-1.980000, z=-1.710000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.1,N22.3,D-28,U7,Q0.003019

: AshtechGps::processRecord() - $GPGGA,230347.00,3654.80129,N,12153.26877,W,1,09,0.9,-9.17,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,230347.00,3654.80129,N,12153.26877,W,1,09,0.9,-9.17,M,-32.59,M,,*73


: successfully parse sentence at 23:3:47

: AshtechGPS::processRecord -sample time is 1134428627
:  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 R76.46

: Sonardyne - parsing R76.46

: Sonardyne - read R = 76.460000 from 76.46

: Sonardyne - got range only (76.460000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.3,N29.2,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N29.2,D-32,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230348.00,3654.80113,N,12153.26886,W,1,09,0.9,-8.93,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230348.00,3654.80113,N,12153.26886,W,1,09,0.9,-8.93,M,-32.59,M,,*76


: successfully parse sentence at 23:3:48

: AshtechGPS::processRecord -sample time is 1134428628
:  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 R76.11

: Sonardyne - parsing R76.11

: Sonardyne - read R = 76.110000 from 76.11

: Sonardyne - got range only (76.110000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.5,N29.5,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N29.5,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230349.00,3654.80108,N,12153.26893,W,1,09,0.9,-8.80,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,230349.00,3654.80108,N,12153.26893,W,1,09,0.9,-8.80,M,-32.59,M,,*7B


: successfully parse sentence at 23:3:49

: AshtechGPS::processRecord -sample time is 1134428629
:  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 R76.04

: Sonardyne - parsing R76.04

: Sonardyne - read R = 76.040000 from 76.04

: Sonardyne - got range only (76.040000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.5,N37.4,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N37.4,D14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230350.00,3654.80107,N,12153.26885,W,1,09,0.9,-8.60,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230350.00,3654.80107,N,12153.26885,W,1,09,0.9,-8.60,M,-32.59,M,,*75


: successfully parse sentence at 23:3:50

: AshtechGPS::processRecord -sample time is 1134428630
: BluefinBatt Reply: $b6q0 d- 30.62  2.13 14.74 3.82 3.83 0 20728.43 08:08:12 m

:  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 R76.15

: Sonardyne - parsing R76.15

: Sonardyne - read R = 76.150000 from 76.15

: Sonardyne - got range only (76.150000), tat = 550
: Sonardyne - POSD response: 
POSD S137.4,N23.0,D21,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S137.4,N23.0,D21,U1,Q0.007495

: AshtechGps::processRecord() - $GPGGA,230351.00,3654.80121,N,12153.26870,W,1,09,0.9,-8.50,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230351.00,3654.80121,N,12153.26870,W,1,09,0.9,-8.50,M,-32.59,M,,*79


: successfully parse sentence at 23:3:51

: AshtechGPS::processRecord -sample time is 1134428631
: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

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

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

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

: Sonardyne - POS response: 
POS V4,1 R76.63,X0.35,Y-9.59,Z-76.03

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

: Sonardyne - parsing R76.63,X0.35,Y-9.59,Z-76.03

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: Sonardyne - read R = 76.630000 from 76.63,X0.35,Y-9.59,Z-76.03

: Sonardyne - got all data, Vehicle coordinates,
    r=76.630000, x=76.030000, y=0.350000, z=9.590000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230352.00,3654.80129,N,12153.26850,W,1,09,0.9,-8.50,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,230352.00,3654.80129,N,12153.26850,W,1,09,0.9,-8.50,M,-32.59,M,,*70


: successfully parse sentence at 23:3:52

: AshtechGPS::processRecord -sample time is 1134428632
: **** 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 ***

:  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 R77.22,X2.65,Y-4.79,Z-77.03

: Sonardyne - parsing R77.22,X2.65,Y-4.79,Z-77.03

: Sonardyne - read R = 77.220000 from 77.22,X2.65,Y-4.79,Z-77.03

: Sonardyne - got all data, Vehicle coordinates,
    r=77.220000, x=77.030000, y=2.650000, z=4.790000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230353.00,3654.80158,N,12153.26815,W,1,09,0.9,-8.59,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,230353.00,3654.80158,N,12153.26815,W,1,09,0.9,-8.59,M,-32.59,M,,*7F


: successfully parse sentence at 23:3:53

: AshtechGPS::processRecord -sample time is 1134428633
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R77.91,X2.43,Y-8.48,Z-77.41

: Sonardyne - parsing R77.91,X2.43,Y-8.48,Z-77.41

: Sonardyne - read R = 77.910000 from 77.91,X2.43,Y-8.48,Z-77.41

: Sonardyne - got all data, Vehicle coordinates,
    r=77.910000, x=77.410000, y=2.430000, z=8.480000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230354.00,3654.80169,N,12153.26804,W,1,09,0.9,-8.08,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,230354.00,3654.80169,N,12153.26804,W,1,09,0.9,-8.08,M,-32.59,M,,*7E


: successfully parse sentence at 23:3:54

: AshtechGPS::processRecord -sample time is 1134428634
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  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 R78.81

: Sonardyne - parsing R78.81

: Sonardyne - read R = 78.810000 from 78.81

: Sonardyne - got range only (78.810000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.5,N26.8,D1,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S+143.5,N26.8,D1,U1,Q0.007526

: AshtechGps::processRecord() - $GPGGA,230355.00,3654.80188,N,12153.26779,W,1,09,0.9,-8.19,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230355.00,3654.80188,N,12153.26779,W,1,09,0.9,-8.19,M,-32.59,M,,*75


: successfully parse sentence at 23:3:55

: AshtechGPS::processRecord -sample time is 1134428635
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  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 R79.42

: Sonardyne - parsing R79.42

: Sonardyne - read R = 79.420000 from 79.42

: Sonardyne - got range only (79.420000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.4,N33.0,D-3,U1,Q0.001438

: AshtechGps::processRecord() - $GPGGA,230356.00,3654.80208,N,12153.26755,W,1,09,0.9,-8.42,M,-32.59,M,,*7D

: Sonardyne - POSD response: 
POSD S+144.4,N33.0,D-3,U1,Q0.001438

: GpsUtils::parseFix() - $GPGGA,230356.00,3654.80208,N,12153.26755,W,1,09,0.9,-8.42,M,-32.59,M,,*7D


: successfully parse sentence at 23:3:56

: AshtechGPS::processRecord -sample time is 1134428636
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R80.02,X5.09,Y-10.80,Z-79.13

: Sonardyne - parsing R80.02,X5.09,Y-10.80,Z-79.13

: Sonardyne - read R = 80.020000 from 80.02,X5.09,Y-10.80,Z-79.13

: Sonardyne - got all data, Vehicle coordinates,
    r=80.020000, x=79.130000, y=5.090000, z=10.800000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.5,N36.8,D-10,U8,Q0.004936

: AshtechGps::processRecord() - $GPGGA,230357.00,3654.80215,N,12153.26731,W,1,09,0.9,-8.47,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,230357.00,3654.80215,N,12153.26731,W,1,09,0.9,-8.47,M,-32.59,M,,*77


: successfully parse sentence at 23:3:57

: AshtechGPS::processRecord -sample time is 1134428637
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R80.37,X9.07,Y-10.13,Z-79.21

: Sonardyne - parsing R80.37,X9.07,Y-10.13,Z-79.21

: Sonardyne - read R = 80.370000 from 80.37,X9.07,Y-10.13,Z-79.21

: Sonardyne - got all data, Vehicle coordinates,
    r=80.370000, x=79.210000, y=9.070000, z=10.130000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.1,N23.4,D-69,U8,Q0.001935

: AshtechGps::processRecord() - $GPGGA,230358.00,3654.80221,N,12153.26716,W,1,09,0.9,-9.13,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230358.00,3654.80221,N,12153.26716,W,1,09,0.9,-9.13,M,-32.59,M,,*7A


: successfully parse sentence at 23:3:58

: AshtechGPS::processRecord -sample time is 1134428638
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R80.25,X9.32,Y-5.84,Z-79.49

: Sonardyne - parsing R80.25,X9.32,Y-5.84,Z-79.49

: Sonardyne - read R = 80.250000 from 80.25,X9.32,Y-5.84,Z-79.49

: Sonardyne - got all data, Vehicle coordinates,
    r=80.250000, x=79.490000, y=9.320000, z=5.840000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.0,N25.9,D50,U8,Q0.001483

: AshtechGps::processRecord() - $GPGGA,230359.00,3654.80216,N,12153.26728,W,1,09,0.9,-9.24,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230359.00,3654.80216,N,12153.26728,W,1,09,0.9,-9.24,M,-32.59,M,,*76


: successfully parse sentence at 23:3:59

: AshtechGPS::processRecord -sample time is 1134428639
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  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 R79.81,X10.96,Y-10.03,Z-78.41

: Sonardyne - parsing R79.81,X10.96,Y-10.03,Z-78.41

: Sonardyne - read R = 79.810000 from 79.81,X10.96,Y-10.03,Z-78.41

: Sonardyne - got all data, Vehicle coordinates,
    r=79.810000, x=78.410000, y=10.960000, z=10.030000 tat = 580
: Sonardyne - POSD response: 
POSD S+142.7,N25.4,D-63,U8,Q0.001789

: AshtechGps::processRecord() - $GPGGA,230400.00,3654.80207,N,12153.26733,W,1,09,0.9,-9.40,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230400.00,3654.80207,N,12153.26733,W,1,09,0.9,-9.40,M,-32.59,M,,*75


: successfully parse sentence at 23:4:0

: AshtechGPS::processRecord -sample time is 1134428640
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: BluefinBatt Reply: $b6q0 d- 30.55  3.58 14.74 3.82 3.83 0 20728.24 08:08:22 m

:  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 R79.36

: Sonardyne - parsing R79.36

: Sonardyne - read R = 79.360000 from 79.36

: Sonardyne - got range only (79.360000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.6,N30.6,D-42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N30.6,D-42,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230401.00,3654.80197,N,12153.26741,W,1,09,0.9,-9.39,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230401.00,3654.80197,N,12153.26741,W,1,09,0.9,-9.39,M,-32.59,M,,*75


: successfully parse sentence at 23:4:1

: AshtechGPS::processRecord -sample time is 1134428641
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.799397) Behavior getgps has changed to state Finished

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

: batts online 1, min cell voltage 3.820000, mean min cell voltage 3.820000

:  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 R78.85

: Sonardyne - parsing R78.85

: Sonardyne - read R = 78.850000 from 78.85

: Sonardyne - got range only (78.850000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.1,N31.1,D133,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230402.00,3654.80179,N,12153.26760,W,1,09,0.9,-9.14,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230402.00,3654.80179,N,12153.26760,W,1,09,0.9,-9.14,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:2

: Sonardyne - POSD response: 
POSD S+144.1,N31.1,D133,U0,Q0.000000

: AshtechGPS::processRecord -sample time is 1134428642
:  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 R78.19

: Sonardyne - parsing R78.19

: Sonardyne - read R = 78.190000 from 78.19

: Sonardyne - got range only (78.190000), tat = 550
: Sonardyne - POSD response: 
POSD S+142.8,N27.7,D67,U2,Q0.003526

: Sonardyne - POSD response: 
POSD S+142.8,N27.7,D67,U2,Q0.003526

: AshtechGps::processRecord() - $GPGGA,230403.00,3654.80173,N,12153.26755,W,1,09,0.9,-9.42,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,230403.00,3654.80173,N,12153.26755,W,1,09,0.9,-9.42,M,-32.59,M,,*74


: successfully parse sentence at 23:4:3

: AshtechGPS::processRecord -sample time is 1134428643
:  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 R77.79,X14.21,Y-5.98,Z-76.25

: Sonardyne - parsing R77.79,X14.21,Y-5.98,Z-76.25

: Sonardyne - read R = 77.790000 from 77.79,X14.21,Y-5.98,Z-76.25

: Sonardyne - got all data, Vehicle coordinates,
    r=77.790000, x=76.250000, y=14.210000, z=5.980000 tat = 570
: Sonardyne - POSD response: 
POSD S+142.9,N22.5,D-55,U8,Q0.000448

: AshtechGps::processRecord() - $GPGGA,230404.00,3654.80158,N,12153.26771,W,1,09,0.9,-9.14,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,230404.00,3654.80158,N,12153.26771,W,1,09,0.9,-9.14,M,-32.59,M,,*7F


: successfully parse sentence at 23:4:4

: AshtechGPS::processRecord -sample time is 1134428644
:  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 R77.55

: Sonardyne - parsing R77.55

: Sonardyne - read R = 77.550000 from 77.55

: Sonardyne - got range only (77.550000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.4,N32.0,D26,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230405.00,3654.80167,N,12153.26765,W,1,09,0.9,-9.41,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,230405.00,3654.80167,N,12153.26765,W,1,09,0.9,-9.41,M,-32.59,M,,*77


: Sonardyne - POSD response: 
POSD S+144.4,N32.0,D26,U0,Q0.000000

: successfully parse sentence at 23:4:5

: AshtechGPS::processRecord -sample time is 1134428645
:  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 R77.72,X4.99,Y-14.75,Z-76.15

: Sonardyne - parsing R77.72,X4.99,Y-14.75,Z-76.15

: Sonardyne - read R = 77.720000 from 77.72,X4.99,Y-14.75,Z-76.15

: Sonardyne - got all data, Vehicle coordinates,
    r=77.720000, x=76.150000, y=4.990000, z=14.750000 tat = 570
: Sonardyne - POSD response: 
POSD S+143.9,N30.8,D-16,U7,Q0.002860

: AshtechGps::processRecord() - $GPGGA,230406.00,3654.80161,N,12153.26768,W,1,09,0.9,-8.76,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230406.00,3654.80161,N,12153.26768,W,1,09,0.9,-8.76,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:6

: AshtechGPS::processRecord -sample time is 1134428646
:  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 R78.26

: Sonardyne - parsing R78.26

: Sonardyne - read R = 78.260000 from 78.26

: Sonardyne - got range only (78.260000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.7,N24.5,D-57,U3,Q0.016292

: Sonardyne - POSD response: 
POSD S+143.7,N24.5,D-57,U3,Q0.016292

: AshtechGps::processRecord() - $GPGGA,230407.00,3654.80165,N,12153.26761,W,1,09,0.9,-8.35,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230407.00,3654.80165,N,12153.26761,W,1,09,0.9,-8.35,M,-32.59,M,,*71


: successfully parse sentence at 23:4:7

: AshtechGPS::processRecord -sample time is 1134428647
:  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 R78.96,X-4.94,Y-16.64,Z-77.03

: Sonardyne - parsing R78.96,X-4.94,Y-16.64,Z-77.03

: Sonardyne - read R = 78.960000 from 78.96,X-4.94,Y-16.64,Z-77.03

: Sonardyne - got all data, Vehicle coordinates,
    r=78.960000, x=77.030000, y=-4.940000, z=16.640000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.8,N45.3,D1,U8,Q0.014876

: AshtechGps::processRecord() - $GPGGA,230408.00,3654.80159,N,12153.26771,W,1,09,0.9,-7.69,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230408.00,3654.80159,N,12153.26771,W,1,09,0.9,-7.69,M,-32.59,M,,*76


: successfully parse sentence at 23:4:8

: AshtechGPS::processRecord -sample time is 1134428648
:  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 R79.38,X-0.49,Y1.87,Z-79.36

: Sonardyne - parsing R79.38,X-0.49,Y1.87,Z-79.36

: Sonardyne - read R = 79.380000 from 79.38,X-0.49,Y1.87,Z-79.36

: Sonardyne - got all data, Vehicle coordinates,
    r=79.380000, x=79.360000, y=-0.490000, z=-1.870000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.5,N32.0,D-8,U8,Q0.004210

: AshtechGps::processRecord() - $GPGGA,230409.00,3654.80168,N,12153.26763,W,1,09,0.9,-7.78,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230409.00,3654.80168,N,12153.26763,W,1,09,0.9,-7.78,M,-32.59,M,,*76


: successfully parse sentence at 23:4:9

: AshtechGPS::processRecord -sample time is 1134428649
:  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 R79.84

: Sonardyne - parsing R79.84

: Sonardyne - read R = 79.840000 from 79.84

: Sonardyne - got range only (79.840000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.9,N27.7,D36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.9,N27.7,D36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230410.00,3654.80175,N,12153.26759,W,1,09,0.9,-7.97,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230410.00,3654.80175,N,12153.26759,W,1,09,0.9,-7.97,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:10

: AshtechGPS::processRecord -sample time is 1134428650
: BluefinBatt Reply: $b6q0 d- 30.32  9.67 14.74 3.77 3.80 0 20727.51 08:08:32 m

:  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 R79.87

: Sonardyne - parsing R79.87

: Sonardyne - read R = 79.870000 from 79.87

: Sonardyne - got range only (79.870000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.3,N23.4,D-67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.3,N23.4,D-67,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230411.00,3654.80161,N,12153.26778,W,1,09,0.9,-8.42,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230411.00,3654.80161,N,12153.26778,W,1,09,0.9,-8.42,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:11

: AshtechGPS::processRecord -sample time is 1134428651
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

:  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 R79.19,X-18.76,Y-3.99,Z-76.83

: Sonardyne - parsing R79.19,X-18.76,Y-3.99,Z-76.83

: Sonardyne - read R = 79.190000 from 79.19,X-18.76,Y-3.99,Z-76.83

: Sonardyne - got all data, Vehicle coordinates,
    r=79.190000, x=76.830000, y=-18.760000, z=3.990000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.5,N27.5,D-44,U7,Q0.005573

: AshtechGps::processRecord() - $GPGGA,230412.00,3654.80152,N,12153.26818,W,1,09,0.9,-8.80,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,230412.00,3654.80152,N,12153.26818,W,1,09,0.9,-8.80,M,-32.59,M,,*7E


: successfully parse sentence at 23:4:12

: AshtechGPS::processRecord -sample time is 1134428652
:  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 R78.18,X-25.61,Y-3.90,Z-73.76

: Sonardyne - parsing R78.18,X-25.61,Y-3.90,Z-73.76

: Sonardyne - read R = 78.180000 from 78.18,X-25.61,Y-3.90,Z-73.76

: Sonardyne - got all data, Vehicle coordinates,
    r=78.180000, x=73.760000, y=-25.610000, z=3.900000 tat = 579
: Sonardyne - POSD response: 
POSD S+144.4,N35.2,D-31,U8,Q0.003676

: AshtechGps::processRecord() - $GPGGA,230413.00,3654.80137,N,12153.26875,W,1,09,0.9,-9.19,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230413.00,3654.80137,N,12153.26875,W,1,09,0.9,-9.19,M,-32.59,M,,*76


: successfully parse sentence at 23:4:13

: AshtechGPS::processRecord -sample time is 1134428653
:  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 R76.54,X-27.39,Y10.29,Z-70.73

: Sonardyne - parsing R76.54,X-27.39,Y10.29,Z-70.73

: Sonardyne - read R = 76.540000 from 76.54,X-27.39,Y10.29,Z-70.73

: Sonardyne - got all data, Vehicle coordinates,
    r=76.540000, x=70.730000, y=-27.390000, z=-10.290000 tat = 570
: Sonardyne - POSD response: 
POSD S139.7,N16.2,D-101,U6,Q0.006604

: AshtechGps::processRecord() - $GPGGA,230414.00,3654.80108,N,12153.26955,W,1,09,0.9,-9.46,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,230414.00,3654.80108,N,12153.26955,W,1,09,0.9,-9.46,M,-32.59,M,,*74


: successfully parse sentence at 23:4:14

: AshtechGPS::processRecord -sample time is 1134428654
:  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 R74.76

: Sonardyne - parsing R74.76

: Sonardyne - read R = 74.760000 from 74.76

: Sonardyne - got range only (74.760000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.3,N25.6,D99,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.3,N25.6,D99,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230415.00,3654.80103,N,12153.27044,W,1,09,0.9,-9.67,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230415.00,3654.80103,N,12153.27044,W,1,09,0.9,-9.67,M,-32.59,M,,*75


: successfully parse sentence at 23:4:15

: AshtechGPS::processRecord -sample time is 1134428655
:  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 R72.99

: Sonardyne - parsing R72.99

: Sonardyne - read R = 72.990000 from 72.99

: Sonardyne - got range only (72.990000), tat = 540
: Sonardyne - POSD response: 
POSD S+143.5,N25.6,D59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.5,N25.6,D59,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230416.00,3654.80076,N,12153.27149,W,1,09,0.9,-9.15,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,230416.00,3654.80076,N,12153.27149,W,1,09,0.9,-9.15,M,-32.59,M,,*7C


: successfully parse sentence at 23:4:16

: AshtechGPS::processRecord -sample time is 1134428656
:  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 R71.58

: Sonardyne - parsing R71.58

: Sonardyne - read R = 71.580000 from 71.58

: Sonardyne - got range only (71.580000), tat = 540
: Sonardyne - POSD response: 
POSD S+143.5,N26.7,D-55,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.5,N26.7,D-55,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230417.00,3654.80070,N,12153.27236,W,1,09,0.9,-8.78,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230417.00,3654.80070,N,12153.27236,W,1,09,0.9,-8.78,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:17

: AshtechGPS::processRecord -sample time is 1134428657
:  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 R70.39,X-34.95,Y-61.09,Z0.00

: Sonardyne - parsing R70.39,X-34.95,Y-61.09,Z0.00

: Sonardyne - read R = 70.390000 from 70.39,X-34.95,Y-61.09,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=70.390000, x=0.000000, y=-34.950000, z=61.090000 tat = 560
: Sonardyne - POSD response: 
POSD S133.2,N25.3,D41,U6,Q0.006634

: AshtechGps::processRecord() - $GPGGA,230418.00,3654.80076,N,12153.27310,W,1,09,0.9,-8.30,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230418.00,3654.80076,N,12153.27310,W,1,09,0.9,-8.30,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:18

: AshtechGPS::processRecord -sample time is 1134428658
:  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 R69.92

: Sonardyne - parsing R69.92

: Sonardyne - read R = 69.920000 from 69.92

: Sonardyne - got range only (69.920000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.3,N36.5,D-4,U5,Q0.008902

: Sonardyne - POSD response: 
POSD S+144.3,N36.5,D-4,U5,Q0.008902

: AshtechGps::processRecord() - $GPGGA,230419.00,3654.80087,N,12153.27366,W,1,09,0.9,-7.93,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,230419.00,3654.80087,N,12153.27366,W,1,09,0.9,-7.93,M,-32.59,M,,*72


: successfully parse sentence at 23:4:19

: AshtechGPS::processRecord -sample time is 1134428659
:  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 R69.99

: Sonardyne - parsing R69.99

: Sonardyne - read R = 69.990000 from 69.99

: Sonardyne - got range only (69.990000), tat = 540
: Sonardyne - POSD response: 
POSD S139.8,N25.8,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.8,N25.8,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230420.00,3654.80114,N,12153.27404,W,1,09,0.9,-7.47,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230420.00,3654.80114,N,12153.27404,W,1,09,0.9,-7.47,M,-32.59,M,,*79


: successfully parse sentence at 23:4:20

: AshtechGPS::processRecord -sample time is 1134428660
: BluefinBatt Reply: $b6q0 d- 30.32  9.09 14.74 3.77 3.80 0 20726.82 08:08:42 m

:  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 R70.32

: Sonardyne - parsing R70.32

: Sonardyne - read R = 70.320000 from 70.32

: Sonardyne - got range only (70.320000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.5,N47.7,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N47.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230421.00,3654.80149,N,12153.27435,W,1,09,0.9,-7.38,M,-32.59,M,,*7A

: GpsUtils::parseFix() - $GPGGA,230421.00,3654.80149,N,12153.27435,W,1,09,0.9,-7.38,M,-32.59,M,,*7A


: successfully parse sentence at 23:4:21

: AshtechGPS::processRecord -sample time is 1134428661
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

:  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 R70.37,X-36.11,Y-10.69,Z-59.45

: Sonardyne - parsing R70.37,X-36.11,Y-10.69,Z-59.45

: Sonardyne - read R = 70.370000 from 70.37,X-36.11,Y-10.69,Z-59.45

: Sonardyne - got all data, Vehicle coordinates,
    r=70.370000, x=59.450000, y=-36.110000, z=10.690000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.6,N34.1,D-5,U7,Q0.013297

: AshtechGps::processRecord() - $GPGGA,230422.00,3654.80187,N,12153.27478,W,1,09,0.9,-7.75,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,230422.00,3654.80187,N,12153.27478,W,1,09,0.9,-7.75,M,-32.59,M,,*7B


: successfully parse sentence at 23:4:22

: AshtechGPS::processRecord -sample time is 1134428662
:  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 R69.85

: Sonardyne - parsing R69.85

: Sonardyne - read R = 69.850000 from 69.85

: Sonardyne - got range only (69.850000), tat = 540
: Sonardyne - POSD response: 
POSD S137.5,N24.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.5,N24.0,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230423.00,3654.80210,N,12153.27537,W,1,09,0.9,-8.14,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230423.00,3654.80210,N,12153.27537,W,1,09,0.9,-8.14,M,-32.59,M,,*75


: successfully parse sentence at 23:4:23

: AshtechGPS::processRecord -sample time is 1134428663
:  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 R69.12

: Sonardyne - parsing R69.12

: Sonardyne - read R = 69.120000 from 69.12

: Sonardyne - got range only (69.120000), tat = 540
: Sonardyne - POSD response: 
POSD S+141.7,N23.7,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.7,N23.7,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230424.00,3654.80224,N,12153.27613,W,1,09,0.9,-8.59,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230424.00,3654.80224,N,12153.27613,W,1,09,0.9,-8.59,M,-32.59,M,,*79


: successfully parse sentence at 23:4:24

: AshtechGPS::processRecord -sample time is 1134428664
:  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 R67.85,X-26.44,Y-6.75,Z-62.12

: Sonardyne - parsing R67.85,X-26.44,Y-6.75,Z-62.12

: Sonardyne - read R = 67.850000 from 67.85,X-26.44,Y-6.75,Z-62.12

: Sonardyne - got all data, Vehicle coordinates,
    r=67.850000, x=62.120000, y=-26.440000, z=6.750000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.4,N30.6,D-39,U8,Q0.003728

: AshtechGps::processRecord() - $GPGGA,230425.00,3654.80222,N,12153.27708,W,1,09,0.9,-8.96,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230425.00,3654.80222,N,12153.27708,W,1,09,0.9,-8.96,M,-32.59,M,,*76


: successfully parse sentence at 23:4:25

: AshtechGPS::processRecord -sample time is 1134428665
:  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 R65.98

: Sonardyne - parsing R65.98

: Sonardyne - read R = 65.980000 from 65.98

: Sonardyne - got range only (65.980000), tat = 580
: Sonardyne - POSD response: 
POSD S+144.7,N32.9,D-41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230426.00,3654.80201,N,12153.27815,W,1,09,0.9,-9.16,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,230426.00,3654.80201,N,12153.27815,W,1,09,0.9,-9.16,M,-32.59,M,,*7E


: successfully parse sentence at 23:4:26

: AshtechGPS::processRecord -sample time is 1134428666
: Sonardyne - POSD response: 
POSD S+144.7,N32.9,D-41,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R67.44

: Sonardyne - parsing R67.44

: Sonardyne - read R = 67.440000 from 67.44

: Sonardyne - got range only (67.440000), tat = 540
: Sonardyne - POSD response: 
POSD S124.3,N23.7,D-122,U2,Q0.005513

: Sonardyne - POSD response: 
POSD S124.3,N23.7,D-122,U2,Q0.005513

: AshtechGps::processRecord() - $GPGGA,230427.00,3654.80179,N,12153.27927,W,1,09,0.9,-9.10,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,230427.00,3654.80179,N,12153.27927,W,1,09,0.9,-9.10,M,-32.59,M,,*75


: successfully parse sentence at 23:4:27

: AshtechGPS::processRecord -sample time is 1134428667
:  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 R61.81

: Sonardyne - parsing R61.81

: Sonardyne - read R = 61.810000 from 61.81

: Sonardyne - got range only (61.810000), tat = 530
: Sonardyne - POSD response: 
POSD S+143.8,N25.4,D58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.8,N25.4,D58,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230428.00,3654.80154,N,12153.28041,W,1,09,0.9,-9.02,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,230428.00,3654.80154,N,12153.28041,W,1,09,0.9,-9.02,M,-32.59,M,,*70


: successfully parse sentence at 23:4:28

: AshtechGPS::processRecord -sample time is 1134428668
:  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 R60.23

: Sonardyne - parsing R60.23

: Sonardyne - read R = 60.230000 from 60.23

: Sonardyne - got range only (60.230000), tat = 530
: Sonardyne - POSD response: 
POSD S+144.7,N32.7,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N32.7,D-34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230429.00,3654.80136,N,12153.28139,W,1,09,0.9,-8.50,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,230429.00,3654.80136,N,12153.28139,W,1,09,0.9,-8.50,M,-32.59,M,,*7D


: successfully parse sentence at 23:4:29

: AshtechGPS::processRecord -sample time is 1134428669
:  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 R58.87

: Sonardyne - parsing R58.87

: Sonardyne - read R = 58.870000 from 58.87

: Sonardyne - got range only (58.870000), tat = 530
: Sonardyne - POSD response: 
POSD S+143.7,N23.7,D-36,U4,Q0.002994

: Sonardyne - POSD response: 
POSD S+143.7,N23.7,D-36,U4,Q0.002994

: AshtechGps::processRecord() - $GPGGA,230430.00,3654.80132,N,12153.28223,W,1,09,0.9,-8.15,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,230430.00,3654.80132,N,12153.28223,W,1,09,0.9,-8.15,M,-32.59,M,,*78


: successfully parse sentence at 23:4:30

: AshtechGPS::processRecord -sample time is 1134428670
: BluefinBatt Reply: $b6q0 d- 30.24  9.78 14.74 3.77 3.79 0 20725.80 08:08:52 m

