Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - externalC: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
ommsServer
Supervisor::createTask() - navigat: WorkSite::WorkSite -- Finished loading parameters
io: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
nSe: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
rver: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5

S: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
uper: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
vis: WorkSite server: 0x22eec
or::createTask() - layeredCon: New Navigation component constructor
tr: Navigation - Using only the Dvl to compute altitude.
olServer
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
 pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
c: Preparing to fork

iS: SerialDevice: done...

erver: I'm the child...forking


: SerialDevice: done...

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

Supervisor:: SerialDevice: done...

:createTask() - bluefinBattDrive: Gps: initializing

r
S: SerialDevice: done...

: SerialDevice: done...

upervis: SerialDevice: done...

or:: SerialDevice: done...

: Gps: done initializing...

:cr: **** EventTriggers::add() - attaching proxy
e: Crossbow.cc: Setting polled mode
ateTask() -: Crossbow.cc: Setting polled mode
 dv: Crossbow.cc: In getSerialNumber()
lServ: Crossbow.cc: _device->read failed with error
: SerialDevice: done...

er
S: SerialDevice: done...

u: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
perv: seabirdDriver RUNNING...

i: BluefineBatt::init() - 1 batteries on 10 second interval
sor::crea: SerialDevice: done...

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

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


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

 f: BluefinBatt.cc - Looking for Parosci server
a: **** EventTriggers::add() - attaching proxy
nSer: SerialDevice: done...

ver: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg


S: BluefinBatt::init() - querying for batt ids
upervisor::createTas: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

dropWeightServer
Supervisor::creat: SerialDevice: done...

eTas: SerialDevice: done...

k() - sonardyneServer
: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681217e-003
	T_b  = 6.006525e-004
	T_c  = 1.574158e-005
	T_d  = 1.973049e-006
	T_f0 = 3081.132000
	C_a  = 8.440420e-007
	C_b  = 1.341363e+000
	C_c  = -10.325094
	C_d  = -8.517875e-005
	C_m  = 5.900
	EPS  = -9.570000e-008
	SOc  = 3.985000e-001
	BOc  = 0.000000e+000
	Voff = -5.038000e-001
	TCor = 4.000000e-004
	PCor = 1.350000e-004

: Seabird/ctdDriver::Seabird() - create interface to depth sensor...
: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: ahrs if is Ahrs

: SerialDevice: done...

: SerialDevice: done...

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

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

: SerialDevice: done...

:  rs to default

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

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: SerialDevice: done...

: 3 Modules found
: AshtechGps::processRecord() - $GPGGA,195340.00,3636.56869,N,12152.55147,W,1,11,0.8,-2.39,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195340.00,3636.56869,N,12152.55147,W,1,11,0.8,-2.39,M,-33.21,M,,*74


: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: successfully parse sentence at 19:53:40

: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: AshtechGPS::processRecord -sample time is 1142279620
: 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...

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

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,195341.00,3636.56871,N,12152.55152,W,1,11,0.8,-2.69,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,195341.00,3636.56871,N,12152.55152,W,1,11,0.8,-2.69,M,-33.21,M,,*7D


: successfully parse sentence at 19:53:41

: AshtechGPS::processRecord -sample time is 1142279621
: Parosci.cc -- Parosci initial pressure period = 30.138900
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: Parosci.cc -- Parosci initial temp period = 5.842203
: Parosci.cc -- Paroscientific configured.
: TP00:00.00
>
: Sonardyne - POS response: 
POS V4,1 R45.69,X-11.49,Y-15.05,Z-41.59

: Sonardyne - parsing R45.69,X-11.49,Y-15.05,Z-41.59

: Sonardyne - read R = 45.690000 from 45.69,X-11.49,Y-15.05,Z-41.59

: Sonardyne - got all data, Vehicle coordinates,
    r=45.690000, x=41.590000, y=-11.490000, z=15.050000 tat = 540
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: **** EventTriggers::add() - attaching proxy
: CF11010
>
: Sonardyne - POSD response: 
POSD S133.6,N31.3,D6,U6,Q0.006728

: CB611
>
: SerialDevice: done...