:  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 R57.95

: Sonardyne - parsing R57.95

: Sonardyne - read R = 57.950000 from 57.95

: Sonardyne - got range only (57.950000), tat = 520
: Sonardyne - POSD response: 
POSD S+142.2,N25.1,D-43,U4,Q0.009066

: Sonardyne - POSD response: 
POSD S+142.2,N25.1,D-43,U4,Q0.009066

: AshtechGps::processRecord() - $GPGGA,230431.00,3654.80142,N,12153.28295,W,1,09,0.9,-7.82,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,230431.00,3654.80142,N,12153.28295,W,1,09,0.9,-7.82,M,-32.59,M,,*72


: successfully parse sentence at 23:4:31

: AshtechGPS::processRecord -sample time is 1134428671
: LayeredControl::execute() -- (t = 38.997329) Behavior setpoint has changed to state Finished

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

: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

:  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 R57.45

: Sonardyne - parsing R57.45

: Sonardyne - read R = 57.450000 from 57.45

: Sonardyne - got range only (57.450000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.4,N33.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.4,N33.4,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230432.00,3654.80157,N,12153.28359,W,1,09,0.9,-7.76,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,230432.00,3654.80157,N,12153.28359,W,1,09,0.9,-7.76,M,-32.59,M,,*7F


: successfully parse sentence at 23:4:32

: AshtechGPS::processRecord -sample time is 1134428672
:  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 R56.99

: Sonardyne - parsing R56.99

: Sonardyne - read R = 56.990000 from 56.99

: Sonardyne - got range only (56.990000), tat = 520
: Sonardyne - POSD response: 
POSD S134.2,N30.7,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.2,N30.7,D12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230433.00,3654.80175,N,12153.28420,W,1,09,0.9,-7.68,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,230433.00,3654.80175,N,12153.28420,W,1,09,0.9,-7.68,M,-32.59,M,,*78


: successfully parse sentence at 23:4:33

: AshtechGPS::processRecord -sample time is 1134428673
:  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 R56.70,X-26.75,Y-2.03,Z-49.95

: Sonardyne - parsing R56.70,X-26.75,Y-2.03,Z-49.95

: Sonardyne - read R = 56.700000 from 56.70,X-26.75,Y-2.03,Z-49.95

: Sonardyne - got all data, Vehicle coordinates,
    r=56.700000, x=49.950000, y=-26.750000, z=2.030000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230434.00,3654.80190,N,12153.28480,W,1,09,0.9,-7.94,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,230434.00,3654.80190,N,12153.28480,W,1,09,0.9,-7.94,M,-32.59,M,,*7D


: successfully parse sentence at 23:4:34

: AshtechGPS::processRecord -sample time is 1134428674
:  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 R56.46

: Sonardyne - parsing R56.46

: Sonardyne - read R = 56.460000 from 56.46

: Sonardyne - got range only (56.460000), tat = 520
: Sonardyne - POSD response: 
POSD S+140.6,N29.0,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.6,N29.0,D-46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230435.00,3654.80196,N,12153.28552,W,1,09,0.9,-8.23,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,230435.00,3654.80196,N,12153.28552,W,1,09,0.9,-8.23,M,-32.59,M,,*77


: successfully parse sentence at 23:4:35

: AshtechGPS::processRecord -sample time is 1134428675
:  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 R55.38

: Sonardyne - parsing R55.38

: Sonardyne - read R = 55.380000 from 55.38

: Sonardyne - got range only (55.380000), tat = 520
: Sonardyne - POSD response: 
POSD S+143.1,N28.0,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.1,N28.0,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230436.00,3654.80201,N,12153.28645,W,1,09,0.9,-8.56,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,230436.00,3654.80201,N,12153.28645,W,1,09,0.9,-8.56,M,-32.59,M,,*7E


: successfully parse sentence at 23:4:36

: AshtechGPS::processRecord -sample time is 1134428676
:  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 R54.22

: Sonardyne - parsing R54.22

: Sonardyne - read R = 54.220000 from 54.22

: Sonardyne - got range only (54.220000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.2,N30.4,D-18,U5,Q0.010915

: Sonardyne - POSD response: 
POSD S+144.2,N30.4,D-18,U5,Q0.010915

: AshtechGps::processRecord() - $GPGGA,230437.00,3654.80191,N,12153.28746,W,1,09,0.9,-8.83,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,230437.00,3654.80191,N,12153.28746,W,1,09,0.9,-8.83,M,-32.59,M,,*7F


: successfully parse sentence at 23:4:37

: AshtechGPS::processRecord -sample time is 1134428677
:  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 R52.84,X-27.23,Y-3.85,Z-45.12

: Sonardyne - parsing R52.84,X-27.23,Y-3.85,Z-45.12

: Sonardyne - read R = 52.840000 from 52.84,X-27.23,Y-3.85,Z-45.12

: Sonardyne - got all data, Vehicle coordinates,
    r=52.840000, x=45.120000, y=-27.230000, z=3.850000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.2,N25.3,D-43,U8,Q0.012469

: AshtechGps::processRecord() - $GPGGA,230438.00,3654.80184,N,12153.28853,W,1,09,0.9,-8.96,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,230438.00,3654.80184,N,12153.28853,W,1,09,0.9,-8.96,M,-32.59,M,,*7B


: successfully parse sentence at 23:4:38

: AshtechGPS::processRecord -sample time is 1134428678
:  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 R51.42

: Sonardyne - parsing R51.42

: Sonardyne - read R = 51.420000 from 51.42

: Sonardyne - got range only (51.420000), tat = 510
: Sonardyne - POSD response: 
POSD S+142.8,N24.9,D-73,U1,Q0.006074

: Sonardyne - POSD response: 
POSD S+142.8,N24.9,D-73,U1,Q0.006074

: AshtechGps::processRecord() - $GPGGA,230439.00,3654.80168,N,12153.28960,W,1,09,0.9,-8.87,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,230439.00,3654.80168,N,12153.28960,W,1,09,0.9,-8.87,M,-32.59,M,,*79


: successfully parse sentence at 23:4:39

: AshtechGPS::processRecord -sample time is 1134428679
:  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 R49.76

: Sonardyne - parsing R49.76

: Sonardyne - read R = 49.760000 from 49.76

: Sonardyne - got range only (49.760000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N34.3,D-26,U3,Q0.012527

: Sonardyne - POSD response: 
POSD S+144.8,N34.3,D-26,U3,Q0.012527

: AshtechGps::processRecord() - $GPGGA,230440.00,3654.80154,N,12153.29071,W,1,09,0.9,-8.85,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,230440.00,3654.80154,N,12153.29071,W,1,09,0.9,-8.85,M,-32.59,M,,*72


: successfully parse sentence at 23:4:40

: AshtechGPS::processRecord -sample time is 1134428680
: BluefinBatt Reply: $b6q0 d- 30.32  8.91 14.74 3.77 3.79 0 20725.16 08:09:02 m

:  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 R48.11

: Sonardyne - parsing R48.11

: Sonardyne - read R = 48.110000 from 48.11

: Sonardyne - got range only (48.110000), tat = 510
: Sonardyne - POSD response: 
POSD S+142.6,N22.2,D-42,U1,Q0.005341

: Sonardyne - POSD response: 
POSD S+142.6,N22.2,D-42,U1,Q0.005341

: AshtechGps::processRecord() - $GPGGA,230441.00,3654.80149,N,12153.29176,W,1,09,0.9,-8.75,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,230441.00,3654.80149,N,12153.29176,W,1,09,0.9,-8.75,M,-32.59,M,,*76


: successfully parse sentence at 23:4:41

: AshtechGPS::processRecord -sample time is 1134428681
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

:  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 R46.67

: Sonardyne - parsing R46.67

: Sonardyne - read R = 46.670000 from 46.67

: Sonardyne - got range only (46.670000), tat = 509
: Sonardyne - POSD response: 
POSD S+144.0,N22.6,D-63,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S+144.0,N22.6,D-63,U1,Q0.008222

: AshtechGps::processRecord() - $GPGGA,230442.00,3654.80132,N,12153.29273,W,1,09,0.9,-8.72,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,230442.00,3654.80132,N,12153.29273,W,1,09,0.9,-8.72,M,-32.59,M,,*78


: successfully parse sentence at 23:4:42

: AshtechGPS::processRecord -sample time is 1134428682
:  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 R45.59

: Sonardyne - parsing R45.59

: Sonardyne - read R = 45.590000 from 45.59

: Sonardyne - got range only (45.590000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.6,N24.7,D-46,U1,Q0.005646

: Sonardyne - POSD response: 
POSD S+144.6,N24.7,D-46,U1,Q0.005646

: AshtechGps::processRecord() - $GPGGA,230443.00,3654.80135,N,12153.29357,W,1,09,0.9,-8.40,M,-32.59,M,,*78

: GpsUtils::parseFix() - $GPGGA,230443.00,3654.80135,N,12153.29357,W,1,09,0.9,-8.40,M,-32.59,M,,*78


: successfully parse sentence at 23:4:43

: AshtechGPS::processRecord -sample time is 1134428683
:  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 R44.77,X-26.33,Y0.73,Z-36.21

: Sonardyne - parsing R44.77,X-26.33,Y0.73,Z-36.21

: Sonardyne - read R = 44.770000 from 44.77,X-26.33,Y0.73,Z-36.21

: Sonardyne - got all data, Vehicle coordinates,
    r=44.770000, x=36.210000, y=-26.330000, z=-0.730000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.4,N28.7,D-51,U8,Q0.004143

: AshtechGps::processRecord() - $GPGGA,230444.00,3654.80123,N,12153.29446,W,1,09,0.9,-6.62,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,230444.00,3654.80123,N,12153.29446,W,1,09,0.9,-6.62,M,-32.59,M,,*71


: successfully parse sentence at 23:4:44

: AshtechGPS::processRecord -sample time is 1134428684
:  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 R44.07

: Sonardyne - parsing R44.07

: Sonardyne - read R = 44.070000 from 44.07

: Sonardyne - got range only (44.070000), tat = 510
: Sonardyne - POSD response: 
POSD S+143.4,N21.0,D147,U3,Q0.000241

: Sonardyne - POSD response: 
POSD S+143.4,N21.0,D147,U3,Q0.000241

: AshtechGps::processRecord() - $GPGGA,230445.00,,,,,0,03,21.0,,M,,M,,*52

: GpsUtils::parseFix() - $GPGGA,230445.00,,,,,0,03,21.0,,M,,M,,*52


: 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 R43.44,X-26.09,Y8.07,Z-33.78

: Sonardyne - parsing R43.44,X-26.09,Y8.07,Z-33.78

: Sonardyne - read R = 43.440000 from 43.44,X-26.09,Y8.07,Z-33.78

: Sonardyne - got all data, Vehicle coordinates,
    r=43.440000, x=33.780000, y=-26.090000, z=-8.070000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.0,N22.4,D-117,U8,Q0.000203

: AshtechGps::processRecord() - $GPGGA,230446.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230446.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R42.76,X-25.26,Y7.49,Z-33.68

: Sonardyne - parsing R42.76,X-25.26,Y7.49,Z-33.68

: Sonardyne - read R = 42.760000 from 42.76,X-25.26,Y7.49,Z-33.68

: Sonardyne - got all data, Vehicle coordinates,
    r=42.760000, x=33.680000, y=-25.260000, z=-7.490000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.6,N32.5,D-33,U6,Q0.000120

: AshtechGps::processRecord() - $GPGGA,230447.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230447.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R41.85,X-25.39,Y6.40,Z-32.64

: Sonardyne - parsing R41.85,X-25.39,Y6.40,Z-32.64

: Sonardyne - read R = 41.850000 from 41.85,X-25.39,Y6.40,Z-32.64

: Sonardyne - got all data, Vehicle coordinates,
    r=41.850000, x=32.640000, y=-25.390000, z=-6.400000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.5,N30.7,D-35,U8,Q0.000342

: AshtechGps::processRecord() - $GPGGA,230448.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230448.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R40.91

: Sonardyne - parsing R40.91

: Sonardyne - read R = 40.910000 from 40.91

: Sonardyne - got range only (40.910000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.1,N28.8,D47,U5,Q0.004085

: Sonardyne - POSD response: 
POSD S+144.1,N28.8,D47,U5,Q0.004085

: AshtechGps::processRecord() - $GPGGA,230449.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230449.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R40.05,X-26.05,Y3.22,Z-30.25

: Sonardyne - parsing R40.05,X-26.05,Y3.22,Z-30.25

: Sonardyne - read R = 40.050000 from 40.05,X-26.05,Y3.22,Z-30.25

: Sonardyne - got all data, Vehicle coordinates,
    r=40.050000, x=30.250000, y=-26.050000, z=-3.220000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.5,N28.8,D-53,U8,Q0.000770

: AshtechGps::processRecord() - $GPGGA,230450.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230450.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24 11.23 14.74 3.77 3.79 0 20724.21 08:09:12 m

: Sonardyne - POS response: 
POS V4,1 R39.06

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

: Sonardyne - parsing R39.06

: Sonardyne - read R = 39.060000 from 39.06

: Sonardyne - got range only (39.060000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.6,N38.1,D-12,U5,Q0.010217

: Sonardyne - POSD response: 
POSD S+144.6,N38.1,D-12,U5,Q0.010217

: AshtechGps::processRecord() - $GPGGA,230451.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230451.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

:  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 R38.02,X-26.26,Y1.32,Z-27.47

: Sonardyne - parsing R38.02,X-26.26,Y1.32,Z-27.47

: Sonardyne - read R = 38.020000 from 38.02,X-26.26,Y1.32,Z-27.47

: Sonardyne - got all data, Vehicle coordinates,
    r=38.020000, x=27.470000, y=-26.260000, z=-1.320000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.3,N27.0,D-4,U6,Q0.005653

: AshtechGps::processRecord() - $GPGGA,230452.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230452.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R37.08,X-26.79,Y0.64,Z-25.62

: Sonardyne - parsing R37.08,X-26.79,Y0.64,Z-25.62

: Sonardyne - read R = 37.080000 from 37.08,X-26.79,Y0.64,Z-25.62

: Sonardyne - got all data, Vehicle coordinates,
    r=37.080000, x=25.620000, y=-26.790000, z=-0.640000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.3,N35.2,D-18,U7,Q0.008149

: AshtechGps::processRecord() - $GPGGA,230453.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230453.00,,,,,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 R36.07,X-26.82,Y1.56,Z-24.07

: Sonardyne - parsing R36.07,X-26.82,Y1.56,Z-24.07

: Sonardyne - read R = 36.070000 from 36.07,X-26.82,Y1.56,Z-24.07

: Sonardyne - got all data, Vehicle coordinates,
    r=36.070000, x=24.070000, y=-26.820000, z=-1.560000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.3,N35.2,D-21,U8,Q0.007506

: AshtechGps::processRecord() - $GPGGA,230454.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230454.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R35.03,X-26.74,Y1.22,Z-22.59

: Sonardyne - parsing R35.03,X-26.74,Y1.22,Z-22.59

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

: Sonardyne - read R = 35.030000 from 35.03,X-26.74,Y1.22,Z-22.59

: Sonardyne - got all data, Vehicle coordinates,
    r=35.030000, x=22.590000, y=-26.740000, z=-1.220000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.0,N32.9,D-24,U8,Q0.008793

: AshtechGps::processRecord() - $GPGGA,230455.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230455.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.88,X-26.90,Y0.79,Z-20.58

: Sonardyne - parsing R33.88,X-26.90,Y0.79,Z-20.58

: Sonardyne - read R = 33.880000 from 33.88,X-26.90,Y0.79,Z-20.58

: Sonardyne - got all data, Vehicle coordinates,
    r=33.880000, x=20.580000, y=-26.900000, z=-0.790000 tat = 510
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.8,N31.0,D-31,U8,Q0.008975

: AshtechGps::processRecord() - $GPGGA,230456.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230456.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.74

: Sonardyne - parsing R32.74

: Sonardyne - read R = 32.740000 from 32.74

: Sonardyne - got range only (32.740000), tat = 490
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.7,N31.1,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.7,N31.1,D-27,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230457.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230457.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.71

: Sonardyne - parsing R31.71

: Sonardyne - read R = 31.710000 from 31.71

: Sonardyne - got range only (31.710000), tat = 490
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.4,N35.1,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.4,N35.1,D-23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230458.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230458.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.78

: Sonardyne - parsing R30.78

: Sonardyne - read R = 30.780000 from 30.78

: Sonardyne - got range only (30.780000), tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.0,N33.7,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.0,N33.7,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230459.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230459.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.02,X-26.53,Y-0.53,Z-14.04

: Sonardyne - parsing R30.02,X-26.53,Y-0.53,Z-14.04

: Sonardyne - read R = 30.020000 from 30.02,X-26.53,Y-0.53,Z-14.04

: Sonardyne - got all data, Vehicle coordinates,
    r=30.020000, x=14.040000, y=-26.530000, z=0.530000 tat = 510
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.5,N30.5,D-18,U8,Q0.017060

: AshtechGps::processRecord() - $GPGGA,230500.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230500.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.28  9.92 14.74 3.77 3.79 0 20723.51 08:09:22 m

: Sonardyne - POS response: 
POS V4,1 R29.50

: Sonardyne - parsing R29.50

: Sonardyne - read R = 29.500000 from 29.50

: Sonardyne - got range only (29.500000), tat = 490
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+141.4,N37.4,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.4,N37.4,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230501.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230501.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: Sonardyne - POS response: 
POS V4,1 R29.15

: Sonardyne - parsing R29.15

: Sonardyne - read R = 29.150000 from 29.15

: Sonardyne - got range only (29.150000), tat = 490
: Sonardyne - POSD response: 
POSD S+141.8,N53.5,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+141.8,N53.5,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230502.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230502.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.87

: Sonardyne - parsing R28.87

: Sonardyne - read R = 28.870000 from 28.87

: Sonardyne - got range only (28.870000), tat = 480
: Sonardyne - POSD response: 
POSD S139.7,N32.4,D-14,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S139.7,N32.4,D-14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230503.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230503.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.63,X22.22,Y15.98,Z-8.37

: Sonardyne - parsing R28.63,X22.22,Y15.98,Z-8.37

: Sonardyne - read R = 28.630000 from 28.63,X22.22,Y15.98,Z-8.37

: Sonardyne - got all data, Vehicle coordinates,
    r=28.630000, x=8.370000, y=22.220000, z=-15.980000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230504.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230504.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.42

: Sonardyne - parsing R28.42

: Sonardyne - read R = 28.420000 from 28.42

: Sonardyne - got range only (28.420000), tat = 480
: Sonardyne - POSD response: 
POSD S137.6,N31.5,D0,U2,Q0.016658

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

: Sonardyne - POSD response: 
POSD S137.6,N31.5,D0,U2,Q0.016658

: AshtechGps::processRecord() - $GPGGA,230505.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230505.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.23

: Sonardyne - parsing R28.23

: Sonardyne - read R = 28.230000 from 28.23

: Sonardyne - got range only (28.230000), tat = 480
: Sonardyne - POSD response: 
POSD S135.4,N36.7,D-15,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S135.4,N36.7,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230506.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230506.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.89

: Sonardyne - parsing R27.89

: Sonardyne - read R = 27.890000 from 27.89

: Sonardyne - got range only (27.890000), tat = 480
: Sonardyne - POSD response: 
POSD S130.8,N31.3,D-16,U2,Q0.011372

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

: Sonardyne - POSD response: 
POSD S130.8,N31.3,D-16,U2,Q0.011372

: AshtechGps::processRecord() - $GPGGA,230507.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230507.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.68,X21.12,Y14.91,Z-9.89

: Sonardyne - parsing R27.68,X21.12,Y14.91,Z-9.89

: Sonardyne - read R = 27.680000 from 27.68,X21.12,Y14.91,Z-9.89

: Sonardyne - got all data, Vehicle coordinates,
    r=27.680000, x=9.890000, y=21.120000, z=-14.910000 tat = 510
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230508.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230508.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.63

: Sonardyne - parsing R27.63

: Sonardyne - read R = 27.630000 from 27.63

: Sonardyne - got range only (27.630000), tat = 480
: Sonardyne - POSD response: 
POSD S134.2,N27.3,D-4,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S134.2,N27.3,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230509.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230509.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.67

: Sonardyne - parsing R27.67

: Sonardyne - read R = 27.670000 from 27.67

: Sonardyne - got range only (27.670000), tat = 530
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.6,N29.3,D16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230510.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230510.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.6,N29.3,D16,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.20 10.54 14.74 3.77 3.79 0 20722.46 08:09:32 m

: Sonardyne - POS response: 
POS V4,1 R27.86

: Sonardyne - parsing R27.86

: Sonardyne - read R = 27.860000 from 27.86

: Sonardyne - got range only (27.860000), tat = 480
: Sonardyne - POSD response: 
POSD S133.5,N31.0,D11,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S133.5,N31.0,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230511.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230511.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: Sonardyne - POS response: 
POS V4,1 R28.17,X-27.33,Y2.41,Z-6.37

: Sonardyne - parsing R28.17,X-27.33,Y2.41,Z-6.37

: Sonardyne - read R = 28.170000 from 28.17,X-27.33,Y2.41,Z-6.37

: Sonardyne - got all data, Vehicle coordinates,
    r=28.170000, x=6.370000, y=-27.330000, z=-2.410000 tat = 510
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230512.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230512.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.60

: Sonardyne - parsing R28.60

: Sonardyne - read R = 28.600000 from 28.60

: Sonardyne - got range only (28.600000), tat = 490
: Sonardyne - POSD response: 
POSD S128.2,N30.1,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.2,N30.1,D-9,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230513.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230513.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.08

: Sonardyne - parsing R29.08

: Sonardyne - read R = 29.080000 from 29.08

: Sonardyne - got range only (29.080000), tat = 490
: Sonardyne - POSD response: 
POSD S125.9,N30.0,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N30.0,D11,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,230514.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230514.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.77

: Sonardyne - parsing R29.77

: Sonardyne - read R = 29.770000 from 29.77

: Sonardyne - got range only (29.770000), tat = 490
: Sonardyne - POSD response: 
POSD S128.2,N26.6,D42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.2,N26.6,D42,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,230515.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230515.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.45

: Sonardyne - parsing R30.45

: Sonardyne - read R = 30.450000 from 30.45

: Sonardyne - got range only (30.450000), tat = 490
: Sonardyne - POSD response: 
POSD S131.3,N28.7,D15,U2,Q0.009710

: Sonardyne - POSD response: 
POSD S131.3,N28.7,D15,U2,Q0.009710

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

: AshtechGps::processRecord() - $GPGGA,230516.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230516.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.15,X-30.54,Y6.13,Z0.00

: Sonardyne - parsing R31.15,X-30.54,Y6.13,Z0.00

: Sonardyne - read R = 31.150000 from 31.15,X-30.54,Y6.13,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=31.150000, x=0.000000, y=-30.540000, z=-6.130000 tat = 510
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230517.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230517.00,,,,,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,230518.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230518.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230519.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230519.00,,,,,0,00,,,M,,M,,*44


:  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: ,
: AshtechGps::processRecord() - $GPGGA,230520.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230520.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $b6q0 d- 30.28  9.35 14.84 3.77 3.79 0 20721.78 08:09:42 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

: Descend::execute() - Descend terminating on depth 9.029262 > 9.000000 at time 88.393945

: LayeredControl::execute() -- (t = 88.393945) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 88.39                             (wplog)
  The current location (N,E) = 4085836.9      , 598980.7         (wplog)
  The next waypoint          = 4085789.7      , 598579.2         (wplog)
  The bearing to the next w.p. is 263.3 Degrees.

: LayeredControl::execute() -- (t = 88.393945) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230521.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230521.00,,,,,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 R35.13

: Sonardyne - parsing R35.13

: Sonardyne - read R = 35.130000 from 35.13

: Sonardyne - got range only (35.130000), tat = 490
: batts online 1, min cell voltage 3.770000, mean min cell voltage 3.770000

: Sonardyne - POSD response: 
POSD S131.2,N28.6,D25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.2,N28.6,D25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230522.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230522.00,,,,,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 R36.15

: Sonardyne - parsing R36.15

: Sonardyne - read R = 36.150000 from 36.15

: Sonardyne - got range only (36.150000), tat = 500
: Sonardyne - POSD response: 
POSD S132.5,N25.1,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.5,N25.1,D28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230523.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230523.00,,,,,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 R37.32

: Sonardyne - parsing R37.32

: Sonardyne - read R = 37.320000 from 37.32

: Sonardyne - got range only (37.320000), tat = 500
: Sonardyne - POSD response: 
POSD S132.2,N31.3,D9,U3,Q0.000539

: Sonardyne - POSD response: 
POSD S132.2,N31.3,D9,U3,Q0.000539

: AshtechGps::processRecord() - $GPGGA,230524.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230524.00,,,,,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 R38.08

: Sonardyne - parsing R38.08

: Sonardyne - read R = 38.080000 from 38.08

: Sonardyne - got range only (38.080000), tat = 500
: Sonardyne - POSD response: 
POSD S131.5,N30.5,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N30.5,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230525.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230525.00,,,,,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 R39.22

: Sonardyne - parsing R39.22

: Sonardyne - read R = 39.220000 from 39.22

: Sonardyne - got range only (39.220000), tat = 500
: Sonardyne - POSD response: 
POSD S128.0,N28.8,D16,U2,Q0.005013

: Sonardyne - POSD response: 
POSD S128.0,N28.8,D16,U2,Q0.005013

: AshtechGps::processRecord() - $GPGGA,230526.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230526.00,,,,,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 R40.27

: Sonardyne - parsing R40.27

: Sonardyne - read R = 40.270000 from 40.27

: Sonardyne - got range only (40.270000), tat = 500
: Sonardyne - POSD response: 
POSD S126.5,N32.0,D15,U2,Q0.005252

: Sonardyne - POSD response: 
POSD S126.5,N32.0,D15,U2,Q0.005252

: AshtechGps::processRecord() - $GPGGA,230527.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230527.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R41.48,X-3.48,Y-5.86,Z-40.92

: Sonardyne - parsing R41.48,X-3.48,Y-5.86,Z-40.92

: Sonardyne - read R = 41.480000 from 41.48,X-3.48,Y-5.86,Z-40.92

: Sonardyne - got all data, Vehicle coordinates,
    r=41.480000, x=40.920000, y=-3.480000, z=5.860000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230528.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230528.00,,,,,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 R42.61

: Sonardyne - parsing R42.61

: Sonardyne - read R = 42.610000 from 42.61

: Sonardyne - got range only (42.610000), tat = 500
: Sonardyne - POSD response: 
POSD S116.0,N20.1,D106,U3,Q0.001812

: Sonardyne - POSD response: 
POSD S116.0,N20.1,D106,U3,Q0.001812

: AshtechGps::processRecord() - $GPGGA,230529.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230529.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R45.22

: Sonardyne - parsing R45.22

: Sonardyne - read R = 45.220000 from 45.22

: Sonardyne - got range only (45.220000), tat = 510
: Sonardyne - POSD response: 
POSD S124.8,N25.9,D46,U1,Q0.002495

: Sonardyne - POSD response: 
POSD S124.8,N25.9,D46,U1,Q0.002495

: AshtechGps::processRecord() - $GPGGA,230530.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230530.00,,,,,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 R46.45

: Sonardyne - parsing R46.45

: Sonardyne - read R = 46.450000 from 46.45

: Sonardyne - got range only (46.450000), tat = 510
: BluefinBatt Reply: $b6q0 d- 30.24  9.38 14.74 3.76 3.78 0 20720.83 08:09:52 m

: Sonardyne - POSD response: 
POSD S126.4,N30.4,D26,U3,Q0.005821

: Sonardyne - POSD response: 
POSD S126.4,N30.4,D26,U3,Q0.005821

: AshtechGps::processRecord() - $GPGGA,230531.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230531.00,,,,,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 R47.84

: Sonardyne - parsing R47.84

: Sonardyne - read R = 47.840000 from 47.84

: Sonardyne - got range only (47.840000), tat = 510
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POSD response: 
POSD S123.3,N22.4,D83,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S123.3,N22.4,D83,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,230532.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230532.00,,,,,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,230533.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230533.00,,,,,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,230534.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230534.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230535.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230535.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R53.63

: Sonardyne - parsing R53.63

: Sonardyne - read R = 53.630000 from 53.63

: Sonardyne - got range only (53.630000), tat = 520
: Sonardyne - POSD response: 
POSD S118.7,N24.0,D47,U3,Q0.000874

: Sonardyne - POSD response: 
POSD S118.7,N24.0,D47,U3,Q0.000874

: AshtechGps::processRecord() - $GPGGA,230536.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230536.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R55.24

: Sonardyne - parsing R55.24

: Sonardyne - read R = 55.240000 from 55.24

: Sonardyne - got range only (55.240000), tat = 520
: Sonardyne - POSD response: 
POSD S120.8,N35.5,D12,U1,Q0.005480

: AshtechGps::processRecord() - $GPGGA,230537.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230537.00,,,,,0,00,,,M,,M,,*48


: Sonardyne - POSD response: 
POSD S120.8,N35.5,D12,U1,Q0.005480

: 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,230538.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230538.00,,,,,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,230539.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230539.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230540.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230540.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $b6q0 d- 30.24  9.67 14.74 3.76 3.78 0 20720.18 08:10:02 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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230541.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230541.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R60.90

: Sonardyne - parsing R60.90

: Sonardyne - read R = 60.900000 from 60.90

: Sonardyne - got range only (60.900000), tat = 530
: Sonardyne - POSD response: 
POSD S113.4,N25.1,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.4,N25.1,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230542.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230542.00,,,,,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,230543.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230543.00,,,,,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,230544.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230544.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230545.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230545.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N12.7,D0,U0,Q0.000000

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

:  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 R69.80

: Sonardyne - parsing R69.80

: Sonardyne - read R = 69.800000 from 69.80

: Sonardyne - got range only (69.800000), tat = 540
: Sonardyne - POSD response: 
POSD S113.7,N17.0,D87,U3,Q0.001430

: AshtechGps::processRecord() - $GPGGA,230546.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230546.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S113.7,N17.0,D87,U3,Q0.001430

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

: AshtechGps::processRecord() - $GPGGA,230547.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230547.00,,,,,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,230548.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230548.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230549.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230549.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230550.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230550.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 30.24  9.67 14.74 3.76 3.79 0 20719.24 08:10:12 m

: AshtechGps::processRecord() - $GPGGA,230551.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230551.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230552.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230552.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,230553.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230553.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,D0,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R82.15

: Sonardyne - parsing R82.15

: Sonardyne - read R = 82.150000 from 82.15

: Sonardyne - got range only (82.150000), tat = 560
: Sonardyne - POSD response: 
POSD S105.9,N14.8,D57,U1,Q0.005646

: AshtechGps::processRecord() - $GPGGA,230554.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230554.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S105.9,N14.8,D57,U1,Q0.005646

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

: AshtechGps::processRecord() - $GPGGA,230555.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230555.00,,,,,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,230556.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230556.00,,,,,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,230557.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230557.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230558.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230558.00,,,,,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,230559.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230559.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230600.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230600.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $b6q0 d- 30.20  9.71 14.74 3.76 3.79 0 20718.60 08:10:22 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230601.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230601.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230602.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230602.00,,,,,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,230603.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230603.00,,,,,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,230604.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230604.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230605.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230605.00,,,,,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,230606.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230606.00,,,,,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,230607.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230607.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230608.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230608.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R110.82

: Sonardyne - parsing R110.82

: Sonardyne - read R = 110.820000 from 110.82

: Sonardyne - got range only (110.820000), tat = 600
: AshtechGps::processRecord() - $GPGGA,230609.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230609.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.8,N15.6,D35,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S108.8,N15.6,D35,U1,Q0.008222

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

: AshtechGps::processRecord() - $GPGGA,230610.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230610.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $b6q0 d- 30.28  9.06 14.74 3.76 3.79 0 20717.63 08:10:32 m

: AshtechGps::processRecord() - $GPGGA,230611.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230611.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230612.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230612.00,,,,,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,N7.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230613.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230613.00,,,,,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,230614.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230614.00,,,,,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,230615.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230615.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230616.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230616.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230617.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230617.00,,,,,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,230618.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230618.00,,,,,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,230619.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230619.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - 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,230620.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230620.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.20 10.11 14.74 3.76 3.79 0 20717.00 08:10:42 m

: AshtechGps::processRecord() - $GPGGA,230621.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230621.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230622.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230622.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230623.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230623.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,230624.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230624.00,,,,,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,230625.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230625.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230626.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230626.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230627.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230627.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,230628.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230628.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230629.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230629.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230630.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230630.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $b6q0 d- 30.20 10.03 14.74 3.76 3.79 0 20716.05 08:10:52 m

: AshtechGps::processRecord() - $GPGGA,230631.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230631.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230632.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230632.00,,,,,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,230633.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230633.00,,,,,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,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230634.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230634.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230635.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230635.00,,,,,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,230636.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230636.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230637.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230637.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,230638.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230638.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230639.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230639.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230640.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230640.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  9.27 14.74 3.76 3.79 0 20715.44 08:11:02 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 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,230641.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230641.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230642.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230642.00,,,,,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,230643.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230643.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,230644.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230644.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230645.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230645.00,,,,,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,230646.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230646.00,,,,,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,230647.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230647.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230648.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230648.00,,,,,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,230649.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230649.00,,,,,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,230650.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230650.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  9.02 14.74 3.76 3.79 0 20714.46 08:11:12 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230651.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230651.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230652.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230652.00,,,,,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,230653.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230653.00,,,,,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,230654.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230654.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N4.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230655.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230655.00,,,,,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,230656.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230656.00,,,,,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,230657.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230657.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230658.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230658.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230659.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230659.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230700.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230700.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  8.87 14.74 3.76 3.79 0 20713.83 08:11:22 m

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

: AshtechGps::processRecord() - $GPGGA,230701.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230701.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: 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,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,230702.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230702.00,,,,,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,230703.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230703.00,,,,,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,230704.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230704.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,230705.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230705.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

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

: AshtechGps::processRecord() - $GPGGA,230706.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230706.00,,,,,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,230707.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230707.00,,,,,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,230708.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230708.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230709.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230709.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230710.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230710.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  9.67 14.74 3.76 3.79 0 20712.95 08:11:32 m

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

: AshtechGps::processRecord() - $GPGGA,230711.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230711.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

:  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
: AshtechGps::processRecord() - $GPGGA,230712.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230712.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230713.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230713.00,,,,,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,230714.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230714.00,,,,,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,230715.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230715.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230716.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230716.00,,,,,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,230717.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230717.00,,,,,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,230718.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230718.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230719.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230719.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230720.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230720.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  9.13 14.74 3.76 3.79 0 20712.34 08:11:42 m

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

: AshtechGps::processRecord() - $GPGGA,230721.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230721.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230722.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230722.00,,,,,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,N6.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230723.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230723.00,,,,,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,230724.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230724.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230725.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230725.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230726.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230726.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

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

: AshtechGps::processRecord() - $GPGGA,230727.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230727.00,,,,,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,230728.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230728.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230729.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230729.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230730.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230730.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  8.73 14.74 3.76 3.78 0 20711.42 08:11:52 m

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

: AshtechGps::processRecord() - $GPGGA,230731.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230731.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230732.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230732.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230733.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230733.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,230734.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230734.00,,,,,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,230735.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230735.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230736.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230736.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,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,230737.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230737.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,230738.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230738.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230739.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230739.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230740.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230740.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $b6q0 d- 30.20  9.13 14.84 3.76 3.78 0 20710.76 08:12:02 m

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

: AshtechGps::processRecord() - $GPGGA,230741.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230741.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230742.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230742.00,,,,,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,230743.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230743.00,,,,,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,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230744.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230744.00,,,,,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,230745.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230745.00,,,,,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,230746.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230746.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,230747.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230747.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230748.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230748.00,,,,,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,230749.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230749.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230750.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230750.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  9.24 14.84 3.76 3.78 0 20709.86 08:12:12 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

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

: AshtechGps::processRecord() - $GPGGA,230751.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230751.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230752.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230752.00,,,,,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,230753.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230753.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,230754.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230754.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,230755.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230755.00,,,,,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,230756.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230756.00,,,,,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,230757.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230757.00,,,,,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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,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,230758.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230758.00,,,,,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,230759.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230759.00,,,,,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,230800.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230800.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  9.27 14.94 3.76 3.78 0 20709.24 08:12:22 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230801.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230801.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230802.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230802.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230803.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230803.00,,,,,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,230804.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230804.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230805.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230805.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230806.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230806.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230807.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230807.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230808.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230808.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230809.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230809.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,230810.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230810.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16 10.11 14.94 3.76 3.78 0 20708.27 08:12:32 m

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

: AshtechGps::processRecord() - $GPGGA,230811.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230811.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230812.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230812.00,,,,,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,230813.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230813.00,,,,,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,230814.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230814.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230815.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230815.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230816.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230816.00,,,,,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,230817.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230817.00,,,,,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,230818.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230818.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230819.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230819.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,230820.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230820.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.24  8.55 14.94 3.76 3.78 0 20707.68 08:12:42 m

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

: AshtechGps::processRecord() - $GPGGA,230821.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230821.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

:  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
: AshtechGps::processRecord() - $GPGGA,230822.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230822.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230823.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230823.00,,,,,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,230824.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230824.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230825.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230825.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,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,230826.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230826.00,,,,,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,230827.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230827.00,,,,,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,230828.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230828.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230829.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230829.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230830.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230830.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  9.35 14.94 3.76 3.78 0 20706.76 08:12:52 m

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

: AshtechGps::processRecord() - $GPGGA,230831.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230831.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,230832.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230832.00,,,,,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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,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,230833.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230833.00,,,,,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,230834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230834.00,,,,,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,230835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230835.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230836.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230837.00,,,,,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,230838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230838.00,,,,,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,230839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230839.00,,,,,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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230840.00,,,,,0,00,,,M,,M,,*45

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

: GpsUtils::parseFix() - $GPGGA,230840.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  8.66 14.94 3.76 3.78 0 20706.14 08:13:02 m

: AshtechGps::processRecord() - $GPGGA,230841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230841.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230842.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230843.00,,,,,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 - 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,230844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230844.00,,,,,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,230845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230845.00,,,,,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,230846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230846.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230847.00,,,,,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,230848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230848.00,,,,,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,230849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230849.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230850.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.16  9.24 14.94 3.76 3.78 0 20705.20 08:13:12 m

: AshtechGps::processRecord() - $GPGGA,230851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230851.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230852.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230853.00,,,,,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,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,230854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230854.00,,,,,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,230855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230855.00,,,,,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,230856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230856.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230857.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,230858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230858.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,230859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230859.00,,,,,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,230900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230900.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $b6q0 d- 30.16 10.14 14.94 3.76 3.78 0 20704.62 08:13:22 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,230901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230901.00,,,,,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 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230902.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,230903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230903.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230904.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230905.00,,,,,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,230906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230906.00,,,,,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,230907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230907.00,,,,,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 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,230908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230908.00,,,,,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,230909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230909.00,,,,,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,230910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230910.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $b6q0 d- 30.24  8.48 15.03 3.76 3.78 0 20703.68 08:13:32 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230911.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

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

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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230912.00,,,,,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,230913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230913.00,,,,,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,230914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230914.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230915.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230916.00,,,,,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,230917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230917.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230918.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

:  Waypoint has set the state to finished.

: Waypoint (4085789.7, 598579.2), 
  reached at t = 325.80                                          (wplog)

: Vehicle Position is error is (0.6, 0.1)

: LayeredControl::execute() -- (t = 325.797681) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 325.81                            (wplog)
  The current location (N,E) = 4085789.2      , 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 = 325.807681) Behavior waypoint_homing has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,230919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230919.00,,,,,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,230920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230920.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.24  8.55 15.03 3.76 3.78 0 20703.03 08:13:42 m

: AshtechGps::processRecord() - $GPGGA,230921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230921.00,,,,,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 3.760000, mean min cell voltage 3.760000

: 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,230922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230922.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230923.00,,,,,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,230924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230924.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230925.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230926.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230927.00,,,,,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,230928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230928.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230929.00,,,,,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,230930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230930.00,,,,,0,00,,,M,,M,,*43


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

: BluefinBatt Reply: $b6q0 d- 30.16  9.60 15.03 3.76 3.78 0 20702.12 08:13:52 m

: AshtechGps::processRecord() - $GPGGA,230931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230931.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230932.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230933.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R432.48,X-228.57,Y44.04,Z-364.49

: Sonardyne - parsing R432.48,X-228.57,Y44.04,Z-364.49

: Sonardyne - read R = 432.480000 from 432.48,X-228.57,Y44.04,Z-364.49

: Sonardyne - got all data, Vehicle coordinates,
    r=432.480000, x=364.490000, y=-228.570000, z=-44.040000 tat = 1060
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,230934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230934.00,,,,,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 R430.75,X-112.84,Y37.88,Z-413.98

: Sonardyne - parsing R430.75,X-112.84,Y37.88,Z-413.98

: Sonardyne - read R = 430.750000 from 430.75,X-112.84,Y37.88,Z-413.98

: Sonardyne - got all data, Vehicle coordinates,
    r=430.750000, x=413.980000, y=-112.840000, z=-37.880000 tat = 1050
: AshtechGps::processRecord() - $GPGGA,230935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230935.00,,,,,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,230936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230936.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R429.03,X-22.69,Y14.52,Z-428.19

: Sonardyne - parsing R429.03,X-22.69,Y14.52,Z-428.19

: Sonardyne - read R = 429.030000 from 429.03,X-22.69,Y14.52,Z-428.19

: Sonardyne - got all data, Vehicle coordinates,
    r=429.030000, x=428.190000, y=-22.690000, z=-14.520000 tat = 1050
: AshtechGps::processRecord() - $GPGGA,230937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230937.00,,,,,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 R427.46,X23.14,Y10.79,Z-426.69

: Sonardyne - parsing R427.46,X23.14,Y10.79,Z-426.69

: Sonardyne - read R = 427.460000 from 427.46,X23.14,Y10.79,Z-426.69

: Sonardyne - got all data, Vehicle coordinates,
    r=427.460000, x=426.690000, y=23.140000, z=-10.790000 tat = 1050
: AshtechGps::processRecord() - $GPGGA,230938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230938.00,,,,,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,230939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230939.00,,,,,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 R425.73,X36.89,Y15.50,Z-423.84

: Sonardyne - parsing R425.73,X36.89,Y15.50,Z-423.84

: Sonardyne - read R = 425.730000 from 425.73,X36.89,Y15.50,Z-423.84

: Sonardyne - got all data, Vehicle coordinates,
    r=425.730000, x=423.840000, y=36.890000, z=-15.500000 tat = 1040
: AshtechGps::processRecord() - $GPGGA,230940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230940.00,,,,,0,00,,,M,,M,,*44


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

: BluefinBatt Reply: $b6q0 d- 30.08 11.67 15.03 3.76 3.78 0 20701.44 08:14:02 m

: AshtechGps::processRecord() - $GPGGA,230941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230941.00,,,,,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

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,230942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230942.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,230943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230943.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,230944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230944.00,,,,,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 R419.62,X10.90,Y42.73,Z-417.30

: Sonardyne - parsing R419.62,X10.90,Y42.73,Z-417.30

: Sonardyne - read R = 419.620000 from 419.62,X10.90,Y42.73,Z-417.30

: Sonardyne - got all data, Vehicle coordinates,
    r=419.620000, x=417.300000, y=10.900000, z=-42.730000 tat = 1040
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,230945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230945.00,,,,,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 R417.81,X-1.55,Y33.96,Z-416.42

: Sonardyne - parsing R417.81,X-1.55,Y33.96,Z-416.42

: Sonardyne - read R = 417.810000 from 417.81,X-1.55,Y33.96,Z-416.42

: Sonardyne - got all data, Vehicle coordinates,
    r=417.810000, x=416.420000, y=-1.550000, z=-33.960000 tat = 1030
: AshtechGps::processRecord() - $GPGGA,230946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230946.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,230947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230947.00,,,,,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 R415.24,X-3.52,Y25.45,Z-414.45

: Sonardyne - parsing R415.24,X-3.52,Y25.45,Z-414.45

: Sonardyne - read R = 415.240000 from 415.24,X-3.52,Y25.45,Z-414.45

: Sonardyne - got all data, Vehicle coordinates,
    r=415.240000, x=414.450000, y=-3.520000, z=-25.450000 tat = 1030
: AshtechGps::processRecord() - $GPGGA,230948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230948.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R412.71,X-5.57,Y14.22,Z-412.43

: Sonardyne - parsing R412.71,X-5.57,Y14.22,Z-412.43

: Sonardyne - read R = 412.710000 from 412.71,X-5.57,Y14.22,Z-412.43

: Sonardyne - got all data, Vehicle coordinates,
    r=412.710000, x=412.430000, y=-5.570000, z=-14.220000 tat = 1029
: AshtechGps::processRecord() - $GPGGA,230949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230949.00,,,,,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,230950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230950.00,,,,,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 R410.09,X-1.29,Y22.38,Z-409.48

: Sonardyne - parsing R410.09,X-1.29,Y22.38,Z-409.48

: Sonardyne - read R = 410.090000 from 410.09,X-1.29,Y22.38,Z-409.48

: Sonardyne - got all data, Vehicle coordinates,
    r=410.090000, x=409.480000, y=-1.290000, z=-22.380000 tat = 1020
: BluefinBatt Reply: $b6q0 d- 30.16 10.07 15.03 3.75 3.78 0 20700.42 08:14:12 m

: AshtechGps::processRecord() - $GPGGA,230951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230951.00,,,,,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

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: Sonardyne - POS response: 
POS V4,1 R407.53,X-2.12,Y7.82,Z-407.45

: Sonardyne - parsing R407.53,X-2.12,Y7.82,Z-407.45

: Sonardyne - read R = 407.530000 from 407.53,X-2.12,Y7.82,Z-407.45

: Sonardyne - got all data, Vehicle coordinates,
    r=407.530000, x=407.450000, y=-2.120000, z=-7.820000 tat = 1020
: AshtechGps::processRecord() - $GPGGA,230952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230952.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230953.00,,,,,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 R405.18,X0.74,Y15.16,Z-404.89

: Sonardyne - parsing R405.18,X0.74,Y15.16,Z-404.89

: Sonardyne - read R = 405.180000 from 405.18,X0.74,Y15.16,Z-404.89

: Sonardyne - got all data, Vehicle coordinates,
    r=405.180000, x=404.890000, y=0.740000, z=-15.160000 tat = 1020
: AshtechGps::processRecord() - $GPGGA,230954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230954.00,,,,,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 R402.81,X3.40,Y29.44,Z-401.72

: Sonardyne - parsing R402.81,X3.40,Y29.44,Z-401.72

: Sonardyne - read R = 402.810000 from 402.81,X3.40,Y29.44,Z-401.72

: Sonardyne - got all data, Vehicle coordinates,
    r=402.810000, x=401.720000, y=3.400000, z=-29.440000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,230955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230955.00,,,,,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,230956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230956.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R400.56,X4.75,Y51.41,Z-397.22

: Sonardyne - parsing R400.56,X4.75,Y51.41,Z-397.22

: Sonardyne - read R = 400.560000 from 400.56,X4.75,Y51.41,Z-397.22

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

: Sonardyne - got all data, Vehicle coordinates,
    r=400.560000, x=397.220000, y=4.750000, z=-51.410000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,230957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230957.00,,,,,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 R398.49,X-1.44,Y43.96,Z-396.05

: Sonardyne - parsing R398.49,X-1.44,Y43.96,Z-396.05

: Sonardyne - read R = 398.490000 from 398.49,X-1.44,Y43.96,Z-396.05

: Sonardyne - got all data, Vehicle coordinates,
    r=398.490000, x=396.050000, y=-1.440000, z=-43.960000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,230958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230958.00,,,,,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,230959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230959.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R396.29,X-11.22,Y25.36,Z-395.32

: Sonardyne - parsing R396.29,X-11.22,Y25.36,Z-395.32

: Sonardyne - read R = 396.290000 from 396.29,X-11.22,Y25.36,Z-395.32

: Sonardyne - got all data, Vehicle coordinates,
    r=396.290000, x=395.320000, y=-11.220000, z=-25.360000 tat = 1010
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231000.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231000.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  9.46 15.03 3.75 3.78 0 20699.74 08:14:22 m

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

: AshtechGps::processRecord() - $GPGGA,231001.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231001.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: AshtechGps::processRecord() - $GPGGA,231002.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231002.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,231003.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231003.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231004.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231004.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R387.73,X0.46,Y25.84,Z-386.87

: Sonardyne - parsing R387.73,X0.46,Y25.84,Z-386.87

: Sonardyne - read R = 387.730000 from 387.73,X0.46,Y25.84,Z-386.87

: Sonardyne - got all data, Vehicle coordinates,
    r=387.730000, x=386.870000, y=0.460000, z=-25.840000 tat = 990
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231005.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231005.00,,,,,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 R385.07,X2.32,Y16.92,Z-384.69

: Sonardyne - parsing R385.07,X2.32,Y16.92,Z-384.69

: Sonardyne - read R = 385.070000 from 385.07,X2.32,Y16.92,Z-384.69

: Sonardyne - got all data, Vehicle coordinates,
    r=385.070000, x=384.690000, y=2.320000, z=-16.920000 tat = 990
: AshtechGps::processRecord() - $GPGGA,231006.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231006.00,,,,,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,231007.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231007.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R383.41,X10.55,Y43.07,Z-380.84

: Sonardyne - parsing R383.41,X10.55,Y43.07,Z-380.84

: Sonardyne - read R = 383.410000 from 383.41,X10.55,Y43.07,Z-380.84

: Sonardyne - got all data, Vehicle coordinates,
    r=383.410000, x=380.840000, y=10.550000, z=-43.070000 tat = 990
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231008.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231008.00,,,,,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 R379.58,X2.87,Y22.49,Z-378.90

: Sonardyne - parsing R379.58,X2.87,Y22.49,Z-378.90

: Sonardyne - read R = 379.580000 from 379.58,X2.87,Y22.49,Z-378.90

: Sonardyne - got all data, Vehicle coordinates,
    r=379.580000, x=378.900000, y=2.870000, z=-22.490000 tat = 980
: AshtechGps::processRecord() - $GPGGA,231009.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231009.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R378.08,X-2.29,Y23.95,Z-377.32

: Sonardyne - parsing R378.08,X-2.29,Y23.95,Z-377.32

: Sonardyne - read R = 378.080000 from 378.08,X-2.29,Y23.95,Z-377.32

: Sonardyne - got all data, Vehicle coordinates,
    r=378.080000, x=377.320000, y=-2.290000, z=-23.950000 tat = 980
: AshtechGps::processRecord() - $GPGGA,231010.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231010.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.20  9.46 15.03 3.76 3.78 0 20698.81 08:14:32 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 R376.69,X-2.47,Y26.47,Z-375.75

: Sonardyne - parsing R376.69,X-2.47,Y26.47,Z-375.75

: Sonardyne - read R = 376.690000 from 376.69,X-2.47,Y26.47,Z-375.75

: Sonardyne - got all data, Vehicle coordinates,
    r=376.690000, x=375.750000, y=-2.470000, z=-26.470000 tat = 980
: AshtechGps::processRecord() - $GPGGA,231011.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231011.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

:  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 R375.36

: Sonardyne - parsing R375.36

: Sonardyne - read R = 375.360000 from 375.36

: Sonardyne - got range only (375.360000), tat = 950
: Sonardyne - POSD response: 
POSD S132.1,N22.3,D89,U5,Q0.000091

: Sonardyne - POSD response: 
POSD S132.1,N22.3,D89,U5,Q0.000091

: AshtechGps::processRecord() - $GPGGA,231012.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231012.00,,,,,0,00,,,M,,M,,*4B


: 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,231013.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231013.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R373.42,X-4.25,Y28.92,Z-372.27

: Sonardyne - parsing R373.42,X-4.25,Y28.92,Z-372.27

: Sonardyne - read R = 373.420000 from 373.42,X-4.25,Y28.92,Z-372.27

: Sonardyne - got all data, Vehicle coordinates,
    r=373.420000, x=372.270000, y=-4.250000, z=-28.920000 tat = 970
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231014.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231014.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R372.35,X-2.39,Y33.12,Z-370.86

: Sonardyne - parsing R372.35,X-2.39,Y33.12,Z-370.86

: Sonardyne - read R = 372.350000 from 372.35,X-2.39,Y33.12,Z-370.86

: Sonardyne - got all data, Vehicle coordinates,
    r=372.350000, x=370.860000, y=-2.390000, z=-33.120000 tat = 970
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231015.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231015.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R370.59,X-2.77,Y38.82,Z-368.55

: Sonardyne - parsing R370.59,X-2.77,Y38.82,Z-368.55

: Sonardyne - read R = 370.590000 from 370.59,X-2.77,Y38.82,Z-368.55

: Sonardyne - got all data, Vehicle coordinates,
    r=370.590000, x=368.550000, y=-2.770000, z=-38.820000 tat = 970
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231016.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231016.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R368.96,X-4.53,Y32.40,Z-367.51

: Sonardyne - parsing R368.96,X-4.53,Y32.40,Z-367.51

: Sonardyne - read R = 368.960000 from 368.96,X-4.53,Y32.40,Z-367.51

: Sonardyne - got all data, Vehicle coordinates,
    r=368.960000, x=367.510000, y=-4.530000, z=-32.400000 tat = 970
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231017.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231017.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R367.25,X-8.55,Y21.32,Z-366.53

: Sonardyne - parsing R367.25,X-8.55,Y21.32,Z-366.53

: Sonardyne - read R = 367.250000 from 367.25,X-8.55,Y21.32,Z-366.53

: Sonardyne - got all data, Vehicle coordinates,
    r=367.250000, x=366.530000, y=-8.550000, z=-21.320000 tat = 970
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231018.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231018.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R365.31,X-4.53,Y25.65,Z-364.38

: Sonardyne - parsing R365.31,X-4.53,Y25.65,Z-364.38

: Sonardyne - read R = 365.310000 from 365.31,X-4.53,Y25.65,Z-364.38

: Sonardyne - got all data, Vehicle coordinates,
    r=365.310000, x=364.380000, y=-4.530000, z=-25.650000 tat = 959
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231019.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231019.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R363.08,X-4.08,Y27.45,Z-362.01

: Sonardyne - parsing R363.08,X-4.08,Y27.45,Z-362.01

: Sonardyne - read R = 363.080000 from 363.08,X-4.08,Y27.45,Z-362.01

: Sonardyne - got all data, Vehicle coordinates,
    r=363.080000, x=362.010000, y=-4.080000, z=-27.450000 tat = 960
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231020.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231020.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R360.89,X-5.34,Y9.87,Z-360.72

: Sonardyne - parsing R360.89,X-5.34,Y9.87,Z-360.72

: Sonardyne - read R = 360.890000 from 360.89,X-5.34,Y9.87,Z-360.72

: Sonardyne - got all data, Vehicle coordinates,
    r=360.890000, x=360.720000, y=-5.340000, z=-9.870000 tat = 960
: BluefinBatt Reply: $b6q0 d- 30.20  8.66 15.13 3.76 3.78 0 20698.13 08:14:42 m

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

: AshtechGps::processRecord() - $GPGGA,231021.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231021.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R358.87,X-4.05,Y5.10,Z-358.81

: Sonardyne - parsing R358.87,X-4.05,Y5.10,Z-358.81

: Sonardyne - read R = 358.870000 from 358.87,X-4.05,Y5.10,Z-358.81

: Sonardyne - got all data, Vehicle coordinates,
    r=358.870000, x=358.810000, y=-4.050000, z=-5.100000 tat = 950
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,231022.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231022.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R356.95,X-3.73,Y-2.13,Z-356.93

: Sonardyne - parsing R356.95,X-3.73,Y-2.13,Z-356.93

: Sonardyne - read R = 356.950000 from 356.95,X-3.73,Y-2.13,Z-356.93

: Sonardyne - got all data, Vehicle coordinates,
    r=356.950000, x=356.930000, y=-3.730000, z=2.130000 tat = 950
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231023.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231023.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R355.94,X-0.73,Y0.23,Z-355.94

: Sonardyne - parsing R355.94,X-0.73,Y0.23,Z-355.94

: Sonardyne - read R = 355.940000 from 355.94,X-0.73,Y0.23,Z-355.94

: Sonardyne - got all data, Vehicle coordinates,
    r=355.940000, x=355.940000, y=-0.730000, z=-0.230000 tat = 950
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231024.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231024.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R353.93,X2.82,Y11.38,Z-353.74

: Sonardyne - parsing R353.93,X2.82,Y11.38,Z-353.74

: Sonardyne - read R = 353.930000 from 353.93,X2.82,Y11.38,Z-353.74

: Sonardyne - got all data, Vehicle coordinates,
    r=353.930000, x=353.740000, y=2.820000, z=-11.380000 tat = 950
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231025.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231025.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R352.65,X0.82,Y12.03,Z-352.44

: Sonardyne - parsing R352.65,X0.82,Y12.03,Z-352.44

: Sonardyne - read R = 352.650000 from 352.65,X0.82,Y12.03,Z-352.44

: Sonardyne - got all data, Vehicle coordinates,
    r=352.650000, x=352.440000, y=0.820000, z=-12.030000 tat = 940
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231026.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231026.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R351.51,X3.18,Y22.80,Z-350.75

: Sonardyne - parsing R351.51,X3.18,Y22.80,Z-350.75

: Sonardyne - read R = 351.510000 from 351.51,X3.18,Y22.80,Z-350.75

: Sonardyne - got all data, Vehicle coordinates,
    r=351.510000, x=350.750000, y=3.180000, z=-22.800000 tat = 940
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231027.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231027.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R350.26,X1.73,Y19.48,Z-349.71

: Sonardyne - parsing R350.26,X1.73,Y19.48,Z-349.71

: Sonardyne - read R = 350.260000 from 350.26,X1.73,Y19.48,Z-349.71

: Sonardyne - got all data, Vehicle coordinates,
    r=350.260000, x=349.710000, y=1.730000, z=-19.480000 tat = 940
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231028.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231028.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R348.91,X2.20,Y36.19,Z-347.03

: Sonardyne - parsing R348.91,X2.20,Y36.19,Z-347.03

: Sonardyne - read R = 348.910000 from 348.91,X2.20,Y36.19,Z-347.03

: Sonardyne - got all data, Vehicle coordinates,
    r=348.910000, x=347.030000, y=2.200000, z=-36.190000 tat = 940
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231029.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231029.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R347.35,X4.56,Y48.86,Z-343.86

: Sonardyne - parsing R347.35,X4.56,Y48.86,Z-343.86

: Sonardyne - read R = 347.350000 from 347.35,X4.56,Y48.86,Z-343.86

: Sonardyne - got all data, Vehicle coordinates,
    r=347.350000, x=343.860000, y=4.560000, z=-48.860000 tat = 940
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231030.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231030.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R345.63

: Sonardyne - parsing R345.63

: Sonardyne - read R = 345.630000 from 345.63

: Sonardyne - got range only (345.630000), tat = 910
: Sonardyne - POSD response: 
POSD S130.1,N21.7,D61,U2,Q0.001193