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

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

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

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

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

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,195342.00,3636.56874,N,12152.55161,W,1,11,0.8,-2.69,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195342.00,3636.56874,N,12152.55161,W,1,11,0.8,-2.69,M,-33.21,M,,*7B


: successfully parse sentence at 19:53:42

: AshtechGPS::processRecord -sample time is 1142279622
: Sonardyne - POS response: 
POS V4,1 R45.73,X-0.61,Y-9.80,Z-44.66

: Sonardyne - parsing R45.73,X-0.61,Y-9.80,Z-44.66

: Sonardyne - read R = 45.730000 from 45.73,X-0.61,Y-9.80,Z-44.66

: Sonardyne - got all data, Vehicle coordinates,
    r=45.730000, x=44.660000, y=-0.610000, z=9.800000 tat = 530
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195343.00,3636.56876,N,12152.55165,W,1,11,0.8,-2.58,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195343.00,3636.56876,N,12152.55165,W,1,11,0.8,-2.58,M,-33.21,M,,*7E


: successfully parse sentence at 19:53:43

: AshtechGPS::processRecord -sample time is 1142279623
: Sonardyne - POS response: 
POS V4,1 R45.86,X-45.84,Y1.24,Z0.00

: Sonardyne - parsing R45.86,X-45.84,Y1.24,Z0.00

: Sonardyne - read R = 45.860000 from 45.86,X-45.84,Y1.24,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=45.860000, x=0.000000, y=-45.840000, z=-1.240000 tat = 530
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: AshtechGps::processRecord() - $GPGGA,195344.00,3636.56873,N,12152.55164,W,1,11,0.8,-2.46,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195344.00,3636.56873,N,12152.55164,W,1,11,0.8,-2.46,M,-33.21,M,,*72


: successfully parse sentence at 19:53:44

: AshtechGPS::processRecord -sample time is 1142279624
: Sonardyne - POS response: 
POS V4,1 R45.69

: Sonardyne - parsing R45.69

: Sonardyne - read R = 45.690000 from 45.69

: Sonardyne - got range only (45.690000), tat = 510
: Sonardyne - POSD response: 
POSD S129.3,N32.4,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.3,N32.4,D9,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,195345.00,3636.56865,N,12152.55159,W,1,11,0.8,-2.37,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195345.00,3636.56865,N,12152.55159,W,1,11,0.8,-2.37,M,-33.21,M,,*7C


: successfully parse sentence at 19:53:45

: AshtechGPS::processRecord -sample time is 1142279625
: Sonardyne - POS response: 
POS V4,1 R45.62

: Sonardyne - parsing R45.62

: Sonardyne - read R = 45.620000 from 45.62

: Sonardyne - got range only (45.620000), tat = 510
: Sonardyne - POSD response: 
POSD S128.8,N30.2,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.8,N30.2,D-12,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195346.00,3636.56858,N,12152.55153,W,1,11,0.8,-2.45,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195346.00,3636.56858,N,12152.55153,W,1,11,0.8,-2.45,M,-33.21,M,,*7E


: successfully parse sentence at 19:53:46

: AshtechGPS::processRecord -sample time is 1142279626
: Sonardyne - POS response: 
POS V4,1 R45.73

: Sonardyne - parsing R45.73

: Sonardyne - read R = 45.730000 from 45.73

: Sonardyne - got range only (45.730000), tat = 510
: Sonardyne - POSD response: 
POSD S134.2,N29.8,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.2,N29.8,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,195347.00,3636.56850,N,12152.55153,W,1,11,0.8,-2.62,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195347.00,3636.56850,N,12152.55153,W,1,11,0.8,-2.62,M,-33.21,M,,*72


: successfully parse sentence at 19:53:47

: AshtechGPS::processRecord -sample time is 1142279627
: Sonardyne - POS response: 
POS V4,1 R45.54