: Sonardyne - POSD response: 
POSD S130.1,N21.7,D61,U2,Q0.001193

: BluefinBatt Reply: $b6q0 d- 30.16  9.60 15.13 3.76 3.78 0 20697.18 08:14:52 m

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231031.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231031.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

:  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 R342.74,X-9.14,Y21.07,Z-341.97

: Sonardyne - parsing R342.74,X-9.14,Y21.07,Z-341.97

: Sonardyne - read R = 342.740000 from 342.74,X-9.14,Y21.07,Z-341.97

: Sonardyne - got all data, Vehicle coordinates,
    r=342.740000, x=341.970000, y=-9.140000, z=-21.070000 tat = 930
: AshtechGps::processRecord() - $GPGGA,231032.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231032.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R340.66,X-8.93,Y23.93,Z-339.70

: Sonardyne - parsing R340.66,X-8.93,Y23.93,Z-339.70

: Sonardyne - read R = 340.660000 from 340.66,X-8.93,Y23.93,Z-339.70

: Sonardyne - got all data, Vehicle coordinates,
    r=340.660000, x=339.700000, y=-8.930000, z=-23.930000 tat = 929
: AshtechGps::processRecord() - $GPGGA,231033.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231033.00,,,,,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 R338.45,X-10.18,Y12.10,Z-338.08

: Sonardyne - parsing R338.45,X-10.18,Y12.10,Z-338.08

: Sonardyne - read R = 338.450000 from 338.45,X-10.18,Y12.10,Z-338.08

: Sonardyne - got all data, Vehicle coordinates,
    r=338.450000, x=338.080000, y=-10.180000, z=-12.100000 tat = 930
: AshtechGps::processRecord() - $GPGGA,231034.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231034.00,,,,,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 R336.41,X-7.93,Y-1.98,Z-336.31

: Sonardyne - parsing R336.41,X-7.93,Y-1.98,Z-336.31

: Sonardyne - read R = 336.410000 from 336.41,X-7.93,Y-1.98,Z-336.31

: Sonardyne - got all data, Vehicle coordinates,
    r=336.410000, x=336.310000, y=-7.930000, z=1.980000 tat = 920
: AshtechGps::processRecord() - $GPGGA,231035.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231035.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R334.52,X-1.58,Y12.21,Z-334.29

: Sonardyne - parsing R334.52,X-1.58,Y12.21,Z-334.29

: Sonardyne - read R = 334.520000 from 334.52,X-1.58,Y12.21,Z-334.29

: Sonardyne - got all data, Vehicle coordinates,
    r=334.520000, x=334.290000, y=-1.580000, z=-12.210000 tat = 920
: AshtechGps::processRecord() - $GPGGA,231036.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231036.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R334.19,X-12.54,Y-47.36,Z-330.58

: Sonardyne - parsing R334.19,X-12.54,Y-47.36,Z-330.58

: Sonardyne - read R = 334.190000 from 334.19,X-12.54,Y-47.36,Z-330.58

: Sonardyne - got all data, Vehicle coordinates,
    r=334.190000, x=330.580000, y=-12.540000, z=47.360000 tat = 920
: AshtechGps::processRecord() - $GPGGA,231037.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231037.00,,,,,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 R334.58

: Sonardyne - parsing R334.58

: Sonardyne - read R = 334.580000 from 334.58

: Sonardyne - got range only (334.580000), tat = 900
: Sonardyne - POSD response: 
POSD S130.7,N21.3,D-84,U1,Q0.010000

: Sonardyne - POSD response: 
POSD S130.7,N21.3,D-84,U1,Q0.010000

: AshtechGps::processRecord() - $GPGGA,231038.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231038.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231039.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231039.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R329.31,X10.17,Y14.19,Z-328.85

: Sonardyne - parsing R329.31,X10.17,Y14.19,Z-328.85

: Sonardyne - read R = 329.310000 from 329.31,X10.17,Y14.19,Z-328.85

: Sonardyne - got all data, Vehicle coordinates,
    r=329.310000, x=328.850000, y=10.170000, z=-14.190000 tat = 910
: 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,231040.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231040.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R328.11,X9.70,Y8.56,Z-327.85

: Sonardyne - parsing R328.11,X9.70,Y8.56,Z-327.85

: Sonardyne - read R = 328.110000 from 328.11,X9.70,Y8.56,Z-327.85

: Sonardyne - got all data, Vehicle coordinates,
    r=328.110000, x=327.850000, y=9.700000, z=-8.560000 tat = 910
: BluefinBatt Reply: $b6q0 d- 30.16  9.20 15.13 3.76 3.78 0 20696.56 08:15:02 m

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

: AshtechGps::processRecord() - $GPGGA,231041.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231041.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R326.98,X8.63,Y23.73,Z-326.01

: Sonardyne - parsing R326.98,X8.63,Y23.73,Z-326.01

: Sonardyne - read R = 326.980000 from 326.98,X8.63,Y23.73,Z-326.01

: Sonardyne - got all data, Vehicle coordinates,
    r=326.980000, x=326.010000, y=8.630000, z=-23.730000 tat = 910
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,231042.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231042.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R325.71,X7.58,Y34.93,Z-323.74

: Sonardyne - parsing R325.71,X7.58,Y34.93,Z-323.74

: Sonardyne - read R = 325.710000 from 325.71,X7.58,Y34.93,Z-323.74

: Sonardyne - got all data, Vehicle coordinates,
    r=325.710000, x=323.740000, y=7.580000, z=-34.930000 tat = 910
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231043.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231043.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R324.19

: Sonardyne - parsing R324.19

: Sonardyne - read R = 324.190000 from 324.19

: Sonardyne - got range only (324.190000), tat = 880
: Sonardyne - POSD response: 
POSD S134.9,N20.9,D40,U4,Q0.000297

: Sonardyne - POSD response: 
POSD S134.9,N20.9,D40,U4,Q0.000297

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231044.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231044.00,,,,,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 R321.62,X-4.72,Y21.96,Z-320.83

: Sonardyne - parsing R321.62,X-4.72,Y21.96,Z-320.83

: Sonardyne - read R = 321.620000 from 321.62,X-4.72,Y21.96,Z-320.83

: Sonardyne - got all data, Vehicle coordinates,
    r=321.620000, x=320.830000, y=-4.720000, z=-21.960000 tat = 900
: AshtechGps::processRecord() - $GPGGA,231045.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231045.00,,,,,0,00,,,M,,M,,*49


: 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 R319.62

: Sonardyne - parsing R319.62

: Sonardyne - read R = 319.620000 from 319.62

: Sonardyne - got range only (319.620000), tat = 880
: Sonardyne - POSD response: 
POSD S135.3,N24.3,D109,U4,Q0.000063

: Sonardyne - POSD response: 
POSD S135.3,N24.3,D109,U4,Q0.000063

: AshtechGps::processRecord() - $GPGGA,231046.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231046.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231047.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231047.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R316.53,X-6.15,Y14.14,Z-316.15

: Sonardyne - parsing R316.53,X-6.15,Y14.14,Z-316.15

: Sonardyne - read R = 316.530000 from 316.53,X-6.15,Y14.14,Z-316.15

: Sonardyne - got all data, Vehicle coordinates,
    r=316.530000, x=316.150000, y=-6.150000, z=-14.140000 tat = 899
: 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,231048.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231048.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.33,X-7.75,Y-5.80,Z-314.19

: Sonardyne - parsing R314.33,X-7.75,Y-5.80,Z-314.19

: Sonardyne - read R = 314.330000 from 314.33,X-7.75,Y-5.80,Z-314.19

: Sonardyne - got all data, Vehicle coordinates,
    r=314.330000, x=314.190000, y=-7.750000, z=5.800000 tat = 900
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231049.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231049.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R312.33,X-3.82,Y2.47,Z-312.30

: Sonardyne - parsing R312.33,X-3.82,Y2.47,Z-312.30

: Sonardyne - read R = 312.330000 from 312.33,X-3.82,Y2.47,Z-312.30

: Sonardyne - got all data, Vehicle coordinates,
    r=312.330000, x=312.300000, y=-3.820000, z=-2.470000 tat = 900
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231050.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231050.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R310.47,X-0.13,Y-0.04,Z-310.47

: Sonardyne - parsing R310.47,X-0.13,Y-0.04,Z-310.47

: Sonardyne - read R = 310.470000 from 310.47,X-0.13,Y-0.04,Z-310.47

: Sonardyne - got all data, Vehicle coordinates,
    r=310.470000, x=310.470000, y=-0.130000, z=0.040000 tat = 890
: BluefinBatt Reply: $b6q0 d- 30.20  8.51 15.13 3.76 3.78 0 20695.61 08:15:12 m

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

: AshtechGps::processRecord() - $GPGGA,231051.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231051.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.64,X-0.23,Y-6.59,Z-308.57

: Sonardyne - parsing R308.64,X-0.23,Y-6.59,Z-308.57

: Sonardyne - read R = 308.640000 from 308.64,X-0.23,Y-6.59,Z-308.57

: Sonardyne - got all data, Vehicle coordinates,
    r=308.640000, x=308.570000, y=-0.230000, z=6.590000 tat = 890
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,231052.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231052.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.10,X-0.45,Y-6.33,Z-307.04

: Sonardyne - parsing R307.10,X-0.45,Y-6.33,Z-307.04

: Sonardyne - read R = 307.100000 from 307.10,X-0.45,Y-6.33,Z-307.04

: Sonardyne - got all data, Vehicle coordinates,
    r=307.100000, x=307.040000, y=-0.450000, z=6.330000 tat = 890
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231053.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231053.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R305.88,X1.98,Y5.69,Z-305.82

: Sonardyne - parsing R305.88,X1.98,Y5.69,Z-305.82

: Sonardyne - read R = 305.880000 from 305.88,X1.98,Y5.69,Z-305.82

: Sonardyne - got all data, Vehicle coordinates,
    r=305.880000, x=305.820000, y=1.980000, z=-5.690000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231054.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231054.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.84,X3.86,Y17.57,Z-304.31

: Sonardyne - parsing R304.84,X3.86,Y17.57,Z-304.31

: Sonardyne - read R = 304.840000 from 304.84,X3.86,Y17.57,Z-304.31

: Sonardyne - got all data, Vehicle coordinates,
    r=304.840000, x=304.310000, y=3.860000, z=-17.570000 tat = 880
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231055.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231055.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.92

: Sonardyne - parsing R306.92

: Sonardyne - read R = 306.920000 from 306.92

: Sonardyne - got range only (306.920000), tat = 860
: Sonardyne - POSD response: 
POSD S125.0,N20.9,D-11,U1,Q0.014933

: Sonardyne - POSD response: 
POSD S125.0,N20.9,D-11,U1,Q0.014933

: 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,231056.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231056.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R302.57,X2.28,Y24.76,Z-301.55

: Sonardyne - parsing R302.57,X2.28,Y24.76,Z-301.55

: Sonardyne - read R = 302.570000 from 302.57,X2.28,Y24.76,Z-301.55

: Sonardyne - got all data, Vehicle coordinates,
    r=302.570000, x=301.550000, y=2.280000, z=-24.760000 tat = 880
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231057.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231057.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R301.22,X-1.56,Y26.90,Z-300.01

: Sonardyne - parsing R301.22,X-1.56,Y26.90,Z-300.01

: Sonardyne - read R = 301.220000 from 301.22,X-1.56,Y26.90,Z-300.01

: Sonardyne - got all data, Vehicle coordinates,
    r=301.220000, x=300.010000, y=-1.560000, z=-26.900000 tat = 880
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231058.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231058.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.77,X1.46,Y39.68,Z-297.13

: Sonardyne - parsing R299.77,X1.46,Y39.68,Z-297.13

: Sonardyne - read R = 299.770000 from 299.77,X1.46,Y39.68,Z-297.13

: Sonardyne - got all data, Vehicle coordinates,
    r=299.770000, x=297.130000, y=1.460000, z=-39.680000 tat = 880
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231059.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231059.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R300.96,X-10.45,Y-3.45,Z-300.76

: Sonardyne - parsing R300.96,X-10.45,Y-3.45,Z-300.76

: Sonardyne - read R = 300.960000 from 300.96,X-10.45,Y-3.45,Z-300.76

: Sonardyne - got all data, Vehicle coordinates,
    r=300.960000, x=300.760000, y=-10.450000, z=3.450000 tat = 930
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231100.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231100.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R296.56,X1.07,Y42.71,Z-293.47

: Sonardyne - parsing R296.56,X1.07,Y42.71,Z-293.47

: Sonardyne - read R = 296.560000 from 296.56,X1.07,Y42.71,Z-293.47

: Sonardyne - got all data, Vehicle coordinates,
    r=296.560000, x=293.470000, y=1.070000, z=-42.710000 tat = 880
: BluefinBatt Reply: $b6q0 d- 30.20  8.73 15.13 3.76 3.78 0 20695.00 08:15:22 m

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

: AshtechGps::processRecord() - $GPGGA,231101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231101.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.78,X-6.76,Y-7.05,Z-293.62

: Sonardyne - parsing R293.78,X-6.76,Y-7.05,Z-293.62

: Sonardyne - read R = 293.780000 from 293.78,X-6.76,Y-7.05,Z-293.62

: Sonardyne - got all data, Vehicle coordinates,
    r=293.780000, x=293.620000, y=-6.760000, z=7.050000 tat = 870
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,231102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231102.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R291.45,X-3.75,Y-0.39,Z-291.42

: Sonardyne - parsing R291.45,X-3.75,Y-0.39,Z-291.42

: Sonardyne - read R = 291.450000 from 291.45,X-3.75,Y-0.39,Z-291.42

: Sonardyne - got all data, Vehicle coordinates,
    r=291.450000, x=291.420000, y=-3.750000, z=0.390000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231103.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R289.23,X-1.46,Y-2.02,Z-289.21

: Sonardyne - parsing R289.23,X-1.46,Y-2.02,Z-289.21

: Sonardyne - read R = 289.230000 from 289.23,X-1.46,Y-2.02,Z-289.21

: Sonardyne - got all data, Vehicle coordinates,
    r=289.230000, x=289.210000, y=-1.460000, z=2.020000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231104.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.15,X-0.06,Y-1.32,Z-287.15

: Sonardyne - parsing R287.15,X-0.06,Y-1.32,Z-287.15

: Sonardyne - read R = 287.150000 from 287.15,X-0.06,Y-1.32,Z-287.15

: Sonardyne - got all data, Vehicle coordinates,
    r=287.150000, x=287.150000, y=-0.060000, z=1.320000 tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231105.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.19,X4.23,Y11.53,Z-284.92

: Sonardyne - parsing R285.19,X4.23,Y11.53,Z-284.92

: Sonardyne - read R = 285.190000 from 285.19,X4.23,Y11.53,Z-284.92

: Sonardyne - got all data, Vehicle coordinates,
    r=285.190000, x=284.920000, y=4.230000, z=-11.530000 tat = 910
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231106.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231106.00,,,,,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,231107.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231107.00,,,,,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,231108.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231108.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

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

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231109.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231109.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.35,X-2.01,Y14.34,Z-279.97

: Sonardyne - parsing R280.35,X-2.01,Y14.34,Z-279.97

: Sonardyne - read R = 280.350000 from 280.35,X-2.01,Y14.34,Z-279.97

: Sonardyne - got all data, Vehicle coordinates,
    r=280.350000, x=279.970000, y=-2.010000, z=-14.340000 tat = 850
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231110.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231110.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  9.42 15.13 3.76 3.78 0 20694.05 08:15:32 m

: Sonardyne - POS response: 
POS V4,1 R279.46,X-3.93,Y16.33,Z-278.95

: Sonardyne - parsing R279.46,X-3.93,Y16.33,Z-278.95

: Sonardyne - read R = 279.460000 from 279.46,X-3.93,Y16.33,Z-278.95

: Sonardyne - got all data, Vehicle coordinates,
    r=279.460000, x=278.950000, y=-3.930000, z=-16.330000 tat = 850
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231111.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231111.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R278.24,X-2.78,Y27.03,Z-276.91

: Sonardyne - parsing R278.24,X-2.78,Y27.03,Z-276.91

: Sonardyne - read R = 278.240000 from 278.24,X-2.78,Y27.03,Z-276.91

: Sonardyne - got all data, Vehicle coordinates,
    r=278.240000, x=276.910000, y=-2.780000, z=-27.030000 tat = 850
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231112.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231112.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R276.69,X-3.49,Y25.47,Z-275.49

: Sonardyne - parsing R276.69,X-3.49,Y25.47,Z-275.49

: Sonardyne - read R = 276.690000 from 276.69,X-3.49,Y25.47,Z-275.49

: Sonardyne - got all data, Vehicle coordinates,
    r=276.690000, x=275.490000, y=-3.490000, z=-25.470000 tat = 840
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231113.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231113.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R274.86,X-5.43,Y13.61,Z-274.47

: Sonardyne - parsing R274.86,X-5.43,Y13.61,Z-274.47

: Sonardyne - read R = 274.860000 from 274.86,X-5.43,Y13.61,Z-274.47

: Sonardyne - got all data, Vehicle coordinates,
    r=274.860000, x=274.470000, y=-5.430000, z=-13.610000 tat = 840
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231114.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231114.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R272.66,X-3.40,Y17.08,Z-272.11

: Sonardyne - parsing R272.66,X-3.40,Y17.08,Z-272.11

: Sonardyne - read R = 272.660000 from 272.66,X-3.40,Y17.08,Z-272.11

: Sonardyne - got all data, Vehicle coordinates,
    r=272.660000, x=272.110000, y=-3.400000, z=-17.080000 tat = 840
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231115.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231115.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R270.02,X-3.44,Y10.57,Z-269.79

: Sonardyne - parsing R270.02,X-3.44,Y10.57,Z-269.79

: Sonardyne - read R = 270.020000 from 270.02,X-3.44,Y10.57,Z-269.79

: Sonardyne - got all data, Vehicle coordinates,
    r=270.020000, x=269.790000, y=-3.440000, z=-10.570000 tat = 830
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231116.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231116.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R267.65,X-1.24,Y10.21,Z-267.45

: Sonardyne - parsing R267.65,X-1.24,Y10.21,Z-267.45

: Sonardyne - read R = 267.650000 from 267.65,X-1.24,Y10.21,Z-267.45

: Sonardyne - got all data, Vehicle coordinates,
    r=267.650000, x=267.450000, y=-1.240000, z=-10.210000 tat = 829
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231117.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231117.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R265.25,X-2.98,Y-5.83,Z-265.17

: Sonardyne - parsing R265.25,X-2.98,Y-5.83,Z-265.17

: Sonardyne - read R = 265.250000 from 265.25,X-2.98,Y-5.83,Z-265.17

: Sonardyne - got all data, Vehicle coordinates,
    r=265.250000, x=265.170000, y=-2.980000, z=5.830000 tat = 830
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231118.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231118.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.25,X-0.07,Y-5.47,Z-263.19

: Sonardyne - parsing R263.25,X-0.07,Y-5.47,Z-263.19

: Sonardyne - read R = 263.250000 from 263.25,X-0.07,Y-5.47,Z-263.19

: Sonardyne - got all data, Vehicle coordinates,
    r=263.250000, x=263.190000, y=-0.070000, z=5.470000 tat = 820
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231119.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231119.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.73,X1.47,Y1.37,Z-261.72

: Sonardyne - parsing R261.73,X1.47,Y1.37,Z-261.72

: Sonardyne - read R = 261.730000 from 261.73,X1.47,Y1.37,Z-261.72

: Sonardyne - got all data, Vehicle coordinates,
    r=261.730000, x=261.720000, y=1.470000, z=-1.370000 tat = 820
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231120.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231120.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  9.96 15.13 3.76 3.78 0 20693.40 08:15:42 m

: Sonardyne - POS response: 
POS V4,1 R267.91

: Sonardyne - parsing R267.91

: Sonardyne - read R = 267.910000 from 267.91

: Sonardyne - got range only (267.910000), tat = 810
: Sonardyne - POSD response: 
POSD S123.4,N20.3,D-75,U3,Q0.005587

: Sonardyne - POSD response: 
POSD S123.4,N20.3,D-75,U3,Q0.005587

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

: AshtechGps::processRecord() - $GPGGA,231121.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231121.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R258.96,X1.94,Y8.07,Z-258.82

: Sonardyne - parsing R258.96,X1.94,Y8.07,Z-258.82

: Sonardyne - read R = 258.960000 from 258.96,X1.94,Y8.07,Z-258.82

: Sonardyne - got all data, Vehicle coordinates,
    r=258.960000, x=258.820000, y=1.940000, z=-8.070000 tat = 820
:  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,231122.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231122.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R257.90

: Sonardyne - parsing R257.90

: Sonardyne - read R = 257.900000 from 257.90

: Sonardyne - got range only (257.900000), tat = 840
: Sonardyne - POSD response: 
POSD S131.9,N20.9,D105,U5,Q0.000690

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

: Sonardyne - POSD response: 
POSD S131.9,N20.9,D105,U5,Q0.000690

: AshtechGps::processRecord() - $GPGGA,231123.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231123.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: Sonardyne - POS response: 
POS V4,1 R256.97,X1.69,Y8.67,Z-256.82

: Sonardyne - parsing R256.97,X1.69,Y8.67,Z-256.82

: Sonardyne - read R = 256.970000 from 256.97,X1.69,Y8.67,Z-256.82

: Sonardyne - got all data, Vehicle coordinates,
    r=256.970000, x=256.820000, y=1.690000, z=-8.670000 tat = 820
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231124.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231124.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R255.98,X4.24,Y21.78,Z-255.02

: Sonardyne - parsing R255.98,X4.24,Y21.78,Z-255.02

: Sonardyne - read R = 255.980000 from 255.98,X4.24,Y21.78,Z-255.02

: Sonardyne - got all data, Vehicle coordinates,
    r=255.980000, x=255.020000, y=4.240000, z=-21.780000 tat = 810
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231125.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231125.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R255.37,X5.99,Y43.62,Z-251.54

: Sonardyne - parsing R255.37,X5.99,Y43.62,Z-251.54

: Sonardyne - read R = 255.370000 from 255.37,X5.99,Y43.62,Z-251.54

: Sonardyne - got all data, Vehicle coordinates,
    r=255.370000, x=251.540000, y=5.990000, z=-43.620000 tat = 810
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231126.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231126.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R257.42

: Sonardyne - parsing R257.42

: Sonardyne - read R = 257.420000 from 257.42

: Sonardyne - got range only (257.420000), tat = 790
: Sonardyne - POSD response: 
POSD S113.7,N27.6,D-134,U1,Q0.002701

: Sonardyne - POSD response: 
POSD S113.7,N27.6,D-134,U1,Q0.002701

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

: AshtechGps::processRecord() - $GPGGA,231127.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231127.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: Sonardyne - POS response: 
POS V4,1 R251.34,X-4.35,Y9.68,Z-251.12

: Sonardyne - parsing R251.34,X-4.35,Y9.68,Z-251.12

: Sonardyne - read R = 251.340000 from 251.34,X-4.35,Y9.68,Z-251.12

: Sonardyne - got all data, Vehicle coordinates,
    r=251.340000, x=251.120000, y=-4.350000, z=-9.680000 tat = 810
:  wdt = 00892,  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,231128.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231128.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.48,X-6.69,Y9.53,Z-249.21

: Sonardyne - parsing R249.48,X-6.69,Y9.53,Z-249.21

: Sonardyne - read R = 249.480000 from 249.48,X-6.69,Y9.53,Z-249.21

: Sonardyne - got all data, Vehicle coordinates,
    r=249.480000, x=249.210000, y=-6.690000, z=-9.530000 tat = 810
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231129.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231129.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.46,X-6.61,Y5.32,Z-247.31

: Sonardyne - parsing R247.46,X-6.61,Y5.32,Z-247.31

: Sonardyne - read R = 247.460000 from 247.46,X-6.61,Y5.32,Z-247.31

: Sonardyne - got all data, Vehicle coordinates,
    r=247.460000, x=247.310000, y=-6.610000, z=-5.320000 tat = 800
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231130.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231130.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  8.73 15.13 3.76 3.78 0 20692.52 08:15:52 m

: Sonardyne - POS response: 
POS V4,1 R248.43

: Sonardyne - parsing R248.43

: Sonardyne - read R = 248.430000 from 248.43

: Sonardyne - got range only (248.430000), tat = 779
: Sonardyne - POSD response: 
POSD S128.0,N22.8,D-39,U1,Q0.002410

: Sonardyne - POSD response: 
POSD S128.0,N22.8,D-39,U1,Q0.002410

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

: AshtechGps::processRecord() - $GPGGA,231131.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231131.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R243.62,X-3.32,Y3.53,Z-243.57

: Sonardyne - parsing R243.62,X-3.32,Y3.53,Z-243.57

: Sonardyne - read R = 243.620000 from 243.62,X-3.32,Y3.53,Z-243.57

: Sonardyne - got all data, Vehicle coordinates,
    r=243.620000, x=243.570000, y=-3.320000, z=-3.530000 tat = 800
:  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,231132.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231132.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R241.51,X-3.83,Y-1.64,Z-241.47

: Sonardyne - parsing R241.51,X-3.83,Y-1.64,Z-241.47

: Sonardyne - read R = 241.510000 from 241.51,X-3.83,Y-1.64,Z-241.47

: Sonardyne - got all data, Vehicle coordinates,
    r=241.510000, x=241.470000, y=-3.830000, z=1.640000 tat = 800
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231133.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231133.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.72,X0.59,Y6.42,Z-239.64

: Sonardyne - parsing R239.72,X0.59,Y6.42,Z-239.64

: Sonardyne - read R = 239.720000 from 239.72,X0.59,Y6.42,Z-239.64

: Sonardyne - got all data, Vehicle coordinates,
    r=239.720000, x=239.640000, y=0.590000, z=-6.420000 tat = 800
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231134.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231134.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.04,X1.12,Y3.37,Z-238.02

: Sonardyne - parsing R238.04,X1.12,Y3.37,Z-238.02

: Sonardyne - read R = 238.040000 from 238.04,X1.12,Y3.37,Z-238.02

: Sonardyne - got all data, Vehicle coordinates,
    r=238.040000, x=238.020000, y=1.120000, z=-3.370000 tat = 790
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231135.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231135.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.90

: Sonardyne - parsing R239.90

: Sonardyne - read R = 239.900000 from 239.90

: Sonardyne - got range only (239.900000), tat = 770
: Sonardyne - POSD response: 
POSD S121.7,N24.5,D29,U4,Q0.008365

: Sonardyne - POSD response: 
POSD S121.7,N24.5,D29,U4,Q0.008365

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231136.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231136.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.37,X0.20,Y-1.28,Z-235.37

: Sonardyne - parsing R235.37,X0.20,Y-1.28,Z-235.37

: Sonardyne - read R = 235.370000 from 235.37,X0.20,Y-1.28,Z-235.37

: Sonardyne - got all data, Vehicle coordinates,
    r=235.370000, x=235.370000, y=0.200000, z=1.280000 tat = 790
:  wdt = 00893,  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,231137.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231137.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.09,X1.89,Y4.73,Z-234.03

: Sonardyne - parsing R234.09,X1.89,Y4.73,Z-234.03

: Sonardyne - read R = 234.090000 from 234.09,X1.89,Y4.73,Z-234.03

: Sonardyne - got all data, Vehicle coordinates,
    r=234.090000, x=234.030000, y=1.890000, z=-4.730000 tat = 780
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231138.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231138.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.65

: Sonardyne - parsing R232.65

: Sonardyne - read R = 232.650000 from 232.65

: Sonardyne - got range only (232.650000), tat = 760
: Sonardyne - POSD response: 
POSD S+140.6,N28.9,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.6,N28.9,D-1,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231139.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231139.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.53

: Sonardyne - parsing R232.53

: Sonardyne - read R = 232.530000 from 232.53

: Sonardyne - got range only (232.530000), tat = 760
: Sonardyne - POSD response: 
POSD S133.3,N21.5,D23,U4,Q0.007723

: Sonardyne - POSD response: 
POSD S133.3,N21.5,D23,U4,Q0.007723

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

: AshtechGps::processRecord() - $GPGGA,231140.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231140.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  9.31 15.13 3.76 3.78 0 20691.92 08:16:02 m

: Sonardyne - POS response: 
POS V4,1 R230.57,X7.93,Y32.09,Z-228.19

: Sonardyne - parsing R230.57,X7.93,Y32.09,Z-228.19

: Sonardyne - read R = 230.570000 from 230.57,X7.93,Y32.09,Z-228.19

: Sonardyne - got all data, Vehicle coordinates,
    r=230.570000, x=228.190000, y=7.930000, z=-32.090000 tat = 780
:  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,231141.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231141.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R227.78,X1.28,Y9.12,Z-227.60

: Sonardyne - parsing R227.78,X1.28,Y9.12,Z-227.60

: Sonardyne - read R = 227.780000 from 227.78,X1.28,Y9.12,Z-227.60

: Sonardyne - got all data, Vehicle coordinates,
    r=227.780000, x=227.600000, y=1.280000, z=-9.120000 tat = 780
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231142.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231142.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R226.09,X-0.23,Y11.48,Z-225.80

: Sonardyne - parsing R226.09,X-0.23,Y11.48,Z-225.80

: Sonardyne - read R = 226.090000 from 226.09,X-0.23,Y11.48,Z-225.80

: Sonardyne - got all data, Vehicle coordinates,
    r=226.090000, x=225.800000, y=-0.230000, z=-11.480000 tat = 780
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231143.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231143.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R224.38,X-1.13,Y12.64,Z-224.03