: Sonardyne - parsing R45.54

: Sonardyne - read R = 45.540000 from 45.54

: Sonardyne - got range only (45.540000), tat = 510
: Sonardyne - POSD response: 
POSD S136.7,N31.6,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N31.6,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,195348.00,3636.56851,N,12152.55157,W,1,11,0.8,-2.69,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195348.00,3636.56851,N,12152.55157,W,1,11,0.8,-2.69,M,-33.21,M,,*73


: successfully parse sentence at 19:53:48

: AshtechGPS::processRecord -sample time is 1142279628
: 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 S135.9,N35.1,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.9,N35.1,D5,U0,Q0.000000

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

: Seabird/ctdDriver: sending configure commands...(22924)

: AshtechGps::processRecord() - $GPGGA,195349.00,3636.56857,N,12152.55162,W,1,11,0.8,-2.75,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,195349.00,3636.56857,N,12152.55162,W,1,11,0.8,-2.75,M,-33.21,M,,*7F


: successfully parse sentence at 19:53:49

: AshtechGPS::processRecord -sample time is 1142279629
: Seabird/ctdDriver: setting scans...

: Sonardyne - POS response: 
POS V4,1 R45.49

: Sonardyne - parsing R45.49

: Sonardyne - read R = 45.490000 from 45.49

: Sonardyne - got range only (45.490000), tat = 510
: Sonardyne - POSD response: 
POSD S135.8,N37.0,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.8,N37.0,D-1,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195350.00,3636.56861,N,12152.55170,W,1,11,0.8,-2.72,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,195350.00,3636.56861,N,12152.55170,W,1,11,0.8,-2.72,M,-33.21,M,,*76


: successfully parse sentence at 19:53:50

: AshtechGPS::processRecord -sample time is 1142279630
: Sonardyne - POS response: 
POS V4,1 R45.49

: Sonardyne - parsing R45.49

: Sonardyne - read R = 45.490000 from 45.49

: Sonardyne - got range only (45.490000), tat = 510
: Sonardyne - POSD response: 
POSD S134.7,N32.6,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.7,N32.6,D-7,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195351.00,3636.56861,N,12152.55174,W,1,11,0.8,-2.58,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195351.00,3636.56861,N,12152.55174,W,1,11,0.8,-2.58,M,-33.21,M,,*7B


: successfully parse sentence at 19:53:51

: AshtechGPS::processRecord -sample time is 1142279631
: Sonardyne - POS response: 
POS V4,1 R45.40

: Sonardyne - parsing R45.40

: Sonardyne - read R = 45.400000 from 45.40

: Sonardyne - got range only (45.400000), tat = 510
: Sonardyne - POSD response: 
POSD S134.6,N30.9,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.6,N30.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195352.00,3636.56857,N,12152.55176,W,1,11,0.8,-2.54,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195352.00,3636.56857,N,12152.55176,W,1,11,0.8,-2.54,M,-33.21,M,,*73


: successfully parse sentence at 19:53:52

: AshtechGPS::processRecord -sample time is 1142279632
: Sonardyne - POS response: 
POS V4,1 R45.44

: Sonardyne - parsing R45.44

: Sonardyne - read R = 45.440000 from 45.44

: Sonardyne - got range only (45.440000), tat = 510
: Sonardyne - POSD response: 
POSD S132.2,N34.0,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.2,N34.0,D3,U0,Q0.000000

:  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
: AshtechGps::processRecord() - $GPGGA,195353.00,3636.56853,N,12152.55175,W,1,11,0.8,-2.42,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195353.00,3636.56853,N,12152.55175,W,1,11,0.8,-2.42,M,-33.21,M,,*72


: successfully parse sentence at 19:53:53

: AshtechGPS::processRecord -sample time is 1142279633
: Sonardyne - POS response: 
POS V4,1 R45.27,X8.36,Y8.39,Z-43.69

: Sonardyne - parsing R45.27,X8.36,Y8.39,Z-43.69

: Sonardyne - read R = 45.270000 from 45.27,X8.36,Y8.39,Z-43.69

: Sonardyne - got all data, Vehicle coordinates,
    r=45.270000, x=43.690000, y=8.360000, z=-8.390000 tat = 530
: SerialDevice::confirm() - Timed Out
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195354.00,3636.56842,N,12152.55177,W,1,11,0.8,-2.40,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,195354.00,3636.56842,N,12152.55177,W,1,11,0.8,-2.40,M,-33.21,M,,*75