: Sonardyne - parsing R224.38,X-1.13,Y12.64,Z-224.03

: Sonardyne - read R = 224.380000 from 224.38,X-1.13,Y12.64,Z-224.03

: Sonardyne - got all data, Vehicle coordinates,
    r=224.380000, x=224.030000, y=-1.130000, z=-12.640000 tat = 770
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231144.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231144.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R222.63,X-1.96,Y12.16,Z-222.29

: Sonardyne - parsing R222.63,X-1.96,Y12.16,Z-222.29

: Sonardyne - read R = 222.630000 from 222.63,X-1.96,Y12.16,Z-222.29

: Sonardyne - got all data, Vehicle coordinates,
    r=222.630000, x=222.290000, y=-1.960000, z=-12.160000 tat = 770
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231145.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231145.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R220.89,X-3.50,Y6.89,Z-220.75

: Sonardyne - parsing R220.89,X-3.50,Y6.89,Z-220.75

: Sonardyne - read R = 220.890000 from 220.89,X-3.50,Y6.89,Z-220.75

: Sonardyne - got all data, Vehicle coordinates,
    r=220.890000, x=220.750000, y=-3.500000, z=-6.890000 tat = 769
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231146.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231146.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R219.27,X-3.01,Y9.01,Z-219.07

: Sonardyne - parsing R219.27,X-3.01,Y9.01,Z-219.07

: Sonardyne - read R = 219.270000 from 219.27,X-3.01,Y9.01,Z-219.07

: Sonardyne - got all data, Vehicle coordinates,
    r=219.270000, x=219.070000, y=-3.010000, z=-9.010000 tat = 770
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231147.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231147.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R217.96,X-1.97,Y8.02,Z-217.81

: Sonardyne - parsing R217.96,X-1.97,Y8.02,Z-217.81

: Sonardyne - read R = 217.960000 from 217.96,X-1.97,Y8.02,Z-217.81

: Sonardyne - got all data, Vehicle coordinates,
    r=217.960000, x=217.810000, y=-1.970000, z=-8.020000 tat = 760
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231148.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231148.00,,,,,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,231149.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231149.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,231150.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231150.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $b6q0 d- 30.16  9.82 15.23 3.76 3.78 0 20690.97 08:16:12 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
: AshtechGps::processRecord() - $GPGGA,231151.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231151.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

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

: AshtechGps::processRecord() - $GPGGA,231152.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231152.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.54,X2.46,Y4.05,Z-210.49

: Sonardyne - parsing R210.54,X2.46,Y4.05,Z-210.49

: Sonardyne - read R = 210.540000 from 210.54,X2.46,Y4.05,Z-210.49

: Sonardyne - got all data, Vehicle coordinates,
    r=210.540000, x=210.490000, y=2.460000, z=-4.050000 tat = 750
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231153.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231153.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.60,X3.99,Y10.70,Z-208.28

: Sonardyne - parsing R208.60,X3.99,Y10.70,Z-208.28

: Sonardyne - read R = 208.600000 from 208.60,X3.99,Y10.70,Z-208.28

: Sonardyne - got all data, Vehicle coordinates,
    r=208.600000, x=208.280000, y=3.990000, z=-10.700000 tat = 750
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231154.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231154.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R206.31,X3.14,Y8.39,Z-206.11

: Sonardyne - parsing R206.31,X3.14,Y8.39,Z-206.11

: Sonardyne - read R = 206.310000 from 206.31,X3.14,Y8.39,Z-206.11

: Sonardyne - got all data, Vehicle coordinates,
    r=206.310000, x=206.110000, y=3.140000, z=-8.390000 tat = 750
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231155.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231155.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R204.93

: Sonardyne - parsing R204.93

: Sonardyne - read R = 204.930000 from 204.93

: Sonardyne - got range only (204.930000), tat = 720
: Sonardyne - POSD response: 
POSD S134.3,N21.5,D22,U5,Q0.000610

: Sonardyne - POSD response: 
POSD S134.3,N21.5,D22,U5,Q0.000610

: 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,231156.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231156.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R203.24,X-1.63,Y1.28,Z-203.23

: Sonardyne - parsing R203.24,X-1.63,Y1.28,Z-203.23

: Sonardyne - read R = 203.240000 from 203.24,X-1.63,Y1.28,Z-203.23

: Sonardyne - got all data, Vehicle coordinates,
    r=203.240000, x=203.230000, y=-1.630000, z=-1.280000 tat = 740
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231157.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231157.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R201.54,X-1.03,Y4.59,Z-201.49

: Sonardyne - parsing R201.54,X-1.03,Y4.59,Z-201.49

: Sonardyne - read R = 201.540000 from 201.54,X-1.03,Y4.59,Z-201.49

: Sonardyne - got all data, Vehicle coordinates,
    r=201.540000, x=201.490000, y=-1.030000, z=-4.590000 tat = 740
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231158.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231158.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R200.02,X-1.51,Y4.01,Z-199.98

: Sonardyne - parsing R200.02,X-1.51,Y4.01,Z-199.98

: Sonardyne - read R = 200.020000 from 200.02,X-1.51,Y4.01,Z-199.98

: Sonardyne - got all data, Vehicle coordinates,
    r=200.020000, x=199.980000, y=-1.510000, z=-4.010000 tat = 740
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231159.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231159.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R198.57,X-0.21,Y10.97,Z-198.27

: Sonardyne - parsing R198.57,X-0.21,Y10.97,Z-198.27

: Sonardyne - read R = 198.570000 from 198.57,X-0.21,Y10.97,Z-198.27

: Sonardyne - got all data, Vehicle coordinates,
    r=198.570000, x=198.270000, y=-0.210000, z=-10.970000 tat = 740
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231200.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231200.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R197.11,X-0.71,Y8.47,Z-196.92

: Sonardyne - parsing R197.11,X-0.71,Y8.47,Z-196.92

: Sonardyne - read R = 197.110000 from 197.11,X-0.71,Y8.47,Z-196.92

: Sonardyne - got all data, Vehicle coordinates,
    r=197.110000, x=196.920000, y=-0.710000, z=-8.470000 tat = 739
: BluefinBatt Reply: $b6q0 d- 30.16  9.38 15.13 3.76 3.78 0 20690.38 08:16:22 m

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

: AshtechGps::processRecord() - $GPGGA,231201.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231201.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R195.69,X-1.93,Y9.30,Z-195.46

: Sonardyne - parsing R195.69,X-1.93,Y9.30,Z-195.46

: Sonardyne - read R = 195.690000 from 195.69,X-1.93,Y9.30,Z-195.46

: Sonardyne - got all data, Vehicle coordinates,
    r=195.690000, x=195.460000, y=-1.930000, z=-9.300000 tat = 730
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,231202.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231202.00,,,,,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 R194.30,X0.29,Y13.48,Z-193.83

: Sonardyne - parsing R194.30,X0.29,Y13.48,Z-193.83

: Sonardyne - read R = 194.300000 from 194.30,X0.29,Y13.48,Z-193.83

: Sonardyne - got all data, Vehicle coordinates,
    r=194.300000, x=193.830000, y=0.290000, z=-13.480000 tat = 730
: AshtechGps::processRecord() - $GPGGA,231203.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231203.00,,,,,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 R192.27,X-0.22,Y6.99,Z-192.15

: Sonardyne - parsing R192.27,X-0.22,Y6.99,Z-192.15

: Sonardyne - read R = 192.270000 from 192.27,X-0.22,Y6.99,Z-192.15

: Sonardyne - got all data, Vehicle coordinates,
    r=192.270000, x=192.150000, y=-0.220000, z=-6.990000 tat = 730
: AshtechGps::processRecord() - $GPGGA,231204.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231204.00,,,,,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 R190.39,X0.93,Y6.79,Z-190.27

: Sonardyne - parsing R190.39,X0.93,Y6.79,Z-190.27

: Sonardyne - read R = 190.390000 from 190.39,X0.93,Y6.79,Z-190.27

: Sonardyne - got all data, Vehicle coordinates,
    r=190.390000, x=190.270000, y=0.930000, z=-6.790000 tat = 730
: AshtechGps::processRecord() - $GPGGA,231205.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231205.00,,,,,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 R189.71,X15.08,Y53.29,Z-181.45

: Sonardyne - parsing R189.71,X15.08,Y53.29,Z-181.45

: Sonardyne - read R = 189.710000 from 189.71,X15.08,Y53.29,Z-181.45

: Sonardyne - got all data, Vehicle coordinates,
    r=189.710000, x=181.450000, y=15.080000, z=-53.290000 tat = 730
: AshtechGps::processRecord() - $GPGGA,231206.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231206.00,,,,,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 R186.66,X0.17,Y9.51,Z-186.42

: Sonardyne - parsing R186.66,X0.17,Y9.51,Z-186.42

: Sonardyne - read R = 186.660000 from 186.66,X0.17,Y9.51,Z-186.42

: Sonardyne - got all data, Vehicle coordinates,
    r=186.660000, x=186.420000, y=0.170000, z=-9.510000 tat = 720
: AshtechGps::processRecord() - $GPGGA,231207.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231207.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R184.84,X-3.94,Y0.44,Z-184.80

: Sonardyne - parsing R184.84,X-3.94,Y0.44,Z-184.80

: Sonardyne - read R = 184.840000 from 184.84,X-3.94,Y0.44,Z-184.80

: Sonardyne - got all data, Vehicle coordinates,
    r=184.840000, x=184.800000, y=-3.940000, z=-0.440000 tat = 720
: AshtechGps::processRecord() - $GPGGA,231208.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231208.00,,,,,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 R183.20,X-3.80,Y0.10,Z-183.16

: Sonardyne - parsing R183.20,X-3.80,Y0.10,Z-183.16

: Sonardyne - read R = 183.200000 from 183.20,X-3.80,Y0.10,Z-183.16

: Sonardyne - got all data, Vehicle coordinates,
    r=183.200000, x=183.160000, y=-3.800000, z=-0.100000 tat = 720
: AshtechGps::processRecord() - $GPGGA,231209.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231209.00,,,,,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 R181.67,X-1.74,Y4.93,Z-181.60

: Sonardyne - parsing R181.67,X-1.74,Y4.93,Z-181.60

: Sonardyne - read R = 181.670000 from 181.67,X-1.74,Y4.93,Z-181.60

: Sonardyne - got all data, Vehicle coordinates,
    r=181.670000, x=181.600000, y=-1.740000, z=-4.930000 tat = 710
: AshtechGps::processRecord() - $GPGGA,231210.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231210.00,,,,,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 R180.14,X-1.42,Y3.49,Z-180.10

: Sonardyne - parsing R180.14,X-1.42,Y3.49,Z-180.10

: Sonardyne - read R = 180.140000 from 180.14,X-1.42,Y3.49,Z-180.10

: Sonardyne - got all data, Vehicle coordinates,
    r=180.140000, x=180.100000, y=-1.420000, z=-3.490000 tat = 710
: BluefinBatt Reply: $b6q0 d- 30.16  8.98 15.13 3.76 3.78 0 20689.40 08:16:32 m

: AshtechGps::processRecord() - $GPGGA,231211.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231211.00,,,,,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 R178.78,X-0.84,Y6.11,Z-178.67

: Sonardyne - parsing R178.78,X-0.84,Y6.11,Z-178.67

: Sonardyne - read R = 178.780000 from 178.78,X-0.84,Y6.11,Z-178.67

: Sonardyne - got all data, Vehicle coordinates,
    r=178.780000, x=178.670000, y=-0.840000, z=-6.110000 tat = 710
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,231212.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231212.00,,,,,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 R177.38,X0.01,Y9.97,Z-177.10

: Sonardyne - parsing R177.38,X0.01,Y9.97,Z-177.10

: Sonardyne - read R = 177.380000 from 177.38,X0.01,Y9.97,Z-177.10

: Sonardyne - got all data, Vehicle coordinates,
    r=177.380000, x=177.100000, y=0.010000, z=-9.970000 tat = 710
: AshtechGps::processRecord() - $GPGGA,231213.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231213.00,,,,,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 R177.63,X6.03,Y40.45,Z-172.86

: Sonardyne - parsing R177.63,X6.03,Y40.45,Z-172.86

: Sonardyne - read R = 177.630000 from 177.63,X6.03,Y40.45,Z-172.86

: Sonardyne - got all data, Vehicle coordinates,
    r=177.630000, x=172.860000, y=6.030000, z=-40.450000 tat = 710
: AshtechGps::processRecord() - $GPGGA,231214.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231214.00,,,,,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 R174.28,X-0.61,Y9.18,Z-174.03

: Sonardyne - parsing R174.28,X-0.61,Y9.18,Z-174.03

: Sonardyne - read R = 174.280000 from 174.28,X-0.61,Y9.18,Z-174.03

: Sonardyne - got all data, Vehicle coordinates,
    r=174.280000, x=174.030000, y=-0.610000, z=-9.180000 tat = 710
: AshtechGps::processRecord() - $GPGGA,231215.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231215.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R172.41,X-3.13,Y5.37,Z-172.29

: Sonardyne - parsing R172.41,X-3.13,Y5.37,Z-172.29

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

: Sonardyne - read R = 172.410000 from 172.41,X-3.13,Y5.37,Z-172.29

: Sonardyne - got all data, Vehicle coordinates,
    r=172.410000, x=172.290000, y=-3.130000, z=-5.370000 tat = 700
: AshtechGps::processRecord() - $GPGGA,231216.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231216.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R170.53,X-2.93,Y3.56,Z-170.47

: Sonardyne - parsing R170.53,X-2.93,Y3.56,Z-170.47

: Sonardyne - read R = 170.530000 from 170.53,X-2.93,Y3.56,Z-170.47

: Sonardyne - got all data, Vehicle coordinates,
    r=170.530000, x=170.470000, y=-2.930000, z=-3.560000 tat = 700
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231217.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231217.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R168.61,X-1.64,Y1.85,Z-168.59

: Sonardyne - parsing R168.61,X-1.64,Y1.85,Z-168.59

: Sonardyne - read R = 168.610000 from 168.61,X-1.64,Y1.85,Z-168.59

: Sonardyne - got all data, Vehicle coordinates,
    r=168.610000, x=168.590000, y=-1.640000, z=-1.850000 tat = 700
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231218.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231218.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.79,X-0.94,Y0.59,Z-166.79

: Sonardyne - parsing R166.79,X-0.94,Y0.59,Z-166.79

: Sonardyne - read R = 166.790000 from 166.79,X-0.94,Y0.59,Z-166.79

: Sonardyne - got all data, Vehicle coordinates,
    r=166.790000, x=166.790000, y=-0.940000, z=-0.590000 tat = 690
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231219.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231219.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.09,X-0.82,Y-1.58,Z-165.08

: Sonardyne - parsing R165.09,X-0.82,Y-1.58,Z-165.08

: Sonardyne - read R = 165.090000 from 165.09,X-0.82,Y-1.58,Z-165.08

: Sonardyne - got all data, Vehicle coordinates,
    r=165.090000, x=165.080000, y=-0.820000, z=1.580000 tat = 690
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231220.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231220.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.48,X0.13,Y-0.58,Z-163.48

: Sonardyne - parsing R163.48,X0.13,Y-0.58,Z-163.48

: Sonardyne - read R = 163.480000 from 163.48,X0.13,Y-0.58,Z-163.48

: Sonardyne - got all data, Vehicle coordinates,
    r=163.480000, x=163.480000, y=0.130000, z=0.580000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $b6q0 d- 30.16 10.29 15.13 3.76 3.78 0 20688.80 08:16:42 m

: AshtechGps::processRecord() - $GPGGA,231221.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231221.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.00,X0.15,Y0.99,Z-162.00

: Sonardyne - parsing R162.00,X0.15,Y0.99,Z-162.00

: Sonardyne - read R = 162.000000 from 162.00,X0.15,Y0.99,Z-162.00

: Sonardyne - got all data, Vehicle coordinates,
    r=162.000000, x=162.000000, y=0.150000, z=-0.990000 tat = 690
:  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 3.760000, mean min cell voltage 3.760000

: AshtechGps::processRecord() - $GPGGA,231222.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231222.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.46,X1.59,Y3.83,Z-160.40

: Sonardyne - parsing R160.46,X1.59,Y3.83,Z-160.40

: Sonardyne - read R = 160.460000 from 160.46,X1.59,Y3.83,Z-160.40

: Sonardyne - got all data, Vehicle coordinates,
    r=160.460000, x=160.400000, y=1.590000, z=-3.830000 tat = 730
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231223.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231223.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.58

: Sonardyne - parsing R160.58

: Sonardyne - read R = 160.580000 from 160.58

: Sonardyne - got range only (160.580000), tat = 660
: Sonardyne - POSD response: 
POSD S+141.4,N32.4,D78,U2,Q0.000464

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

: Sonardyne - POSD response: 
POSD S+141.4,N32.4,D78,U2,Q0.000464

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231224.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231224.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.67,X1.41,Y6.29,Z-157.54

: Sonardyne - parsing R157.67,X1.41,Y6.29,Z-157.54

: Sonardyne - read R = 157.670000 from 157.67,X1.41,Y6.29,Z-157.54

: Sonardyne - got all data, Vehicle coordinates,
    r=157.670000, x=157.540000, y=1.410000, z=-6.290000 tat = 680
: Sonardyne - POSD response: 
POSD S+142.2,N21.8,D-72,U8,Q0.000327

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231225.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231225.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.12,X-0.23,Y4.26,Z-156.06

: Sonardyne - parsing R156.12,X-0.23,Y4.26,Z-156.06

: Sonardyne - read R = 156.120000 from 156.12,X-0.23,Y4.26,Z-156.06

: Sonardyne - got all data, Vehicle coordinates,
    r=156.120000, x=156.060000, y=-0.230000, z=-4.260000 tat = 680
: Sonardyne - POSD response: 
POSD S+143.6,N31.1,D-4,U8,Q0.000098

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

: AshtechGps::processRecord() - $GPGGA,231226.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231226.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.52,X-0.98,Y4.81,Z-154.44

: Sonardyne - parsing R154.52,X-0.98,Y4.81,Z-154.44

: Sonardyne - read R = 154.520000 from 154.52,X-0.98,Y4.81,Z-154.44

: Sonardyne - got all data, Vehicle coordinates,
    r=154.520000, x=154.440000, y=-0.980000, z=-4.810000 tat = 680
: Sonardyne - POSD response: 
POSD S+143.9,N28.8,D25,U8,Q0.000060

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

: AshtechGps::processRecord() - $GPGGA,231227.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231227.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.80,X-0.71,Y7.23,Z-152.63

: Sonardyne - parsing R152.80,X-0.71,Y7.23,Z-152.63

: Sonardyne - read R = 152.800000 from 152.80,X-0.71,Y7.23,Z-152.63

: Sonardyne - got all data, Vehicle coordinates,
    r=152.800000, x=152.630000, y=-0.710000, z=-7.230000 tat = 680
: Sonardyne - POSD response: 
POSD S+143.0,N25.1,D-15,U8,Q0.000071

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

: AshtechGps::processRecord() - $GPGGA,231228.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231228.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R151.06,X0.28,Y12.42,Z-150.55

: Sonardyne - parsing R151.06,X0.28,Y12.42,Z-150.55

: Sonardyne - read R = 151.060000 from 151.06,X0.28,Y12.42,Z-150.55

: Sonardyne - got all data, Vehicle coordinates,
    r=151.060000, x=150.550000, y=0.280000, z=-12.420000 tat = 670
: Sonardyne - POSD response: 
POSD S133.4,N19.6,D26,U8,Q0.000235

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

: AshtechGps::processRecord() - $GPGGA,231229.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231229.00,,,,,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,231230.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231230.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 30.12 10.32 15.23 3.75 3.78 0 20687.84 08:16:52 m

: AshtechGps::processRecord() - $GPGGA,231231.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231231.00,,,,,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 3.750000, mean min cell voltage 3.750000

: 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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231232.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231232.00,,,,,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 R143.26,X-1.22,Y-1.71,Z-143.25

: Sonardyne - parsing R143.26,X-1.22,Y-1.71,Z-143.25

: Sonardyne - read R = 143.260000 from 143.26,X-1.22,Y-1.71,Z-143.25

: Sonardyne - got all data, Vehicle coordinates,
    r=143.260000, x=143.250000, y=-1.220000, z=1.710000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231233.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231233.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R141.64,X-0.62,Y-0.62,Z-141.63

: Sonardyne - parsing R141.64,X-0.62,Y-0.62,Z-141.63

: Sonardyne - read R = 141.640000 from 141.64,X-0.62,Y-0.62,Z-141.63

: Sonardyne - got all data, Vehicle coordinates,
    r=141.640000, x=141.630000, y=-0.620000, z=0.620000 tat = 660
: AshtechGps::processRecord() - $GPGGA,231234.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231234.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R140.08,X-0.68,Y1.05,Z-140.08

: Sonardyne - parsing R140.08,X-0.68,Y1.05,Z-140.08

: Sonardyne - read R = 140.080000 from 140.08,X-0.68,Y1.05,Z-140.08

: Sonardyne - got all data, Vehicle coordinates,
    r=140.080000, x=140.080000, y=-0.680000, z=-1.050000 tat = 660
: AshtechGps::processRecord() - $GPGGA,231235.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231235.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R138.62,X-0.86,Y3.85,Z-138.56

: Sonardyne - parsing R138.62,X-0.86,Y3.85,Z-138.56

: Sonardyne - read R = 138.620000 from 138.62,X-0.86,Y3.85,Z-138.56

: Sonardyne - got all data, Vehicle coordinates,
    r=138.620000, x=138.560000, y=-0.860000, z=-3.850000 tat = 660
: AshtechGps::processRecord() - $GPGGA,231236.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231236.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R137.15

: Sonardyne - parsing R137.15

: Sonardyne - read R = 137.150000 from 137.15

: Sonardyne - got range only (137.150000), tat = 630
: Sonardyne - POSD response: 
POSD S+140.1,N24.2,D81,U3,Q0.000167

: Sonardyne - POSD response: 
POSD S+140.1,N24.2,D81,U3,Q0.000167

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231237.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231237.00,,,,,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 R135.86,X0.57,Y5.82,Z-135.73

: Sonardyne - parsing R135.86,X0.57,Y5.82,Z-135.73

: Sonardyne - read R = 135.860000 from 135.86,X0.57,Y5.82,Z-135.73

: Sonardyne - got all data, Vehicle coordinates,
    r=135.860000, x=135.730000, y=0.570000, z=-5.820000 tat = 650
: Sonardyne - POSD response: 
POSD S+143.6,N22.8,D-82,U8,Q0.000086

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231238.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231238.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R134.25,X0.29,Y4.41,Z-134.18

: Sonardyne - parsing R134.25,X0.29,Y4.41,Z-134.18

: Sonardyne - read R = 134.250000 from 134.25,X0.29,Y4.41,Z-134.18

: Sonardyne - got all data, Vehicle coordinates,
    r=134.250000, x=134.180000, y=0.290000, z=-4.410000 tat = 650
: Sonardyne - POSD response: 
POSD S+144.2,N31.5,D8,U8,Q0.000063

: AshtechGps::processRecord() - $GPGGA,231239.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231239.00,,,,,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 R132.55,X0.66,Y7.20,Z-132.35

: Sonardyne - parsing R132.55,X0.66,Y7.20,Z-132.35

: Sonardyne - read R = 132.550000 from 132.55,X0.66,Y7.20,Z-132.35

: Sonardyne - got all data, Vehicle coordinates,
    r=132.550000, x=132.350000, y=0.660000, z=-7.200000 tat = 650
: Sonardyne - POSD response: 
POSD S+140.3,N23.0,D66,U8,Q0.000384

: AshtechGps::processRecord() - $GPGGA,231240.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231240.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $b6q0 d- 30.16  9.85 15.23 3.75 3.78 0 20687.21 08:17:02 m

: Sonardyne - POS response: 
POS V4,1 R130.89,X1.45,Y11.41,Z-130.39

: Sonardyne - parsing R130.89,X1.45,Y11.41,Z-130.39

: Sonardyne - read R = 130.890000 from 130.89,X1.45,Y11.41,Z-130.39

: Sonardyne - got all data, Vehicle coordinates,
    r=130.890000, x=130.390000, y=1.450000, z=-11.410000 tat = 650
: Sonardyne - POSD response: 
POSD S+140.5,N19.8,D-136,U6,Q0.001959

: AshtechGps::processRecord() - $GPGGA,231241.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231241.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: Sonardyne - POS response: 
POS V4,1 R129.10,X-0.94,Y1.76,Z-129.09

: Sonardyne - parsing R129.10,X-0.94,Y1.76,Z-129.09

: Sonardyne - read R = 129.100000 from 129.10,X-0.94,Y1.76,Z-129.09

: Sonardyne - got all data, Vehicle coordinates,
    r=129.100000, x=129.090000, y=-0.940000, z=-1.760000 tat = 640
: Sonardyne - POSD response: 
POSD S+143.4,N22.4,D-66,U8,Q0.000408

: AshtechGps::processRecord() - $GPGGA,231242.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231242.00,,,,,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 R127.38,X-1.35,Y0.50,Z-127.37

: Sonardyne - parsing R127.38,X-1.35,Y0.50,Z-127.37

: Sonardyne - read R = 127.380000 from 127.38,X-1.35,Y0.50,Z-127.37

: Sonardyne - got all data, Vehicle coordinates,
    r=127.380000, x=127.370000, y=-1.350000, z=-0.500000 tat = 640
: Sonardyne - POSD response: 
POSD S+144.1,N31.9,D-34,U8,Q0.000081

: AshtechGps::processRecord() - $GPGGA,231243.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231243.00,,,,,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 R125.47,X-1.27,Y-0.45,Z-125.46

: Sonardyne - parsing R125.47,X-1.27,Y-0.45,Z-125.46

: Sonardyne - read R = 125.470000 from 125.47,X-1.27,Y-0.45,Z-125.46

: Sonardyne - got all data, Vehicle coordinates,
    r=125.470000, x=125.460000, y=-1.270000, z=0.450000 tat = 639
: Sonardyne - POSD response: 
POSD S+144.0,N30.4,D-3,U8,Q0.000054

: AshtechGps::processRecord() - $GPGGA,231244.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231244.00,,,,,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 R123.56,X-0.87,Y-0.10,Z-123.55

: Sonardyne - parsing R123.56,X-0.87,Y-0.10,Z-123.55

: Sonardyne - read R = 123.560000 from 123.56,X-0.87,Y-0.10,Z-123.55

: Sonardyne - got all data, Vehicle coordinates,
    r=123.560000, x=123.550000, y=-0.870000, z=0.100000 tat = 640
: Sonardyne - POSD response: 
POSD S+144.0,N29.0,D19,U8,Q0.000599

: AshtechGps::processRecord() - $GPGGA,231245.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231245.00,,,,,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 R121.72,X0.95,Y5.02,Z-121.62

: Sonardyne - parsing R121.72,X0.95,Y5.02,Z-121.62

: Sonardyne - read R = 121.720000 from 121.72,X0.95,Y5.02,Z-121.62

: Sonardyne - got all data, Vehicle coordinates,
    r=121.720000, x=121.620000, y=0.950000, z=-5.020000 tat = 630
: Sonardyne - POSD response: 
POSD S+144.1,N28.0,D-3,U8,Q0.000105

: AshtechGps::processRecord() - $GPGGA,231246.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231246.00,,,,,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 R120.10,X-0.42,Y-0.70,Z-120.10

: Sonardyne - parsing R120.10,X-0.42,Y-0.70,Z-120.10

: Sonardyne - read R = 120.100000 from 120.10,X-0.42,Y-0.70,Z-120.10

: Sonardyne - got all data, Vehicle coordinates,
    r=120.100000, x=120.100000, y=-0.420000, z=0.700000 tat = 630
: Sonardyne - POSD response: 
POSD S+142.8,N21.1,D-52,U8,Q0.000736

: AshtechGps::processRecord() - $GPGGA,231247.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231247.00,,,,,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 R118.54,X-0.73,Y-0.05,Z-118.54

: Sonardyne - parsing R118.54,X-0.73,Y-0.05,Z-118.54

: Sonardyne - read R = 118.540000 from 118.54,X-0.73,Y-0.05,Z-118.54

: Sonardyne - got all data, Vehicle coordinates,
    r=118.540000, x=118.540000, y=-0.730000, z=0.050000 tat = 630
: Sonardyne - POSD response: 
POSD S+144.4,N26.0,D-55,U8,Q0.000076

: AshtechGps::processRecord() - $GPGGA,231248.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,231248.00,,,,,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 R117.03,X0.30,Y0.33,Z-117.03

: Sonardyne - parsing R117.03,X0.30,Y0.33,Z-117.03

: Sonardyne - read R = 117.030000 from 117.03,X0.30,Y0.33,Z-117.03

: Sonardyne - got all data, Vehicle coordinates,
    r=117.030000, x=117.030000, y=0.300000, z=-0.330000 tat = 670
: Sonardyne - POSD response: 
POSD S+144.3,N31.3,D-10,U8,Q0.000055

: AshtechGps::processRecord() - $GPGGA,231249.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,231249.00,,,,,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 R115.57,X0.83,Y1.08,Z-115.56

: Sonardyne - parsing R115.57,X0.83,Y1.08,Z-115.56

: Sonardyne - read R = 115.570000 from 115.57,X0.83,Y1.08,Z-115.56

: Sonardyne - got all data, Vehicle coordinates,
    r=115.570000, x=115.560000, y=0.830000, z=-1.080000 tat = 620
: Sonardyne - POSD response: 
POSD S+143.0,N23.1,D27,U8,Q0.000092

: AshtechGps::processRecord() - $GPGGA,231250.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231250.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $b6q0 d- 30.16  9.02 15.23 3.76 3.78 0 20686.36 08:17:12 m

: Sonardyne - POS response: 
POS V4,1 R117.16

: Sonardyne - parsing R117.16

: Sonardyne - read R = 117.160000 from 117.16

: Sonardyne - got range only (117.160000), tat = 600
: Sonardyne - POSD response: 
POSD S138.8,N16.9,D-19,U4,Q0.007428