: successfully parse sentence at 19:53:54

: AshtechGPS::processRecord -sample time is 1142279634
: 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 S119.3,N24.4,D-38,U2,Q0.001620

: Sonardyne - POSD response: 
POSD S119.3,N24.4,D-38,U2,Q0.001620

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

: AshtechGps::processRecord() - $GPGGA,195355.00,3636.56837,N,12152.55175,W,1,11,0.8,-2.44,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,195355.00,3636.56837,N,12152.55175,W,1,11,0.8,-2.44,M,-33.21,M,,*70


: successfully parse sentence at 19:53:55

: AshtechGPS::processRecord -sample time is 1142279635
: Sonardyne - POS response: 
POS V4,1 R45.20

: Sonardyne - parsing R45.20

: Sonardyne - read R = 45.200000 from 45.20

: Sonardyne - got range only (45.200000), tat = 510
: Sonardyne - POSD response: 
POSD S132.0,N34.0,D-2,U1,Q0.003554

: Sonardyne - POSD response: 
POSD S132.0,N34.0,D-2,U1,Q0.003554

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

: AshtechGps::processRecord() - $GPGGA,195356.00,3636.56836,N,12152.55181,W,1,11,0.8,-2.58,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195356.00,3636.56836,N,12152.55181,W,1,11,0.8,-2.58,M,-33.21,M,,*74


: successfully parse sentence at 19:53:56

: AshtechGPS::processRecord -sample time is 1142279636
: Sonardyne - POS response: 
POS V4,1 R45.33,X-19.81,Y-39.02,Z-11.83

: Sonardyne - parsing R45.33,X-19.81,Y-39.02,Z-11.83

: Sonardyne - read R = 45.330000 from 45.33,X-19.81,Y-39.02,Z-11.83

: Sonardyne - got all data, Vehicle coordinates,
    r=45.330000, x=11.830000, y=-19.810000, z=39.020000 tat = 530
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195357.00,3636.56833,N,12152.55187,W,1,11,0.8,-2.51,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,195357.00,3636.56833,N,12152.55187,W,1,11,0.8,-2.51,M,-33.21,M,,*7F


: successfully parse sentence at 19:53:57

: AshtechGPS::processRecord -sample time is 1142279637
: Sonardyne - POS response: 
POS V4,1 R45.29,X44.48,Y-8.50,Z0.00

: Sonardyne - parsing R45.29,X44.48,Y-8.50,Z0.00

: Sonardyne - read R = 45.290000 from 45.29,X44.48,Y-8.50,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=45.290000, x=0.000000, y=44.480000, z=8.500000 tat = 530
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

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

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(22924)

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: AshtechGps::processRecord() - $GPGGA,195358.00,3636.56827,N,12152.55189,W,1,11,0.8,-2.41,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,195358.00,3636.56827,N,12152.55189,W,1,11,0.8,-2.41,M,-33.21,M,,*7A


: Seabird/ctdDriver::initialize() - confirming voltage...

: successfully parse sentence at 19:53:58

: AshtechGPS::processRecord -sample time is 1142279638
: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

: Seabird/ctdDriver::initialize() - confirming voltage...

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

: AshtechGps::processRecord() - $GPGGA,195359.00,3636.56817,N,12152.55181,W,1,11,0.8,-2.38,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195359.00,3636.56817,N,12152.55181,W,1,11,0.8,-2.38,M,-33.21,M,,*7E


: successfully parse sentence at 19:53:59

: AshtechGPS::processRecord -sample time is 1142279639
: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

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

: AshtechGps::processRecord() - $GPGGA,195400.00,3636.56810,N,12152.55181,W,1,11,0.8,-2.52,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195400.00,3636.56810,N,12152.55181,W,1,11,0.8,-2.52,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:0