: Sonardyne - POSD response: 
POSD S138.8,N16.9,D-19,U4,Q0.007428

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231251.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231251.00,,,,,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 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R112.85,X0.97,Y2.05,Z-112.82

: Sonardyne - parsing R112.85,X0.97,Y2.05,Z-112.82

: Sonardyne - read R = 112.850000 from 112.85,X0.97,Y2.05,Z-112.82

: Sonardyne - got all data, Vehicle coordinates,
    r=112.850000, x=112.820000, y=0.970000, z=-2.050000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231252.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231252.00,,,,,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 R111.51,X0.52,Y2.74,Z-111.48

: Sonardyne - parsing R111.51,X0.52,Y2.74,Z-111.48

: Sonardyne - read R = 111.510000 from 111.51,X0.52,Y2.74,Z-111.48

: Sonardyne - got all data, Vehicle coordinates,
    r=111.510000, x=111.480000, y=0.520000, z=-2.740000 tat = 620
: AshtechGps::processRecord() - $GPGGA,231253.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231253.00,,,,,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 R109.85,X0.73,Y4.09,Z-109.77

: Sonardyne - parsing R109.85,X0.73,Y4.09,Z-109.77

: Sonardyne - read R = 109.850000 from 109.85,X0.73,Y4.09,Z-109.77

: Sonardyne - got all data, Vehicle coordinates,
    r=109.850000, x=109.770000, y=0.730000, z=-4.090000 tat = 620
: AshtechGps::processRecord() - $GPGGA,231254.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231254.00,,,,,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 R108.21,X0.28,Y3.81,Z-108.14

: Sonardyne - parsing R108.21,X0.28,Y3.81,Z-108.14

: Sonardyne - read R = 108.210000 from 108.21,X0.28,Y3.81,Z-108.14

: Sonardyne - got all data, Vehicle coordinates,
    r=108.210000, x=108.140000, y=0.280000, z=-3.810000 tat = 610
: AshtechGps::processRecord() - $GPGGA,231255.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231255.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R106.46,X-0.28,Y1.90,Z-106.44

: Sonardyne - parsing R106.46,X-0.28,Y1.90,Z-106.44

: Sonardyne - read R = 106.460000 from 106.46,X-0.28,Y1.90,Z-106.44

: Sonardyne - got all data, Vehicle coordinates,
    r=106.460000, x=106.440000, y=-0.280000, z=-1.900000 tat = 610
: AshtechGps::processRecord() - $GPGGA,231256.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231256.00,,,,,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 R104.61,X0.78,Y6.62,Z-104.40

: Sonardyne - parsing R104.61,X0.78,Y6.62,Z-104.40

: Sonardyne - read R = 104.610000 from 104.61,X0.78,Y6.62,Z-104.40

: Sonardyne - got all data, Vehicle coordinates,
    r=104.610000, x=104.400000, y=0.780000, z=-6.620000 tat = 610
: AshtechGps::processRecord() - $GPGGA,231257.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231257.00,,,,,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 R102.73,X-0.48,Y0.08,Z-102.73

: Sonardyne - parsing R102.73,X-0.48,Y0.08,Z-102.73

: Sonardyne - read R = 102.730000 from 102.73,X-0.48,Y0.08,Z-102.73

: Sonardyne - got all data, Vehicle coordinates,
    r=102.730000, x=102.730000, y=-0.480000, z=-0.080000 tat = 610
: AshtechGps::processRecord() - $GPGGA,231258.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,231258.00,,,,,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 R100.87,X-0.36,Y1.26,Z-100.86

: Sonardyne - parsing R100.87,X-0.36,Y1.26,Z-100.86

: Sonardyne - read R = 100.870000 from 100.87,X-0.36,Y1.26,Z-100.86

: Sonardyne - got all data, Vehicle coordinates,
    r=100.870000, x=100.860000, y=-0.360000, z=-1.260000 tat = 609
: AshtechGps::processRecord() - $GPGGA,231259.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,231259.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R98.98,X-0.26,Y0.55,Z-98.98

: Sonardyne - parsing R98.98,X-0.26,Y0.55,Z-98.98

: Sonardyne - read R = 98.980000 from 98.98,X-0.26,Y0.55,Z-98.98

: Sonardyne - got all data, Vehicle coordinates,
    r=98.980000, x=98.980000, y=-0.260000, z=-0.550000 tat = 600
: AshtechGps::processRecord() - $GPGGA,231300.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231300.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.16  9.35 15.23 3.76 3.78 0 20685.72 08:17:22 m

: Sonardyne - POS response: 
POS V4,1 R97.22,X-0.62,Y-0.85,Z-97.22

: Sonardyne - parsing R97.22,X-0.62,Y-0.85,Z-97.22

: Sonardyne - read R = 97.220000 from 97.22,X-0.62,Y-0.85,Z-97.22

: Sonardyne - got all data, Vehicle coordinates,
    r=97.220000, x=97.220000, y=-0.620000, z=0.850000 tat = 600
: AshtechGps::processRecord() - $GPGGA,231301.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231301.00,,,,,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 3.760000, mean min cell voltage 3.760000

: Sonardyne - POS response: 
POS V4,1 R95.55,X0.20,Y2.68,Z-95.52

: Sonardyne - parsing R95.55,X0.20,Y2.68,Z-95.52

: Sonardyne - read R = 95.550000 from 95.55,X0.20,Y2.68,Z-95.52

: Sonardyne - got all data, Vehicle coordinates,
    r=95.550000, x=95.520000, y=0.200000, z=-2.680000 tat = 590
: AshtechGps::processRecord() - $GPGGA,231302.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231302.00,,,,,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 R93.87,X-0.36,Y-0.27,Z-93.87

: Sonardyne - parsing R93.87,X-0.36,Y-0.27,Z-93.87

: Sonardyne - read R = 93.870000 from 93.87,X-0.36,Y-0.27,Z-93.87

: Sonardyne - got all data, Vehicle coordinates,
    r=93.870000, x=93.870000, y=-0.360000, z=0.270000 tat = 600
: AshtechGps::processRecord() - $GPGGA,231303.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231303.00,,,,,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 R92.32,X-0.67,Y0.01,Z-92.32

: Sonardyne - parsing R92.32,X-0.67,Y0.01,Z-92.32

: Sonardyne - read R = 92.320000 from 92.32,X-0.67,Y0.01,Z-92.32

: Sonardyne - got all data, Vehicle coordinates,
    r=92.320000, x=92.320000, y=-0.670000, z=-0.010000 tat = 590
: AshtechGps::processRecord() - $GPGGA,231304.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231304.00,,,,,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 R90.74,X0.09,Y0.34,Z-90.74

: Sonardyne - parsing R90.74,X0.09,Y0.34,Z-90.74

: Sonardyne - read R = 90.740000 from 90.74,X0.09,Y0.34,Z-90.74

: Sonardyne - got all data, Vehicle coordinates,
    r=90.740000, x=90.740000, y=0.090000, z=-0.340000 tat = 640
: AshtechGps::processRecord() - $GPGGA,231305.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231305.00,,,,,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 R89.36,X1.83,Y7.42,Z-89.03

: Sonardyne - parsing R89.36,X1.83,Y7.42,Z-89.03

: Sonardyne - read R = 89.360000 from 89.36,X1.83,Y7.42,Z-89.03

: Sonardyne - got all data, Vehicle coordinates,
    r=89.360000, x=89.030000, y=1.830000, z=-7.420000 tat = 590
: AshtechGps::processRecord() - $GPGGA,231306.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231306.00,,,,,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 R87.78,X0.30,Y0.35,Z-87.78

: Sonardyne - parsing R87.78,X0.30,Y0.35,Z-87.78

: Sonardyne - read R = 87.780000 from 87.78,X0.30,Y0.35,Z-87.78

: Sonardyne - got all data, Vehicle coordinates,
    r=87.780000, x=87.780000, y=0.300000, z=-0.350000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231307.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231307.00,,,,,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 R86.32,X-0.15,Y0.61,Z-86.32

: Sonardyne - parsing R86.32,X-0.15,Y0.61,Z-86.32

: Sonardyne - read R = 86.320000 from 86.32,X-0.15,Y0.61,Z-86.32

: Sonardyne - got all data, Vehicle coordinates,
    r=86.320000, x=86.320000, y=-0.150000, z=-0.610000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231308.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231308.00,,,,,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 R84.93,X0.17,Y2.71,Z-84.89

: Sonardyne - parsing R84.93,X0.17,Y2.71,Z-84.89

: Sonardyne - read R = 84.930000 from 84.93,X0.17,Y2.71,Z-84.89

: Sonardyne - got all data, Vehicle coordinates,
    r=84.930000, x=84.890000, y=0.170000, z=-2.710000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231309.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231309.00,,,,,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 R83.39,X-0.33,Y1.20,Z-83.38

: Sonardyne - parsing R83.39,X-0.33,Y1.20,Z-83.38

: Sonardyne - read R = 83.390000 from 83.39,X-0.33,Y1.20,Z-83.38

: Sonardyne - got all data, Vehicle coordinates,
    r=83.390000, x=83.380000, y=-0.330000, z=-1.200000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231310.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231310.00,,,,,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

: BluefinBatt Reply: $b6q0 d- 30.16 10.00 15.23 3.75 3.78 0 20684.82 08:17:32 m

: Sonardyne - POS response: 
POS V4,1 R81.90,X-0.08,Y3.00,Z-81.84

: Sonardyne - parsing R81.90,X-0.08,Y3.00,Z-81.84

: Sonardyne - read R = 81.900000 from 81.90,X-0.08,Y3.00,Z-81.84

: Sonardyne - got all data, Vehicle coordinates,
    r=81.900000, x=81.840000, y=-0.080000, z=-3.000000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231311.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231311.00,,,,,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 3.750000, mean min cell voltage 3.750000

: Sonardyne - POS response: 
POS V4,1 R80.23,X-0.52,Y3.61,Z-80.14

: Sonardyne - parsing R80.23,X-0.52,Y3.61,Z-80.14

: Sonardyne - read R = 80.230000 from 80.23,X-0.52,Y3.61,Z-80.14

: Sonardyne - got all data, Vehicle coordinates,
    r=80.230000, x=80.140000, y=-0.520000, z=-3.610000 tat = 580
: AshtechGps::processRecord() - $GPGGA,231312.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231312.00,,,,,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 R78.45,X-0.86,Y1.74,Z-78.43

: Sonardyne - parsing R78.45,X-0.86,Y1.74,Z-78.43

: Sonardyne - read R = 78.450000 from 78.45,X-0.86,Y1.74,Z-78.43

: Sonardyne - got all data, Vehicle coordinates,
    r=78.450000, x=78.430000, y=-0.860000, z=-1.740000 tat = 570
: AshtechGps::processRecord() - $GPGGA,231313.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231313.00,,,,,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 R76.62,X-0.92,Y0.82,Z-76.61

: Sonardyne - parsing R76.62,X-0.92,Y0.82,Z-76.61

: Sonardyne - read R = 76.620000 from 76.62,X-0.92,Y0.82,Z-76.61

: Sonardyne - got all data, Vehicle coordinates,
    r=76.620000, x=76.610000, y=-0.920000, z=-0.820000 tat = 570
: AshtechGps::processRecord() - $GPGGA,231314.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231314.00,,,,,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 R74.62,X-0.62,Y0.47,Z-74.62

: Sonardyne - parsing R74.62,X-0.62,Y0.47,Z-74.62

: Sonardyne - read R = 74.620000 from 74.62,X-0.62,Y0.47,Z-74.62

: Sonardyne - got all data, Vehicle coordinates,
    r=74.620000, x=74.620000, y=-0.620000, z=-0.470000 tat = 570
: AshtechGps::processRecord() - $GPGGA,231315.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231315.00,,,,,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 R72.67,X-0.09,Y1.51,Z-72.65

: Sonardyne - parsing R72.67,X-0.09,Y1.51,Z-72.65

: Sonardyne - read R = 72.670000 from 72.67,X-0.09,Y1.51,Z-72.65

: Sonardyne - got all data, Vehicle coordinates,
    r=72.670000, x=72.650000, y=-0.090000, z=-1.510000 tat = 570
: AshtechGps::processRecord() - $GPGGA,231316.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231316.00,,,,,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 R70.74,X0.18,Y0.81,Z-70.73

: Sonardyne - parsing R70.74,X0.18,Y0.81,Z-70.73

: Sonardyne - read R = 70.740000 from 70.74,X0.18,Y0.81,Z-70.73

: Sonardyne - got all data, Vehicle coordinates,
    r=70.740000, x=70.730000, y=0.180000, z=-0.810000 tat = 560
: AshtechGps::processRecord() - $GPGGA,231317.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231317.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R68.95,X-0.03,Y-1.54,Z-68.93

: Sonardyne - parsing R68.95,X-0.03,Y-1.54,Z-68.93

: Sonardyne - read R = 68.950000 from 68.95,X-0.03,Y-1.54,Z-68.93

: Sonardyne - got all data, Vehicle coordinates,
    r=68.950000, x=68.930000, y=-0.030000, z=1.540000 tat = 560
: AshtechGps::processRecord() - $GPGGA,231318.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231318.00,,,,,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 R67.18,X0.01,Y-2.77,Z-67.12

: Sonardyne - parsing R67.18,X0.01,Y-2.77,Z-67.12

: Sonardyne - read R = 67.180000 from 67.18,X0.01,Y-2.77,Z-67.12

: Sonardyne - got all data, Vehicle coordinates,
    r=67.180000, x=67.120000, y=0.010000, z=2.770000 tat = 560
: AshtechGps::processRecord() - $GPGGA,231319.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231319.00,,,,,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 R65.60,X0.61,Y-1.36,Z-65.58

: Sonardyne - parsing R65.60,X0.61,Y-1.36,Z-65.58

: Sonardyne - read R = 65.600000 from 65.60,X0.61,Y-1.36,Z-65.58

: Sonardyne - got all data, Vehicle coordinates,
    r=65.600000, x=65.580000, y=0.610000, z=1.360000 tat = 560
: AshtechGps::processRecord() - $GPGGA,231320.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231320.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $b6q0 d- 30.16  9.46 15.23 3.75 3.78 0 20684.24 08:17:42 m

: Sonardyne - POS response: 
POS V4,1 R64.14,X0.35,Y-2.46,Z-64.09

: Sonardyne - parsing R64.14,X0.35,Y-2.46,Z-64.09

: Sonardyne - read R = 64.140000 from 64.14,X0.35,Y-2.46,Z-64.09

: Sonardyne - got all data, Vehicle coordinates,
    r=64.140000, x=64.090000, y=0.350000, z=2.460000 tat = 550
: AshtechGps::processRecord() - $GPGGA,231321.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231321.00,,,,,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 3.750000, mean min cell voltage 3.750000

: Sonardyne - POS response: 
POS V4,1 R62.90,X0.20,Y-2.58,Z-62.85

: Sonardyne - parsing R62.90,X0.20,Y-2.58,Z-62.85

: Sonardyne - read R = 62.900000 from 62.90,X0.20,Y-2.58,Z-62.85

: Sonardyne - got all data, Vehicle coordinates,
    r=62.900000, x=62.850000, y=0.200000, z=2.580000 tat = 550
: AshtechGps::processRecord() - $GPGGA,231322.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231322.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R61.46

: Sonardyne - parsing R61.46

: Sonardyne - read R = 61.460000 from 61.46

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

: Sonardyne - got range only (61.460000), tat = 530
: Sonardyne - POSD response: 
POSD S+143.2,N16.8,D-139,U4,Q0.000047

: Sonardyne - POSD response: 
POSD S+143.2,N16.8,D-139,U4,Q0.000047

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231323.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231323.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R60.22,X0.22,Y-1.21,Z-60.20

: Sonardyne - parsing R60.22,X0.22,Y-1.21,Z-60.20

: Sonardyne - read R = 60.220000 from 60.22,X0.22,Y-1.21,Z-60.20

: Sonardyne - got all data, Vehicle coordinates,
    r=60.220000, x=60.200000, y=0.220000, z=1.210000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.6,N26.2,D70,U8,Q0.000066

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231324.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231324.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R58.84

: Sonardyne - parsing R58.84

: Sonardyne - read R = 58.840000 from 58.84

: Sonardyne - got range only (58.840000), tat = 520
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S139.6,N22.9,D-77,U3,Q0.003086

: Sonardyne - POSD response: 
POSD S139.6,N22.9,D-77,U3,Q0.003086

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231325.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231325.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R57.25,X0.16,Y0.06,Z-57.25

: Sonardyne - parsing R57.25,X0.16,Y0.06,Z-57.25

: Sonardyne - read R = 57.250000 from 57.25,X0.16,Y0.06,Z-57.25

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

: Sonardyne - got all data, Vehicle coordinates,
    r=57.250000, x=57.250000, y=0.160000, z=-0.060000 tat = 540
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231326.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231326.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.52,X0.26,Y1.63,Z-55.50

: Sonardyne - parsing R55.52,X0.26,Y1.63,Z-55.50

: Sonardyne - read R = 55.520000 from 55.52,X0.26,Y1.63,Z-55.50

: Sonardyne - got all data, Vehicle coordinates,
    r=55.520000, x=55.500000, y=0.260000, z=-1.630000 tat = 540
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231327.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231327.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.81,X-0.15,Y0.87,Z-53.80

: Sonardyne - parsing R53.81,X-0.15,Y0.87,Z-53.80

: Sonardyne - read R = 53.810000 from 53.81,X-0.15,Y0.87,Z-53.80

: Sonardyne - got all data, Vehicle coordinates,
    r=53.810000, x=53.800000, y=-0.150000, z=-0.870000 tat = 539
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231328.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231328.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.77,X7.55,Y21.56,Z-49.78

: Sonardyne - parsing R54.77,X7.55,Y21.56,Z-49.78

: Sonardyne - read R = 54.770000 from 54.77,X7.55,Y21.56,Z-49.78

: Sonardyne - got all data, Vehicle coordinates,
    r=54.770000, x=49.780000, y=7.550000, z=-21.560000 tat = 540
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231329.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231329.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.06

: Sonardyne - parsing R53.06

: Sonardyne - read R = 53.060000 from 53.06

: Sonardyne - got range only (53.060000), tat = 520
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+140.6,N15.6,D-72,U1,Q0.000663

: Sonardyne - POSD response: 
POSD S+140.6,N15.6,D-72,U1,Q0.000663

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,231330.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231330.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.72

: Sonardyne - parsing R47.72

: Sonardyne - read R = 47.720000 from 47.72

: Sonardyne - got range only (47.720000), tat = 510
: BluefinBatt Reply: $b6q0 d- 30.16  9.31 15.23 3.75 3.78 0 20683.31 08:17:52 m

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

: Sonardyne - POSD response: 
POSD S+142.7,N20.5,D-102,U5,Q0.000167

: Sonardyne - POSD response: 
POSD S+142.7,N20.5,D-102,U5,Q0.000167

: AshtechGps::processRecord() - $GPGGA,231331.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231331.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R45.77,X-4.76,Y0.17,Z-45.52

: Sonardyne - parsing R45.77,X-4.76,Y0.17,Z-45.52

: Sonardyne - read R = 45.770000 from 45.77,X-4.76,Y0.17,Z-45.52

: Sonardyne - got all data, Vehicle coordinates,
    r=45.770000, x=45.520000, y=-4.760000, z=-0.170000 tat = 530
: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

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

: Sonardyne - POSD response: 
POSD S+143.0,N22.8,D-59,U6,Q0.000169

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,231332.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231332.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R43.99,X-5.45,Y-1.10,Z-43.64

: Sonardyne - parsing R43.99,X-5.45,Y-1.10,Z-43.64

: Sonardyne - read R = 43.990000 from 43.99,X-5.45,Y-1.10,Z-43.64

: Sonardyne - got all data, Vehicle coordinates,
    r=43.990000, x=43.640000, y=-5.450000, z=1.100000 tat = 530
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N30.0,D-46,U8,Q0.000144

: AshtechGps::processRecord() - $GPGGA,231333.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231333.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.45,X-4.47,Y-1.02,Z-42.20

: Sonardyne - parsing R42.45,X-4.47,Y-1.02,Z-42.20

: Sonardyne - read R = 42.450000 from 42.45,X-4.47,Y-1.02,Z-42.20

: Sonardyne - got all data, Vehicle coordinates,
    r=42.450000, x=42.200000, y=-4.470000, z=1.020000 tat = 530
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N30.6,D-40,U8,Q0.000186

: AshtechGps::processRecord() - $GPGGA,231334.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231334.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.04,X-2.17,Y-1.07,Z-40.97

: Sonardyne - parsing R41.04,X-2.17,Y-1.07,Z-40.97

: Sonardyne - read R = 41.040000 from 41.04,X-2.17,Y-1.07,Z-40.97

: Sonardyne - got all data, Vehicle coordinates,
    r=41.040000, x=40.970000, y=-2.170000, z=1.070000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.6,N32.2,D-22,U7,Q0.000114

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

: AshtechGps::processRecord() - $GPGGA,231335.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231335.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.75,X-1.04,Y-2.08,Z-39.69

: Sonardyne - parsing R39.75,X-1.04,Y-2.08,Z-39.69

: Sonardyne - read R = 39.750000 from 39.75,X-1.04,Y-2.08,Z-39.69

: Sonardyne - got all data, Vehicle coordinates,
    r=39.750000, x=39.690000, y=-1.040000, z=2.080000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N32.2,D19,U8,Q0.000081

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

: AshtechGps::processRecord() - $GPGGA,231336.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231336.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.49,X-0.29,Y-1.65,Z-38.45

: Sonardyne - parsing R38.49,X-0.29,Y-1.65,Z-38.45

: Sonardyne - read R = 38.490000 from 38.49,X-0.29,Y-1.65,Z-38.45

: Sonardyne - got all data, Vehicle coordinates,
    r=38.490000, x=38.450000, y=-0.290000, z=1.650000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.6,N28.5,D13,U8,Q0.000101

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

: AshtechGps::processRecord() - $GPGGA,231337.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231337.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.14,X0.16,Y-1.42,Z-37.11

: Sonardyne - parsing R37.14,X0.16,Y-1.42,Z-37.11

: Sonardyne - read R = 37.140000 from 37.14,X0.16,Y-1.42,Z-37.11

: Sonardyne - got all data, Vehicle coordinates,
    r=37.140000, x=37.110000, y=0.160000, z=1.420000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N27.1,D-56,U8,Q0.000063

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

: AshtechGps::processRecord() - $GPGGA,231338.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231338.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R35.62,X0.41,Y-1.21,Z-35.59

: Sonardyne - parsing R35.62,X0.41,Y-1.21,Z-35.59

: Sonardyne - read R = 35.620000 from 35.62,X0.41,Y-1.21,Z-35.59

: Sonardyne - got all data, Vehicle coordinates,
    r=35.620000, x=35.590000, y=0.410000, z=1.210000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N30.8,D-37,U8,Q0.000062

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

: AshtechGps::processRecord() - $GPGGA,231339.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231339.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.98,X0.54,Y-0.90,Z-33.96

: Sonardyne - parsing R33.98,X0.54,Y-0.90,Z-33.96

: Sonardyne - read R = 33.980000 from 33.98,X0.54,Y-0.90,Z-33.96

: Sonardyne - got all data, Vehicle coordinates,
    r=33.980000, x=33.960000, y=0.540000, z=0.900000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N29.3,D-46,U8,Q0.000053

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

: AshtechGps::processRecord() - $GPGGA,231340.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231340.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.22,X0.52,Y-0.64,Z-32.21

: Sonardyne - parsing R32.22,X0.52,Y-0.64,Z-32.21

: Sonardyne - read R = 32.220000 from 32.22,X0.52,Y-0.64,Z-32.21

: Sonardyne - got all data, Vehicle coordinates,
    r=32.220000, x=32.210000, y=0.520000, z=0.640000 tat = 510
: BluefinBatt Reply: $b6q0 d- 30.16  9.38 15.23 3.75 3.78 0 20682.72 08:18:02 m

: Sonardyne - POSD response: 
POSD S+144.8,N26.7,D-42,U8,Q0.000048

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

: AshtechGps::processRecord() - $GPGGA,231341.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231341.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.32,X0.26,Y-0.37,Z-30.31

: Sonardyne - parsing R30.32,X0.26,Y-0.37,Z-30.31

: Sonardyne - read R = 30.320000 from 30.32,X0.26,Y-0.37,Z-30.31

: Sonardyne - got all data, Vehicle coordinates,
    r=30.320000, x=30.310000, y=0.260000, z=0.370000 tat = 510
: batts online 1, min cell voltage 3.750000, mean min cell voltage 3.750000

: Sonardyne - POSD response: 
POSD S+144.8,N30.4,D-46,U8,Q0.000050

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

: AshtechGps::processRecord() - $GPGGA,231342.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231342.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.50,X0.15,Y-0.77,Z-28.49

: Sonardyne - parsing R28.50,X0.15,Y-0.77,Z-28.49

: Sonardyne - read R = 28.500000 from 28.50,X0.15,Y-0.77,Z-28.49

: Sonardyne - got all data, Vehicle coordinates,
    r=28.500000, x=28.490000, y=0.150000, z=0.770000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N29.2,D-47,U8,Q0.000061

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

: AshtechGps::processRecord() - $GPGGA,231343.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231343.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R26.70,X0.05,Y-1.01,Z-26.68

: Sonardyne - parsing R26.70,X0.05,Y-1.01,Z-26.68

: Sonardyne - read R = 26.700000 from 26.70,X0.05,Y-1.01,Z-26.68

: Sonardyne - got all data, Vehicle coordinates,
    r=26.700000, x=26.680000, y=0.050000, z=1.010000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N31.0,D-43,U8,Q0.000045

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

: AshtechGps::processRecord() - $GPGGA,231344.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231344.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.02,X-0.07,Y-1.39,Z-24.98

: Sonardyne - parsing R25.02,X-0.07,Y-1.39,Z-24.98

: Sonardyne - read R = 25.020000 from 25.02,X-0.07,Y-1.39,Z-24.98

: Sonardyne - got all data, Vehicle coordinates,
    r=25.020000, x=24.980000, y=-0.070000, z=1.390000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N31.6,D-40,U8,Q0.000130

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

: AshtechGps::processRecord() - $GPGGA,231345.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231345.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.35,X-0.13,Y-1.59,Z-23.30

: Sonardyne - parsing R23.35,X-0.13,Y-1.59,Z-23.30

: Sonardyne - read R = 23.350000 from 23.35,X-0.13,Y-1.59,Z-23.30

: Sonardyne - got all data, Vehicle coordinates,
    r=23.350000, x=23.300000, y=-0.130000, z=1.590000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.1,D-42,U8,Q0.000188

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

: AshtechGps::processRecord() - $GPGGA,231346.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231346.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.80,X-0.20,Y-1.80,Z-21.73

: Sonardyne - parsing R21.80,X-0.20,Y-1.80,Z-21.73

: Sonardyne - read R = 21.800000 from 21.80,X-0.20,Y-1.80,Z-21.73

: Sonardyne - got all data, Vehicle coordinates,
    r=21.800000, x=21.730000, y=-0.200000, z=1.800000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.0,D-42,U8,Q0.000283

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

: AshtechGps::processRecord() - $GPGGA,231347.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231347.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.18,X-0.19,Y-1.88,Z-20.09

: Sonardyne - parsing R20.18,X-0.19,Y-1.88,Z-20.09

: Sonardyne - read R = 20.180000 from 20.18,X-0.19,Y-1.88,Z-20.09

: Sonardyne - got all data, Vehicle coordinates,
    r=20.180000, x=20.090000, y=-0.190000, z=1.880000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N31.4,D-40,U8,Q0.000067

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

: AshtechGps::processRecord() - $GPGGA,231348.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,231348.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.70,X-0.11,Y-2.15,Z-18.57

: Sonardyne - parsing R18.70,X-0.11,Y-2.15,Z-18.57

: Sonardyne - read R = 18.700000 from 18.70,X-0.11,Y-2.15,Z-18.57

: Sonardyne - got all data, Vehicle coordinates,
    r=18.700000, x=18.570000, y=-0.110000, z=2.150000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N31.4,D-40,U8,Q0.000564

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

: AshtechGps::processRecord() - $GPGGA,231349.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,231349.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.10,X-0.06,Y-2.22,Z-16.96

: Sonardyne - parsing R17.10,X-0.06,Y-2.22,Z-16.96

: Sonardyne - read R = 17.100000 from 17.10,X-0.06,Y-2.22,Z-16.96

: Sonardyne - got all data, Vehicle coordinates,
    r=17.100000, x=16.960000, y=-0.060000, z=2.220000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N30.2,D-42,U8,Q0.000666

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

: AshtechGps::processRecord() - $GPGGA,231350.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231350.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.48,X-0.03,Y-2.32,Z-15.31

: Sonardyne - parsing R15.48,X-0.03,Y-2.32,Z-15.31

: Sonardyne - read R = 15.480000 from 15.48,X-0.03,Y-2.32,Z-15.31

: Sonardyne - got all data, Vehicle coordinates,
    r=15.480000, x=15.310000, y=-0.030000, z=2.320000 tat = 490
: BluefinBatt Reply: $b6q0 d- 30.12 10.03 15.33 3.76 3.78 0 20681.82 08:18:12 m

: Sonardyne - POSD response: 
POSD S+144.9,N30.7,D-41,U8,Q0.001229

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

: AshtechGps::processRecord() - $GPGGA,231351.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231351.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.91,X0.01,Y-2.46,Z-13.69

: Sonardyne - parsing R13.91,X0.01,Y-2.46,Z-13.69

: Sonardyne - read R = 13.910000 from 13.91,X0.01,Y-2.46,Z-13.69

: Sonardyne - got all data, Vehicle coordinates,
    r=13.910000, x=13.690000, y=0.010000, z=2.460000 tat = 490
: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POSD response: 
POSD S+144.9,N31.9,D-38,U8,Q0.001991

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

: AshtechGps::processRecord() - $GPGGA,231352.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231352.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.29,X0.05,Y-2.62,Z-12.01

: Sonardyne - parsing R12.29,X0.05,Y-2.62,Z-12.01

: Sonardyne - read R = 12.290000 from 12.29,X0.05,Y-2.62,Z-12.01

: Sonardyne - got all data, Vehicle coordinates,
    r=12.290000, x=12.010000, y=0.050000, z=2.620000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N31.8,D-37,U8,Q0.003543

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

: AshtechGps::processRecord() - $GPGGA,231353.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231353.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.72,X0.08,Y-2.87,Z-10.33

: Sonardyne - parsing R10.72,X0.08,Y-2.87,Z-10.33

: Sonardyne - read R = 10.720000 from 10.72,X0.08,Y-2.87,Z-10.33

: Sonardyne - got all data, Vehicle coordinates,
    r=10.720000, x=10.330000, y=0.080000, z=2.870000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N31.3,D-40,U8,Q0.005435

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

: AshtechGps::processRecord() - $GPGGA,231354.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231354.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.11,X0.07,Y-3.11,Z-8.56

: Sonardyne - parsing R9.11,X0.07,Y-3.11,Z-8.56

: Sonardyne - read R = 9.110000 from 9.11,X0.07,Y-3.11,Z-8.56

: Sonardyne - got all data, Vehicle coordinates,
    r=9.110000, x=8.560000, y=0.070000, z=3.110000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.8,N30.2,D-44,U8,Q0.004008

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

:  WaypointHoming has set the state to finished.

: WaypointHoming (4085837.0, 598992.2), 
  reached at t = 602.40                                          (wplog)

: Vehicle Position is error is (1.3, 9.0)

: LayeredControl::execute() -- (t = 602.398733) Behavior waypoint_homing has changed to state Finished

: LayeredControl::execute() -- (t = 602.398733) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,231355.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231355.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R7.54,X0.04,Y-3.23,Z-6.82

: Sonardyne - parsing R7.54,X0.04,Y-3.23,Z-6.82

: Sonardyne - read R = 7.540000 from 7.54,X0.04,Y-3.23,Z-6.82

: Sonardyne - got all data, Vehicle coordinates,
    r=7.540000, x=6.820000, y=0.040000, z=3.230000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N31.0,D-39,U8,Q0.000045

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

: AshtechGps::processRecord() - $GPGGA,231356.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231356.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.11

: Sonardyne - parsing R6.11

: Sonardyne - read R = 6.110000 from 6.11

: Sonardyne - got range only (6.110000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N32.5,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N32.5,D-34,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,231357.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231357.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.01

: Sonardyne - parsing R5.01

: Sonardyne - read R = 5.010000 from 5.01

: Sonardyne - got range only (5.010000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N42.0,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N42.0,D-15,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231358.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,231358.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.41

: Sonardyne - parsing R4.41

: Sonardyne - read R = 4.410000 from 4.41

: Sonardyne - got range only (4.410000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N39.5,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N39.5,D-5,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231359.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,231359.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.50

: Sonardyne - parsing R4.50

: Sonardyne - read R = 4.500000 from 4.50

: Sonardyne - got range only (4.500000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N39.4,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N39.4,D9,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,231400.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231400.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.24

: Sonardyne - parsing R5.24

: Sonardyne - read R = 5.240000 from 5.24

: Sonardyne - got range only (5.240000), tat = 450
: Sonardyne - POSD response: 
POSD S+140.6,N27.4,D34,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.20  7.60 15.23 3.76 3.78 0 20681.20 08:18:22 m

: Sonardyne - POSD response: 
POSD S+140.6,N27.4,D34,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,231401.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231401.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.41

: Sonardyne - parsing R6.41

: Sonardyne - read R = 6.410000 from 6.41

: Sonardyne - got range only (6.410000), tat = 450
: Sonardyne - POSD response: 
POSD S+142.3,N34.8,D19,U0,Q0.000000

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POSD response: 
POSD S+142.3,N34.8,D19,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,231402.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231402.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R7.54,X0.04,Y4.95,Z-5.69

: Sonardyne - parsing R7.54,X0.04,Y4.95,Z-5.69

: Sonardyne - read R = 7.540000 from 7.54,X0.04,Y4.95,Z-5.69

: Sonardyne - got all data, Vehicle coordinates,
    r=7.540000, x=5.690000, y=0.040000, z=-4.950000 tat = 480
: Sonardyne - POSD response: 
POSD S133.3,N26.8,D43,U6,Q0.000374

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

: AshtechGps::processRecord() - $GPGGA,231403.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231403.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.70

: Sonardyne - parsing R8.70

: Sonardyne - read R = 8.700000 from 8.70

: Sonardyne - got range only (8.700000), tat = 460
: Sonardyne - POSD response: 
POSD S131.2,N26.9,D28,U2,Q0.004080

: Sonardyne - POSD response: 
POSD S131.2,N26.9,D28,U2,Q0.004080

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

: AshtechGps::processRecord() - $GPGGA,231404.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231404.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.90

: Sonardyne - parsing R9.90

: Sonardyne - read R = 9.900000 from 9.90

: Sonardyne - got range only (9.900000), tat = 460
: Sonardyne - POSD response: 
POSD S120.4,N25.2,D57,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.4,N25.2,D57,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,231405.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231405.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.86

: Sonardyne - parsing R10.86

: Sonardyne - read R = 10.860000 from 10.86

: Sonardyne - got range only (10.860000), tat = 460
: Sonardyne - POSD response: 
POSD S126.0,N30.3,D16,U1,Q0.004611

: Sonardyne - POSD response: 
POSD S126.0,N30.3,D16,U1,Q0.004611

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

: AshtechGps::processRecord() - $GPGGA,231406.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231406.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.65

: Sonardyne - parsing R11.65

: Sonardyne - read R = 11.650000 from 11.65

: Sonardyne - got range only (11.650000), tat = 460
: Sonardyne - POSD response: 
POSD S129.1,N30.9,D1,U3,Q0.001582

: Sonardyne - POSD response: 
POSD S129.1,N30.9,D1,U3,Q0.001582

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

: AshtechGps::processRecord() - $GPGGA,231407.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231407.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.28

: Sonardyne - parsing R12.28

: Sonardyne - read R = 12.280000 from 12.28

: Sonardyne - got range only (12.280000), tat = 460
: Sonardyne - POSD response: 
POSD S129.6,N34.1,D-12,U2,Q0.006239

: Sonardyne - POSD response: 
POSD S129.6,N34.1,D-12,U2,Q0.006239

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

: AshtechGps::processRecord() - $GPGGA,231408.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231408.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.92

: Sonardyne - parsing R12.92

: Sonardyne - read R = 12.920000 from 12.92

: Sonardyne - got range only (12.920000), tat = 460
: Sonardyne - POSD response: 
POSD S128.7,N31.4,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N31.4,D10,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,231409.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231409.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 = 460
: Sonardyne - POSD response: 
POSD S136.1,N36.0,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.1,N36.0,D-8,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231410.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231410.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.73

: Sonardyne - parsing R13.73

: Sonardyne - read R = 13.730000 from 13.73

: Sonardyne - got range only (13.730000), tat = 460
: Sonardyne - POSD response: 
POSD S136.5,N29.1,D-7,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.16  9.75 15.23 3.76 3.78 0 20680.30 08:18:32 m

: Sonardyne - POSD response: 
POSD S136.5,N29.1,D-7,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,231411.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231411.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.02

: Sonardyne - parsing R14.02

: Sonardyne - read R = 14.020000 from 14.02

: Sonardyne - got range only (14.020000), tat = 459
: Sonardyne - POSD response: 
POSD S125.5,N27.0,D2,U0,Q0.000000

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POSD response: 
POSD S125.5,N27.0,D2,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,231412.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231412.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.38

: Sonardyne - parsing R14.38

: Sonardyne - read R = 14.380000 from 14.38

: Sonardyne - got range only (14.380000), tat = 470
: Sonardyne - POSD response: 
POSD S133.9,N29.4,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.9,N29.4,D4,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,231413.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231413.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.74

: Sonardyne - parsing R14.74

: Sonardyne - read R = 14.740000 from 14.74

: Sonardyne - got range only (14.740000), tat = 470
: Sonardyne - POSD response: 
POSD S139.0,N40.9,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.0,N40.9,D10,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,231414.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231414.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.98

: Sonardyne - parsing R14.98

: Sonardyne - read R = 14.980000 from 14.98

: Sonardyne - got range only (14.980000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.1,N28.3,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.1,N28.3,D5,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,231415.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231415.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.18

: Sonardyne - parsing R15.18

: Sonardyne - read R = 15.180000 from 15.18

: Sonardyne - got range only (15.180000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N35.6,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N35.6,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,231416.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231416.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.14

: Sonardyne - parsing R15.14

: Sonardyne - read R = 15.140000 from 15.14

: Sonardyne - got range only (15.140000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N43.0,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N43.0,D-1,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231417.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231417.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.98

: Sonardyne - parsing R14.98

: Sonardyne - read R = 14.980000 from 14.98

: Sonardyne - got range only (14.980000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N39.8,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N39.8,D-7,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,231418.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231418.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.78

: Sonardyne - parsing R14.78

: Sonardyne - read R = 14.780000 from 14.78

: Sonardyne - got range only (14.780000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N42.8,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N42.8,D0,U0,Q0.000000

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

: LayeredControl::execute() -- (t = 626.597075) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 626.597075) Behavior getgps has changed to state Active

: AshtechGps::processRecord() - $GPGGA,231419.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231419.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.50

: Sonardyne - parsing R14.50

: Sonardyne - read R = 14.500000 from 14.50

: Sonardyne - got range only (14.500000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N24.5,D-33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N24.5,D-33,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,231420.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231420.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.27

: Sonardyne - parsing R14.27

: Sonardyne - read R = 14.270000 from 14.27

: Sonardyne - got range only (14.270000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.4,N22.5,D-105,U5,Q0.006408

: BluefinBatt Reply: $b6q0 d- 30.12  9.85 15.33 3.76 3.78 0 20679.56 08:18:42 m

: Sonardyne - POSD response: 
POSD S+144.4,N22.5,D-105,U5,Q0.006408

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

: AshtechGps::processRecord() - $GPGGA,231421.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231421.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.26

: Sonardyne - parsing R14.26

: Sonardyne - read R = 14.260000 from 14.26

: Sonardyne - got range only (14.260000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.4,N28.8,D43,U2,Q0.006683

: batts online 1, min cell voltage 3.760000, mean min cell voltage 3.760000

: Sonardyne - POSD response: 
POSD S+144.4,N28.8,D43,U2,Q0.006683

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

: AshtechGps::processRecord() - $GPGGA,231422.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231422.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.54

: Sonardyne - parsing R13.54

: Sonardyne - read R = 13.540000 from 13.54

: Sonardyne - got range only (13.540000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.5,N25.1,D60,U5,Q0.001138

: Sonardyne - POSD response: 
POSD S+144.5,N25.1,D60,U5,Q0.001138

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

: AshtechGps::processRecord() - $GPGGA,231423.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231423.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 = 460
: Sonardyne - POSD response: 
POSD S+144.1,N21.7,D145,U3,Q0.002504

: Sonardyne - POSD response: 
POSD S+144.1,N21.7,D145,U3,Q0.002504

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

: AshtechGps::processRecord() - $GPGGA,231424.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231424.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.90,X0.74,Y-11.87,Z-5.01

: Sonardyne - parsing R12.90,X0.74,Y-11.87,Z-5.01

: Sonardyne - read R = 12.900000 from 12.90,X0.74,Y-11.87,Z-5.01

: Sonardyne - got all data, Vehicle coordinates,
    r=12.900000, x=5.010000, y=0.740000, z=11.870000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.7,N29.3,D-61,U6,Q0.003836

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

: AshtechGps::processRecord() - $GPGGA,231425.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231425.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.74,X-0.01,Y-11.63,Z-5.19

: Sonardyne - parsing R12.74,X-0.01,Y-11.63,Z-5.19

: Sonardyne - read R = 12.740000 from 12.74,X-0.01,Y-11.63,Z-5.19

: Sonardyne - got all data, Vehicle coordinates,
    r=12.740000, x=5.190000, y=-0.010000, z=11.630000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N29.1,D51,U8,Q0.000354

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

: AshtechGps::processRecord() - $GPGGA,231426.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231426.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.92

: Sonardyne - parsing R12.92

: Sonardyne - read R = 12.920000 from 12.92

: Sonardyne - got range only (12.920000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.8,N37.0,D11,U3,Q0.005826

: Sonardyne - POSD response: 
POSD S+144.8,N37.0,D11,U3,Q0.005826

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

: AshtechGps::processRecord() - $GPGGA,231427.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231427.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.31,X-0.46,Y-12.59,Z-4.28

: Sonardyne - parsing R13.31,X-0.46,Y-12.59,Z-4.28

: Sonardyne - read R = 13.310000 from 13.31,X-0.46,Y-12.59,Z-4.28

: Sonardyne - got all data, Vehicle coordinates,
    r=13.310000, x=4.280000, y=-0.460000, z=12.590000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N26.8,D32,U8,Q0.003067

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

: AshtechGps::processRecord() - $GPGGA,231428.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,231428.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.88,X-0.82,Y-13.30,Z-3.89

: Sonardyne - parsing R13.88,X-0.82,Y-13.30,Z-3.89

: Sonardyne - read R = 13.880000 from 13.88,X-0.82,Y-13.30,Z-3.89

: Sonardyne - got all data, Vehicle coordinates,
    r=13.880000, x=3.890000, y=-0.820000, z=13.300000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N35.7,D18,U7,Q0.001283

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

: AshtechGps::processRecord() - $GPGGA,231429.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,231429.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.46,X-0.70,Y-12.57,Z-4.76

: Sonardyne - parsing R13.46,X-0.70,Y-12.57,Z-4.76

: Sonardyne - read R = 13.460000 from 13.46,X-0.70,Y-12.57,Z-4.76

: Sonardyne - got all data, Vehicle coordinates,
    r=13.460000, x=4.760000, y=-0.700000, z=12.570000 tat = 490
: Sonardyne - POSD response: 
POSD S+143.3,N28.6,D29,U8,Q0.007602

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

: AshtechGps::processRecord() - $GPGGA,231430.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231430.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.83

: Sonardyne - parsing R13.83

: Sonardyne - read R = 13.830000 from 13.83

: Sonardyne - got range only (13.830000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N39.7,D6,U3,Q0.001044

: BluefinBatt Reply: $b6q0 d- 30.43  2.96 15.33 3.79 3.81 0 20679.22 08:18:52 m

: Sonardyne - POSD response: 
POSD S+144.7,N39.7,D6,U3,Q0.001044

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

: AshtechGps::processRecord() - $GPGGA,231431.00,3654.78824,N,12153.32062,W,1,09,0.9,-7.80,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231431.00,3654.78824,N,12153.32062,W,1,09,0.9,-7.80,M,-32.59,M,,*7E


: successfully parse sentence at 23:14:31

: AshtechGPS::processRecord -sample time is 1134429271
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.09,X-0.64,Y-13.75,Z-3.00

: Sonardyne - parsing R14.09,X-0.64,Y-13.75,Z-3.00

: Sonardyne - read R = 14.090000 from 14.09,X-0.64,Y-13.75,Z-3.00

: Sonardyne - got all data, Vehicle coordinates,
    r=14.090000, x=3.000000, y=-0.640000, z=13.750000 tat = 490
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S+144.6,N39.5,D-23,U8,Q0.003353

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

: AshtechGps::processRecord() - $GPGGA,231432.00,3654.78809,N,12153.31972,W,1,09,0.9,-7.59,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231432.00,3654.78809,N,12153.31972,W,1,09,0.9,-7.59,M,-32.59,M,,*7D


: successfully parse sentence at 23:14:32

: AshtechGPS::processRecord -sample time is 1134429272
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.07,X0.29,Y-14.00,Z-1.34

: Sonardyne - parsing R14.07,X0.29,Y-14.00,Z-1.34

: Sonardyne - read R = 14.070000 from 14.07,X0.29,Y-14.00,Z-1.34

: Sonardyne - got all data, Vehicle coordinates,
    r=14.070000, x=1.340000, y=0.290000, z=14.000000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.3,N41.7,D5,U6,Q0.002407

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

: AshtechGps::processRecord() - $GPGGA,231433.00,3654.78817,N,12153.31879,W,1,09,0.9,-8.67,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231433.00,3654.78817,N,12153.31879,W,1,09,0.9,-8.67,M,-32.59,M,,*7B


: successfully parse sentence at 23:14:33

: AshtechGPS::processRecord -sample time is 1134429273
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.09

: Sonardyne - parsing R14.09

: Sonardyne - read R = 14.090000 from 14.09

: Sonardyne - got range only (14.090000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.7,N36.5,D11,U3,Q0.001264

: Sonardyne - POSD response: 
POSD S+144.7,N36.5,D11,U3,Q0.001264

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

: AshtechGps::processRecord() - $GPGGA,231434.00,3654.78833,N,12153.31825,W,1,09,0.9,-9.01,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231434.00,3654.78833,N,12153.31825,W,1,09,0.9,-9.01,M,-32.59,M,,*72


: successfully parse sentence at 23:14:34

: AshtechGPS::processRecord -sample time is 1134429274
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.14

: Sonardyne - parsing R14.14

: Sonardyne - read R = 14.140000 from 14.14

: Sonardyne - got range only (14.140000), tat = 460
: Sonardyne - POSD response: 
POSD S+143.5,N26.9,D48,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S+143.5,N26.9,D48,U1,Q0.014122

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

: AshtechGps::processRecord() - $GPGGA,231435.00,3654.78835,N,12153.31785,W,1,09,0.9,-9.33,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,231435.00,3654.78835,N,12153.31785,W,1,09,0.9,-9.33,M,-32.59,M,,*71


: successfully parse sentence at 23:14:35

: AshtechGPS::processRecord -sample time is 1134429275
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.24

: Sonardyne - parsing R14.24

: Sonardyne - read R = 14.240000 from 14.24

: Sonardyne - got range only (14.240000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.7,N29.9,D-36,U5,Q0.007769

: Sonardyne - POSD response: 
POSD S+142.7,N29.9,D-36,U5,Q0.007769

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

: AshtechGps::processRecord() - $GPGGA,231436.00,3654.78840,N,12153.31761,W,1,09,0.9,-9.65,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231436.00,3654.78840,N,12153.31761,W,1,09,0.9,-9.65,M,-32.59,M,,*79


: successfully parse sentence at 23:14:36

: AshtechGPS::processRecord -sample time is 1134429276
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R13.93

: Sonardyne - parsing R13.93

: Sonardyne - read R = 13.930000 from 13.93

: Sonardyne - got range only (13.930000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.3,N32.2,D16,U2,Q0.002616

: Sonardyne - POSD response: 
POSD S+144.3,N32.2,D16,U2,Q0.002616

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

: AshtechGps::processRecord() - $GPGGA,231437.00,3654.78831,N,12153.31748,W,1,09,0.9,-9.69,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231437.00,3654.78831,N,12153.31748,W,1,09,0.9,-9.69,M,-32.59,M,,*79


: successfully parse sentence at 23:14:37

: AshtechGPS::processRecord -sample time is 1134429277
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R13.88

: Sonardyne - parsing R13.88

: Sonardyne - read R = 13.880000 from 13.88

: Sonardyne - got range only (13.880000), tat = 460
: Sonardyne - POSD response: 
POSD S+144.0,N33.5,D-15,U1,Q0.005823

: Sonardyne - POSD response: 
POSD S+144.0,N33.5,D-15,U1,Q0.005823

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

: AshtechGps::processRecord() - $GPGGA,231438.00,3654.78820,N,12153.31734,W,1,09,0.9,-9.68,M,-32.59,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231438.00,3654.78820,N,12153.31734,W,1,09,0.9,-9.68,M,-32.59,M,,*7C


: successfully parse sentence at 23:14:38

: AshtechGPS::processRecord -sample time is 1134429278
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.07

: Sonardyne - parsing R14.07

: Sonardyne - read R = 14.070000 from 14.07

: Sonardyne - got range only (14.070000), tat = 460
: Sonardyne - POSD response: 
POSD S+143.1,N27.9,D-27,U1,Q0.017227

: Sonardyne - POSD response: 
POSD S+143.1,N27.9,D-27,U1,Q0.017227

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

: AshtechGps::processRecord() - $GPGGA,231439.00,3654.78810,N,12153.31722,W,1,09,0.9,-9.72,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231439.00,3654.78810,N,12153.31722,W,1,09,0.9,-9.72,M,-32.59,M,,*72


: successfully parse sentence at 23:14:39

: AshtechGPS::processRecord -sample time is 1134429279
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R14.19

: Sonardyne - parsing R14.19

: Sonardyne - read R = 14.190000 from 14.19

: Sonardyne - got range only (14.190000), tat = 460
: Sonardyne - POSD response: 
POSD S+142.5,N31.9,D22,U4,Q0.003902

: Sonardyne - POSD response: 
POSD S+142.5,N31.9,D22,U4,Q0.003902

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

: AshtechGps::processRecord() - $GPGGA,231440.00,3654.78799,N,12153.31711,W,1,09,0.9,-9.65,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231440.00,3654.78799,N,12153.31711,W,1,09,0.9,-9.65,M,-32.59,M,,*74


: successfully parse sentence at 23:14:40

: AshtechGPS::processRecord -sample time is 1134429280
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 647.795623) Behavior getgps has changed to state Finished

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

: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R14.41

: Sonardyne - parsing R14.41

: Sonardyne - read R = 14.410000 from 14.41

: Sonardyne - got range only (14.410000), tat = 459
: LayeredControl::execute() -- (t = 647.995609) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 647.995609) Behavior missionTimer has changed to state Active

: Sonardyne - POSD response: 
POSD S+141.9,N32.6,D-17,U5,Q0.011975

: BluefinBatt Reply: $b6q0 d- 30.43  2.75 15.33 3.79 3.81 0 20678.99 08:19:02 m

: Sonardyne - POSD response: 
POSD S+141.9,N32.6,D-17,U5,Q0.011975

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

: AshtechGps::processRecord() - $GPGGA,231441.00,3654.78798,N,12153.31697,W,1,09,0.9,-9.36,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231441.00,3654.78798,N,12153.31697,W,1,09,0.9,-9.36,M,-32.59,M,,*7D


: successfully parse sentence at 23:14:41

: AshtechGPS::processRecord -sample time is 1134429281
: Sonardyne - POS response: 
POS V4,1 R14.49

: Sonardyne - parsing R14.49

: Sonardyne - read R = 14.490000 from 14.49

: Sonardyne - got range only (14.490000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.4,N37.5,D13,U1,Q0.010000

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S+144.4,N37.5,D13,U1,Q0.010000

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

: AshtechGps::processRecord() - $GPGGA,231442.00,3654.78797,N,12153.31662,W,1,09,0.9,-9.03,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231442.00,3654.78797,N,12153.31662,W,1,09,0.9,-9.03,M,-32.59,M,,*7D


: successfully parse sentence at 23:14:42

: AshtechGPS::processRecord -sample time is 1134429282
: Sonardyne - POS response: 
POS V4,1 R14.96

: Sonardyne - parsing R14.96

: Sonardyne - read R = 14.960000 from 14.96

: Sonardyne - got range only (14.960000), tat = 470
: Sonardyne - POSD response: 
POSD S136.1,N22.1,D-85,U2,Q0.000316

: Sonardyne - POSD response: 
POSD S136.1,N22.1,D-85,U2,Q0.000316

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

: AshtechGps::processRecord() - $GPGGA,231443.00,3654.78797,N,12153.31625,W,1,09,0.9,-8.78,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231443.00,3654.78797,N,12153.31625,W,1,09,0.9,-8.78,M,-32.59,M,,*72


: successfully parse sentence at 23:14:43

: AshtechGPS::processRecord -sample time is 1134429283
: Sonardyne - POS response: 
POS V4,1 R15.26,X13.65,Y6.83,Z0.00

: Sonardyne - parsing R15.26,X13.65,Y6.83,Z0.00

: Sonardyne - read R = 15.260000 from 15.26,X13.65,Y6.83,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.260000, x=0.000000, y=13.650000, z=-6.830000 tat = 490
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231444.00,3654.78816,N,12153.31564,W,1,09,0.9,-8.51,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231444.00,3654.78816,N,12153.31564,W,1,09,0.9,-8.51,M,-32.59,M,,*7E


: successfully parse sentence at 23:14:44

: AshtechGPS::processRecord -sample time is 1134429284
: Sonardyne - POS response: 
POS V4,1 R15.97

: Sonardyne - parsing R15.97

: Sonardyne - read R = 15.970000 from 15.97

: Sonardyne - got range only (15.970000), tat = 470
: Sonardyne - POSD response: 
POSD S134.6,N24.2,D-39,U1,Q0.011843

: Sonardyne - POSD response: 
POSD S134.6,N24.2,D-39,U1,Q0.011843

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

: AshtechGps::processRecord() - $GPGGA,231445.00,3654.78828,N,12153.31499,W,1,09,0.9,-8.55,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,231445.00,3654.78828,N,12153.31499,W,1,09,0.9,-8.55,M,-32.59,M,,*75


: successfully parse sentence at 23:14:45

: AshtechGPS::processRecord -sample time is 1134429285
: Sonardyne - POS response: 
POS V4,1 R16.20

: Sonardyne - parsing R16.20

: Sonardyne - read R = 16.200000 from 16.20

: Sonardyne - got range only (16.200000), tat = 470
: Sonardyne - POSD response: 
POSD S+141.4,N34.6,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.4,N34.6,D2,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,231446.00,3654.78835,N,12153.31451,W,1,09,0.9,-8.72,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231446.00,3654.78835,N,12153.31451,W,1,09,0.9,-8.72,M,-32.59,M,,*7B


: successfully parse sentence at 23:14:46

: AshtechGPS::processRecord -sample time is 1134429286
: Sonardyne - POS response: 
POS V4,1 R16.20

: Sonardyne - parsing R16.20

: Sonardyne - read R = 16.200000 from 16.20

: Sonardyne - got range only (16.200000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.8,N30.9,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.8,N30.9,D-25,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,231447.00,3654.78844,N,12153.31402,W,1,09,0.9,-9.01,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,231447.00,3654.78844,N,12153.31402,W,1,09,0.9,-9.01,M,-32.59,M,,*7F


: successfully parse sentence at 23:14:47

: AshtechGPS::processRecord -sample time is 1134429287
: Sonardyne - POS response: 
POS V4,1 R16.27,X3.72,Y3.62,Z-15.42

: Sonardyne - parsing R16.27,X3.72,Y3.62,Z-15.42

: Sonardyne - read R = 16.270000 from 16.27,X3.72,Y3.62,Z-15.42

: Sonardyne - got all data, Vehicle coordinates,
    r=16.270000, x=15.420000, y=3.720000, z=-3.620000 tat = 490
: Sonardyne - POSD response: 
POSD S+142.1,N34.2,D4,U8,Q0.012470

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

: AshtechGps::processRecord() - $GPGGA,231448.00,3654.78830,N,12153.31374,W,1,09,0.9,-9.36,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,231448.00,3654.78830,N,12153.31374,W,1,09,0.9,-9.36,M,-32.59,M,,*71


: successfully parse sentence at 23:14:48

: AshtechGPS::processRecord -sample time is 1134429288
: Sonardyne - POS response: 
POS V4,1 R16.48

: Sonardyne - parsing R16.48

: Sonardyne - read R = 16.480000 from 16.48

: Sonardyne - got range only (16.480000), tat = 520
: Sonardyne - POSD response: 
POSD S+140.9,N28.7,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.9,N28.7,D41,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,231449.00,3654.78821,N,12153.31357,W,1,09,0.9,-9.55,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231449.00,3654.78821,N,12153.31357,W,1,09,0.9,-9.55,M,-32.59,M,,*74


: successfully parse sentence at 23:14:49

: AshtechGPS::processRecord -sample time is 1134429289
: Sonardyne - POS response: 
POS V4,1 R16.33

: Sonardyne - parsing R16.33

: Sonardyne - read R = 16.330000 from 16.33

: Sonardyne - got range only (16.330000), tat = 470
: Sonardyne - POSD response: 
POSD S139.5,N29.2,D-30,U1,Q0.005888

: Sonardyne - POSD response: 
POSD S139.5,N29.2,D-30,U1,Q0.005888

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

: AshtechGps::processRecord() - $GPGGA,231450.00,3654.78805,N,12153.31345,W,1,09,0.9,-9.70,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231450.00,3654.78805,N,12153.31345,W,1,09,0.9,-9.70,M,-32.59,M,,*7E


: successfully parse sentence at 23:14:50

: AshtechGPS::processRecord -sample time is 1134429290
: Sonardyne - POS response: 
POS V4,1 R16.47

: Sonardyne - parsing R16.47

: Sonardyne - read R = 16.470000 from 16.47

: Sonardyne - got range only (16.470000), tat = 470
: Sonardyne - POSD response: 
POSD S139.4,N34.8,D-1,U0,Q0.000000

: BluefinBatt Reply: $b6q0 d- 30.47  1.99 15.33 3.79 3.81 0 20678.63 08:19:12 m

: Sonardyne - POSD response: 
POSD S139.4,N34.8,D-1,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231451.00,3654.78777,N,12153.31350,W,1,09,0.9,-9.75,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231451.00,3654.78777,N,12153.31350,W,1,09,0.9,-9.75,M,-32.59,M,,*74


: successfully parse sentence at 23:14:51

: AshtechGPS::processRecord -sample time is 1134429291
: Sonardyne - POS response: 
POS V4,1 R16.72

: Sonardyne - parsing R16.72

: Sonardyne - read R = 16.720000 from 16.72

: Sonardyne - got range only (16.720000), tat = 470
: Sonardyne - POSD response: 
POSD S137.0,N30.2,D7,U5,Q0.006628

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S137.0,N30.2,D7,U5,Q0.006628

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

: AshtechGps::processRecord() - $GPGGA,231452.00,3654.78769,N,12153.31347,W,1,09,0.9,-9.86,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231452.00,3654.78769,N,12153.31347,W,1,09,0.9,-9.86,M,-32.59,M,,*72


: successfully parse sentence at 23:14:52

: AshtechGPS::processRecord -sample time is 1134429292
: Sonardyne - POS response: 
POS V4,1 R16.47

: Sonardyne - parsing R16.47

: Sonardyne - read R = 16.470000 from 16.47

: Sonardyne - got range only (16.470000), tat = 470
: Sonardyne - POSD response: 
POSD S131.5,N23.3,D-51,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N23.3,D-51,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,231453.00,3654.78748,N,12153.31358,W,1,09,0.9,-9.62,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231453.00,3654.78748,N,12153.31358,W,1,09,0.9,-9.62,M,-32.59,M,,*74


: successfully parse sentence at 23:14:53

: AshtechGPS::processRecord -sample time is 1134429293
: Sonardyne - POS response: 
POS V4,1 R16.66

: Sonardyne - parsing R16.66

: Sonardyne - read R = 16.660000 from 16.66

: Sonardyne - got range only (16.660000), tat = 470
: Sonardyne - POSD response: 
POSD S134.5,N26.0,D27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.5,N26.0,D27,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,231454.00,3654.78741,N,12153.31344,W,1,09,0.9,-9.28,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231454.00,3654.78741,N,12153.31344,W,1,09,0.9,-9.28,M,-32.59,M,,*79


: successfully parse sentence at 23:14:54

: AshtechGPS::processRecord -sample time is 1134429294
: Sonardyne - POS response: 
POS V4,1 R17.12

: Sonardyne - parsing R17.12

: Sonardyne - read R = 17.120000 from 17.12

: Sonardyne - got range only (17.120000), tat = 470
: Sonardyne - POSD response: 
POSD S139.1,N30.0,D12,U1,Q0.004714

: Sonardyne - POSD response: 
POSD S139.1,N30.0,D12,U1,Q0.004714

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

: AshtechGps::processRecord() - $GPGGA,231455.00,3654.78739,N,12153.31324,W,1,09,0.9,-8.98,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231455.00,3654.78739,N,12153.31324,W,1,09,0.9,-8.98,M,-32.59,M,,*7B


: successfully parse sentence at 23:14:55

: AshtechGPS::processRecord -sample time is 1134429295
: Sonardyne - POS response: 
POS V4,1 R17.88

: Sonardyne - parsing R17.88

: Sonardyne - read R = 17.880000 from 17.88

: Sonardyne - got range only (17.880000), tat = 470
: Sonardyne - POSD response: 
POSD S134.8,N26.6,D-45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.8,N26.6,D-45,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,231456.00,3654.78740,N,12153.31293,W,1,09,0.9,-8.67,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231456.00,3654.78740,N,12153.31293,W,1,09,0.9,-8.67,M,-32.59,M,,*7B


: successfully parse sentence at 23:14:56

: AshtechGPS::processRecord -sample time is 1134429296
: Sonardyne - POS response: 
POS V4,1 R17.56

: Sonardyne - parsing R17.56

: Sonardyne - read R = 17.560000 from 17.56

: Sonardyne - got range only (17.560000), tat = 470
: Sonardyne - POSD response: 
POSD S137.6,N25.7,D66,U2,Q0.003376

: Sonardyne - POSD response: 
POSD S137.6,N25.7,D66,U2,Q0.003376

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

: AshtechGps::processRecord() - $GPGGA,231457.00,3654.78747,N,12153.31249,W,1,09,0.9,-8.64,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231457.00,3654.78747,N,12153.31249,W,1,09,0.9,-8.64,M,-32.59,M,,*79


: successfully parse sentence at 23:14:57

: AshtechGPS::processRecord -sample time is 1134429297
: Sonardyne - POS response: 
POS V4,1 R17.70

: Sonardyne - parsing R17.70

: Sonardyne - read R = 17.700000 from 17.70

: Sonardyne - got range only (17.700000), tat = 470
: Sonardyne - POSD response: 
POSD S137.7,N25.0,D36,U4,Q0.001186

: Sonardyne - POSD response: 
POSD S137.7,N25.0,D36,U4,Q0.001186

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

: AshtechGps::processRecord() - $GPGGA,231458.00,3654.78748,N,12153.31217,W,1,09,0.9,-8.70,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,231458.00,3654.78748,N,12153.31217,W,1,09,0.9,-8.70,M,-32.59,M,,*77


: successfully parse sentence at 23:14:58

: AshtechGPS::processRecord -sample time is 1134429298
: Sonardyne - POS response: 
POS V4,1 R17.97

: Sonardyne - parsing R17.97

: Sonardyne - read R = 17.970000 from 17.97

: Sonardyne - got range only (17.970000), tat = 470
: Sonardyne - POSD response: 
POSD S137.7,N31.3,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N31.3,D-7,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231459.00,3654.78750,N,12153.31196,W,1,09,0.9,-8.70,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,231459.00,3654.78750,N,12153.31196,W,1,09,0.9,-8.70,M,-32.59,M,,*75


: successfully parse sentence at 23:14:59

: AshtechGPS::processRecord -sample time is 1134429299
: Sonardyne - POS response: 
POS V4,1 R18.45

: Sonardyne - parsing R18.45

: Sonardyne - read R = 18.450000 from 18.45

: Sonardyne - got range only (18.450000), tat = 470
: Sonardyne - POSD response: 
POSD S137.7,N28.3,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N28.3,D-18,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,231500.00,3654.78757,N,12153.31152,W,1,09,0.9,-8.73,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231500.00,3654.78757,N,12153.31152,W,1,09,0.9,-8.73,M,-32.59,M,,*74


: successfully parse sentence at 23:15:0

: AshtechGPS::processRecord -sample time is 1134429300
: Sonardyne - POS response: 
POS V4,1 R18.51

: Sonardyne - parsing R18.51

: Sonardyne - read R = 18.510000 from 18.51

: Sonardyne - got range only (18.510000), tat = 470
: BluefinBatt Reply: $b6q0 d- 30.47  2.64 15.33 3.79 3.81 0 20678.48 08:19:22 m

: Sonardyne - POSD response: 
POSD S139.5,N30.3,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.5,N30.3,D19,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,231501.00,3654.78755,N,12153.31118,W,1,09,0.9,-8.92,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,231501.00,3654.78755,N,12153.31118,W,1,09,0.9,-8.92,M,-32.59,M,,*76


: successfully parse sentence at 23:15:1

: AshtechGPS::processRecord -sample time is 1134429301
: Sonardyne - POS response: 
POS V4,1 R18.46

: Sonardyne - parsing R18.46

: Sonardyne - read R = 18.460000 from 18.46

: Sonardyne - got range only (18.460000), tat = 470
: Sonardyne - POSD response: 
POSD S138.9,N30.9,D-7,U1,Q0.014122

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S138.9,N30.9,D-7,U1,Q0.014122

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

: AshtechGps::processRecord() - $GPGGA,231502.00,3654.78740,N,12153.31109,W,1,09,0.9,-9.31,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231502.00,3654.78740,N,12153.31109,W,1,09,0.9,-9.31,M,-32.59,M,,*79


: successfully parse sentence at 23:15:2

: AshtechGPS::processRecord -sample time is 1134429302
: Sonardyne - POS response: 
POS V4,1 R18.17

: Sonardyne - parsing R18.17

: Sonardyne - read R = 18.170000 from 18.17

: Sonardyne - got range only (18.170000), tat = 470
: Sonardyne - POSD response: 
POSD S130.8,N25.2,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.8,N25.2,D4,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,231503.00,3654.78729,N,12153.31095,W,1,09,0.9,-9.36,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231503.00,3654.78729,N,12153.31095,W,1,09,0.9,-9.36,M,-32.59,M,,*74


: successfully parse sentence at 23:15:3

: AshtechGPS::processRecord -sample time is 1134429303
: Sonardyne - POS response: 
POS V4,1 R18.45

: Sonardyne - parsing R18.45

: Sonardyne - read R = 18.450000 from 18.45

: Sonardyne - got range only (18.450000), tat = 470
: Sonardyne - POSD response: 
POSD S138.2,N27.1,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.2,N27.1,D19,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,231504.00,3654.78713,N,12153.31098,W,1,09,0.9,-9.42,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231504.00,3654.78713,N,12153.31098,W,1,09,0.9,-9.42,M,-32.59,M,,*74


: successfully parse sentence at 23:15:4

: AshtechGPS::processRecord -sample time is 1134429304
: Sonardyne - POS response: 
POS V4,1 R18.24

: Sonardyne - parsing R18.24

: Sonardyne - read R = 18.240000 from 18.24

: Sonardyne - got range only (18.240000), tat = 470
: Sonardyne - POSD response: 
POSD S130.4,N26.3,D-52,U3,Q0.008223

: Sonardyne - POSD response: 
POSD S130.4,N26.3,D-52,U3,Q0.008223

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

: AshtechGps::processRecord() - $GPGGA,231505.00,3654.78699,N,12153.31096,W,1,09,0.9,-9.48,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231505.00,3654.78699,N,12153.31096,W,1,09,0.9,-9.48,M,-32.59,M,,*72


: successfully parse sentence at 23:15:5

: AshtechGPS::processRecord -sample time is 1134429305
: Sonardyne - POS response: 
POS V4,1 R18.26

: Sonardyne - parsing R18.26

: Sonardyne - read R = 18.260000 from 18.26

: Sonardyne - got range only (18.260000), tat = 470
: Sonardyne - POSD response: 
POSD S133.8,N31.0,D-13,U3,Q0.005628

: Sonardyne - POSD response: 
POSD S133.8,N31.0,D-13,U3,Q0.005628

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

: AshtechGps::processRecord() - $GPGGA,231506.00,3654.78688,N,12153.31088,W,1,09,0.9,-9.35,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231506.00,3654.78688,N,12153.31088,W,1,09,0.9,-9.35,M,-32.59,M,,*74


: successfully parse sentence at 23:15:6

: AshtechGPS::processRecord -sample time is 1134429306
: Sonardyne - POS response: 
POS V4,1 R18.84,X3.85,Y-4.00,Z-18.01

: Sonardyne - parsing R18.84,X3.85,Y-4.00,Z-18.01

: Sonardyne - read R = 18.840000 from 18.84,X3.85,Y-4.00,Z-18.01

: Sonardyne - got all data, Vehicle coordinates,
    r=18.840000, x=18.010000, y=3.850000, z=4.000000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231507.00,3654.78677,N,12153.31092,W,1,09,0.9,-9.16,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,231507.00,3654.78677,N,12153.31092,W,1,09,0.9,-9.16,M,-32.59,M,,*7F


: successfully parse sentence at 23:15:7

: AshtechGPS::processRecord -sample time is 1134429307
: Sonardyne - POS response: 
POS V4,1 R18.62

: Sonardyne - parsing R18.62

: Sonardyne - read R = 18.620000 from 18.62

: Sonardyne - got range only (18.620000), tat = 470
: Sonardyne - POSD response: 
POSD S136.5,N30.8,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.5,N30.8,D6,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,231508.00,3654.78672,N,12153.31079,W,1,09,0.9,-9.09,M,-32.59,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231508.00,3654.78672,N,12153.31079,W,1,09,0.9,-9.09,M,-32.59,M,,*7E


: successfully parse sentence at 23:15:8

: AshtechGPS::processRecord -sample time is 1134429308
: Sonardyne - POS response: 
POS V4,1 R18.42

: Sonardyne - parsing R18.42

: Sonardyne - read R = 18.420000 from 18.42

: Sonardyne - got range only (18.420000), tat = 470
: Sonardyne - POSD response: 
POSD S132.4,N23.7,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.4,N23.7,D33,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,231509.00,3654.78668,N,12153.31075,W,1,09,0.9,-9.02,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,231509.00,3654.78668,N,12153.31075,W,1,09,0.9,-9.02,M,-32.59,M,,*73


: successfully parse sentence at 23:15:9

: AshtechGPS::processRecord -sample time is 1134429309
: Sonardyne - POS response: 
POS V4,1 R18.55

: Sonardyne - parsing R18.55

: Sonardyne - read R = 18.550000 from 18.55

: Sonardyne - got range only (18.550000), tat = 470
: Sonardyne - POSD response: 
POSD S138.7,N28.6,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.7,N28.6,D6,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,231510.00,3654.78669,N,12153.31059,W,1,09,0.9,-8.82,M,-32.59,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231510.00,3654.78669,N,12153.31059,W,1,09,0.9,-8.82,M,-32.59,M,,*7D


: successfully parse sentence at 23:15:10

: AshtechGPS::processRecord -sample time is 1134429310
: Sonardyne - POS response: 
POS V4,1 R18.75

: Sonardyne - parsing R18.75

: Sonardyne - read R = 18.750000 from 18.75

: Sonardyne - got range only (18.750000), tat = 470
: BluefinBatt Reply: $b6q0 d- 30.47  2.60 15.42 3.79 3.81 0 20678.20 08:19:32 m

: Sonardyne - POSD response: 
POSD S138.9,N32.4,D1,U5,Q0.001198

: Sonardyne - POSD response: 
POSD S138.9,N32.4,D1,U5,Q0.001198

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

: AshtechGps::processRecord() - $GPGGA,231511.00,3654.78671,N,12153.31035,W,1,09,0.9,-8.76,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231511.00,3654.78671,N,12153.31035,W,1,09,0.9,-8.76,M,-32.59,M,,*74


: successfully parse sentence at 23:15:11

: AshtechGPS::processRecord -sample time is 1134429311
: Sonardyne - POS response: 
POS V4,1 R18.78

: Sonardyne - parsing R18.78

: Sonardyne - read R = 18.780000 from 18.78

: Sonardyne - got range only (18.780000), tat = 470
: Sonardyne - POSD response: 
POSD S138.4,N33.5,D5,U0,Q0.000000

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S138.4,N33.5,D5,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,231512.00,3654.78669,N,12153.31030,W,1,09,0.9,-8.91,M,-32.59,M,,*72

: GpsUtils::parseFix() - $GPGGA,231512.00,3654.78669,N,12153.31030,W,1,09,0.9,-8.91,M,-32.59,M,,*72


: successfully parse sentence at 23:15:12

: AshtechGPS::processRecord -sample time is 1134429312
: Sonardyne - POS response: 
POS V4,1 R18.76,X10.54,Y-15.52,Z0.00

: Sonardyne - parsing R18.76,X10.54,Y-15.52,Z0.00

: Sonardyne - read R = 18.760000 from 18.76,X10.54,Y-15.52,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=18.760000, x=0.000000, y=10.540000, z=15.520000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231513.00,3654.78665,N,12153.31008,W,1,09,0.9,-8.92,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,231513.00,3654.78665,N,12153.31008,W,1,09,0.9,-8.92,M,-32.59,M,,*77


: successfully parse sentence at 23:15:13

: AshtechGPS::processRecord -sample time is 1134429313
: Sonardyne - POS response: 
POS V4,1 R18.73

: Sonardyne - parsing R18.73

: Sonardyne - read R = 18.730000 from 18.73

: Sonardyne - got range only (18.730000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.0,N27.9,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.0,N27.9,D8,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231514.00,3654.78660,N,12153.31002,W,1,09,0.9,-8.92,M,-32.59,M,,*7F

: GpsUtils::parseFix() - $GPGGA,231514.00,3654.78660,N,12153.31002,W,1,09,0.9,-8.92,M,-32.59,M,,*7F


: successfully parse sentence at 23:15:14

: AshtechGPS::processRecord -sample time is 1134429314
: Sonardyne - POS response: 
POS V4,1 R18.87,X18.86,Y0.51,Z0.00

: Sonardyne - parsing R18.87,X18.86,Y0.51,Z0.00

: Sonardyne - read R = 18.870000 from 18.87,X18.86,Y0.51,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=18.870000, x=0.000000, y=18.860000, z=-0.510000 tat = 490
: Sonardyne - POSD response: 
POSD S+142.5,N34.0,D9,U8,Q0.006459

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

: AshtechGps::processRecord() - $GPGGA,231515.00,3654.78656,N,12153.30987,W,1,09,0.9,-8.99,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,231515.00,3654.78656,N,12153.30987,W,1,09,0.9,-8.99,M,-32.59,M,,*75


: successfully parse sentence at 23:15:15

: AshtechGPS::processRecord -sample time is 1134429315
: Sonardyne - POS response: 
POS V4,1 R18.76

: Sonardyne - parsing R18.76

: Sonardyne - read R = 18.760000 from 18.76

: Sonardyne - got range only (18.760000), tat = 470
: Sonardyne - POSD response: 
POSD S+141.9,N28.8,D13,U1,Q0.004922

: Sonardyne - POSD response: 
POSD S+141.9,N28.8,D13,U1,Q0.004922

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

: AshtechGps::processRecord() - $GPGGA,231516.00,3654.78647,N,12153.30969,W,1,09,0.9,-9.01,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,231516.00,3654.78647,N,12153.30969,W,1,09,0.9,-9.01,M,-32.59,M,,*76


: successfully parse sentence at 23:15:16

: AshtechGPS::processRecord -sample time is 1134429316
: Sonardyne - POS response: 
POS V4,1 R18.81

: Sonardyne - parsing R18.81

: Sonardyne - read R = 18.810000 from 18.81

: Sonardyne - got range only (18.810000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.5,N30.5,D-11,U5,Q0.009210

: Sonardyne - POSD response: 
POSD S+143.5,N30.5,D-11,U5,Q0.009210

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

: AshtechGps::processRecord() - $GPGGA,231517.00,3654.78639,N,12153.30974,W,1,09,0.9,-9.07,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231517.00,3654.78639,N,12153.30974,W,1,09,0.9,-9.07,M,-32.59,M,,*74


: successfully parse sentence at 23:15:17

: AshtechGPS::processRecord -sample time is 1134429317
: Sonardyne - POS response: 
POS V4,1 R18.75

: Sonardyne - parsing R18.75

: Sonardyne - read R = 18.750000 from 18.75

: Sonardyne - got range only (18.750000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.3,N26.1,D30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.3,N26.1,D30,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,231518.00,3654.78631,N,12153.30964,W,1,09,0.9,-8.99,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231518.00,3654.78631,N,12153.30964,W,1,09,0.9,-8.99,M,-32.59,M,,*74


: successfully parse sentence at 23:15:18

: AshtechGPS::processRecord -sample time is 1134429318
: Sonardyne - POS response: 
POS V4,1 R18.89

: Sonardyne - parsing R18.89

: Sonardyne - read R = 18.890000 from 18.89

: Sonardyne - got range only (18.890000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.8,N29.8,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.8,N29.8,D2,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,231519.00,3654.78627,N,12153.30957,W,1,09,0.9,-8.98,M,-32.59,M,,*73

: GpsUtils::parseFix() - $GPGGA,231519.00,3654.78627,N,12153.30957,W,1,09,0.9,-8.98,M,-32.59,M,,*73


: successfully parse sentence at 23:15:19

: AshtechGPS::processRecord -sample time is 1134429319
: Sonardyne - POS response: 
POS V4,1 R18.97,X12.67,Y-12.88,Z-5.79

: Sonardyne - parsing R18.97,X12.67,Y-12.88,Z-5.79

: Sonardyne - read R = 18.970000 from 18.97,X12.67,Y-12.88,Z-5.79

: Sonardyne - got all data, Vehicle coordinates,
    r=18.970000, x=5.790000, y=12.670000, z=12.880000 tat = 500
: Sonardyne - POSD response: 
POSD S+143.5,N29.4,D-5,U8,Q0.003680

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

: AshtechGps::processRecord() - $GPGGA,231520.00,3654.78622,N,12153.30959,W,1,09,0.9,-9.09,M,-32.59,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231520.00,3654.78622,N,12153.30959,W,1,09,0.9,-9.09,M,-32.59,M,,*7B


: successfully parse sentence at 23:15:20

: AshtechGPS::processRecord -sample time is 1134429320
: Sonardyne - POS response: 
POS V4,1 R18.78

: Sonardyne - parsing R18.78

: Sonardyne - read R = 18.780000 from 18.78

: Sonardyne - got range only (18.780000), tat = 470
: BluefinBatt Reply: $b6q0 d- 30.47  2.50 15.33 3.79 3.81 0 20677.99 08:19:42 m

: Sonardyne - POSD response: 
POSD S135.3,N28.0,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.3,N28.0,D-8,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231521.00,3654.78618,N,12153.30956,W,1,09,0.9,-9.13,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,231521.00,3654.78618,N,12153.30956,W,1,09,0.9,-9.13,M,-32.59,M,,*77


: successfully parse sentence at 23:15:21

: AshtechGPS::processRecord -sample time is 1134429321
: Sonardyne - POS response: 
POS V4,1 R18.75,X-3.98,Y3.50,Z-17.98

: Sonardyne - parsing R18.75,X-3.98,Y3.50,Z-17.98

: Sonardyne - read R = 18.750000 from 18.75,X-3.98,Y3.50,Z-17.98

: Sonardyne - got all data, Vehicle coordinates,
    r=18.750000, x=17.980000, y=-3.980000, z=-3.500000 tat = 490
: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

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

: AshtechGps::processRecord() - $GPGGA,231522.00,3654.78618,N,12153.30941,W,1,09,0.9,-8.89,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,231522.00,3654.78618,N,12153.30941,W,1,09,0.9,-8.89,M,-32.59,M,,*70


: successfully parse sentence at 23:15:22

: AshtechGPS::processRecord -sample time is 1134429322
: Sonardyne - POS response: 
POS V4,1 R19.01,X13.55,Y-11.37,Z-6.96

: Sonardyne - parsing R19.01,X13.55,Y-11.37,Z-6.96

: Sonardyne - read R = 19.010000 from 19.01,X13.55,Y-11.37,Z-6.96

: Sonardyne - got all data, Vehicle coordinates,
    r=19.010000, x=6.960000, y=13.550000, z=11.370000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231523.00,3654.78623,N,12153.30949,W,1,09,0.9,-8.98,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,231523.00,3654.78623,N,12153.30949,W,1,09,0.9,-8.98,M,-32.59,M,,*71


: successfully parse sentence at 23:15:23

: AshtechGPS::processRecord -sample time is 1134429323
: Sonardyne - POS response: 
POS V4,1 R18.93,X13.49,Y-12.39,Z-4.77

: Sonardyne - parsing R18.93,X13.49,Y-12.39,Z-4.77

: Sonardyne - read R = 18.930000 from 18.93,X13.49,Y-12.39,Z-4.77

: Sonardyne - got all data, Vehicle coordinates,
    r=18.930000, x=4.770000, y=13.490000, z=12.390000 tat = 500
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231524.00,3654.78617,N,12153.30947,W,1,09,0.9,-9.29,M,-32.59,M,,*74

: GpsUtils::parseFix() - $GPGGA,231524.00,3654.78617,N,12153.30947,W,1,09,0.9,-9.29,M,-32.59,M,,*74


: successfully parse sentence at 23:15:24

: AshtechGPS::processRecord -sample time is 1134429324
: Sonardyne - POS response: 
POS V4,1 R18.66

: Sonardyne - parsing R18.66

: Sonardyne - read R = 18.660000 from 18.66

: Sonardyne - got range only (18.660000), tat = 469
: Sonardyne - POSD response: 
POSD S+143.7,N31.3,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.7,N31.3,D-10,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231525.00,3654.78616,N,12153.30955,W,1,09,0.9,-9.27,M,-32.59,M,,*79

: GpsUtils::parseFix() - $GPGGA,231525.00,3654.78616,N,12153.30955,W,1,09,0.9,-9.27,M,-32.59,M,,*79


: successfully parse sentence at 23:15:25

: AshtechGPS::processRecord -sample time is 1134429325
: Sonardyne - POS response: 
POS V4,1 R18.60

: Sonardyne - parsing R18.60

: Sonardyne - read R = 18.600000 from 18.60

: Sonardyne - got range only (18.600000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N31.3,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.3,N31.3,D-2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231526.00,3654.78616,N,12153.30969,W,1,09,0.9,-9.14,M,-32.59,M,,*75

: GpsUtils::parseFix() - $GPGGA,231526.00,3654.78616,N,12153.30969,W,1,09,0.9,-9.14,M,-32.59,M,,*75


: successfully parse sentence at 23:15:26

: AshtechGPS::processRecord -sample time is 1134429326
: Sonardyne - POS response: 
POS V4,1 R18.56

: Sonardyne - parsing R18.56

: Sonardyne - read R = 18.560000 from 18.56

: Sonardyne - got range only (18.560000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.5,N30.3,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.5,N30.3,D18,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,231527.00,3654.78605,N,12153.30955,W,1,09,0.9,-8.94,M,-32.59,M,,*70

: GpsUtils::parseFix() - $GPGGA,231527.00,3654.78605,N,12153.30955,W,1,09,0.9,-8.94,M,-32.59,M,,*70


: successfully parse sentence at 23:15:27

: AshtechGPS::processRecord -sample time is 1134429327
: Sonardyne - POS response: 
POS V4,1 R18.71

: Sonardyne - parsing R18.71

: Sonardyne - read R = 18.710000 from 18.71

: Sonardyne - got range only (18.710000), tat = 470
: Sonardyne - POSD response: 
POSD S+143.7,N30.4,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.7,N30.4,D-2,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,231528.00,3654.78607,N,12153.30959,W,1,09,0.9,-8.93,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,231528.00,3654.78607,N,12153.30959,W,1,09,0.9,-8.93,M,-32.59,M,,*76


: successfully parse sentence at 23:15:28

: AshtechGPS::processRecord -sample time is 1134429328
: Sonardyne - POS response: 
POS V4,1 R18.86

: Sonardyne - parsing R18.86

: Sonardyne - read R = 18.860000 from 18.86

: Sonardyne - got range only (18.860000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.4,N29.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.4,N29.0,D-10,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,231529.00,3654.78598,N,12153.30940,W,1,09,0.9,-9.00,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,231529.00,3654.78598,N,12153.30940,W,1,09,0.9,-9.00,M,-32.59,M,,*71


: successfully parse sentence at 23:15:29

: AshtechGPS::processRecord -sample time is 1134429329
: Sonardyne - POS response: 
POS V4,1 R18.49

: Sonardyne - parsing R18.49

: Sonardyne - read R = 18.490000 from 18.49

: Sonardyne - got range only (18.490000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.3,N33.5,D5,U4,Q0.005180

: Sonardyne - POSD response: 
POSD S+144.3,N33.5,D5,U4,Q0.005180

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

: AshtechGps::processRecord() - $GPGGA,231530.00,3654.78596,N,12153.30940,W,1,09,0.9,-8.98,M,-32.59,M,,*77

: GpsUtils::parseFix() - $GPGGA,231530.00,3654.78596,N,12153.30940,W,1,09,0.9,-8.98,M,-32.59,M,,*77


: successfully parse sentence at 23:15:30

: AshtechGPS::processRecord -sample time is 1134429330
: Sonardyne - POS response: 
POS V4,1 R18.59

: Sonardyne - parsing R18.59

: Sonardyne - read R = 18.590000 from 18.59

: Sonardyne - got range only (18.590000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.5,N32.5,D11,U4,Q0.004088

: BluefinBatt Reply: $b6q0 d- 30.43  3.07 15.42 3.79 3.81 0 20677.71 08:19:52 m

: Sonardyne - POSD response: 
POSD S+144.5,N32.5,D11,U4,Q0.004088

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

: AshtechGps::processRecord() - $GPGGA,231531.00,3654.78600,N,12153.30933,W,1,09,0.9,-8.79,M,-32.59,M,,*71

: GpsUtils::parseFix() - $GPGGA,231531.00,3654.78600,N,12153.30933,W,1,09,0.9,-8.79,M,-32.59,M,,*71


: successfully parse sentence at 23:15:31

: AshtechGPS::processRecord -sample time is 1134429331
: Sonardyne - POS response: 
POS V4,1 R18.44

: Sonardyne - parsing R18.44

: Sonardyne - read R = 18.440000 from 18.44

: Sonardyne - got range only (18.440000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.2,N27.1,D-42,U2,Q0.002149

: batts online 1, min cell voltage 3.790000, mean min cell voltage 3.790000

: Sonardyne - POSD response: 
POSD S+144.2,N27.1,D-42,U2,Q0.002149

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

: AshtechGps::processRecord() - $GPGGA,231532.00,3654.78608,N,12153.30910,W,1,09,0.9,-8.65,M,-32.59,M,,*76

: GpsUtils::parseFix() - $GPGGA,231532.00,3654.78608,N,12153.30910,W,1,09,0.9,-8.65,M,-32.59,M,,*76


: successfully parse sentence at 23:15:32

: AshtechGPS::processRecord -sample time is 1134429332
: Sonardyne - POS response: 
POS V4,1 R18.92

: Sonardyne - parsing R18.92

: Sonardyne - read R = 18.920000 from 18.92

: Sonardyne - got range only (18.920000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.2,N35.1,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.2,N35.1,D5,U0,Q0.000000

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

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

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task z۱? - 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 ****

: **** 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 navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: NavigationOutput::~NavigationOutput()

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

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task z۱? - exit()
: **** SharedData destructor for object fanOutput ****

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task GpsIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

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

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

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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