: AshtechGPS::processRecord -sample time is 1142279640
:  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,N10.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195401.00,3636.56811,N,12152.55180,W,1,11,0.8,-2.72,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,195401.00,3636.56811,N,12152.55180,W,1,11,0.8,-2.72,M,-33.21,M,,*7D


: successfully parse sentence at 19:54:1

: AshtechGPS::processRecord -sample time is 1142279641
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.62  3.77 16.21 4.07 4.10 0   337.49 02:25:10 m

: Sonardyne - POS response: 
POS V4,1 R45.04,X32.81,Y25.52,Z-17.34

: Sonardyne - parsing R45.04,X32.81,Y25.52,Z-17.34

: Sonardyne - read R = 45.040000 from 45.04,X32.81,Y25.52,Z-17.34

: Sonardyne - got all data, Vehicle coordinates,
    r=45.040000, x=17.340000, y=32.810000, z=-25.520000 tat = 530
: AshtechGps::processRecord() - $GPGGA,195402.00,3636.56814,N,12152.55192,W,1,11,0.8,-2.82,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,195402.00,3636.56814,N,12152.55192,W,1,11,0.8,-2.82,M,-33.21,M,,*77


: successfully parse sentence at 19:54:2

: AshtechGPS::processRecord -sample time is 1142279642
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - POS response: 
POS V4,1 R44.92

: Sonardyne - parsing R44.92

: Sonardyne - read R = 44.920000 from 44.92

: Sonardyne - got range only (44.920000), tat = 510
: Sonardyne - POSD response: 
POSD S127.8,N33.6,D-3,U2,Q0.008075

: Sonardyne - POSD response: 
POSD S127.8,N33.6,D-3,U2,Q0.008075

: AshtechGps::processRecord() - $GPGGA,195403.00,3636.56823,N,12152.55199,W,1,11,0.8,-2.81,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,195403.00,3636.56823,N,12152.55199,W,1,11,0.8,-2.81,M,-33.21,M,,*7A


: successfully parse sentence at 19:54:3

: Navigation: Server for aux sensor "Altimeter" not found
: AshtechGPS::processRecord -sample time is 1142279643
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

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

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

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

: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer has changed to state Active

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

: Seabird/ctdDriver::initialize() - starting logging...

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

: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R44.90,X-43.68,Y0.65,Z-10.38

: Sonardyne - parsing R44.90,X-43.68,Y0.65,Z-10.38

: Sonardyne - read R = 44.900000 from 44.90,X-43.68,Y0.65,Z-10.38

: Sonardyne - got all data, Vehicle coordinates,
    r=44.900000, x=10.380000, y=-43.680000, z=-0.650000 tat = 530
: AshtechGps::processRecord() - $GPGGA,195404.00,3636.56829,N,12152.55211,W,1,11,0.8,-2.75,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,195404.00,3636.56829,N,12152.55211,W,1,11,0.8,-2.75,M,-33.21,M,,*7F


: successfully parse sentence at 19:54:4

: AshtechGPS::processRecord -sample time is 1142279644
: 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 R44.79

: Sonardyne - parsing R44.79

: Sonardyne - read R = 44.790000 from 44.79

: Sonardyne - got range only (44.790000), tat = 510
: Sonardyne - POSD response: 
POSD S126.5,N32.6,D-7,U1,Q0.018576

: Sonardyne - POSD response: 
POSD S126.5,N32.6,D-7,U1,Q0.018576

: AshtechGps::processRecord() - $GPGGA,195405.00,3636.56825,N,12152.55216,W,1,11,0.8,-2.47,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195405.00,3636.56825,N,12152.55216,W,1,11,0.8,-2.47,M,-33.21,M,,*74


: successfully parse sentence at 19:54:5

: AshtechGPS::processRecord -sample time is 1142279645
: 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 R44.80

: Sonardyne - parsing R44.80

: Sonardyne - read R = 44.800000 from 44.80

: Sonardyne - got range only (44.800000), tat = 510
: Sonardyne - POSD response: 
POSD S121.0,N28.1,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.0,N28.1,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195406.00,3636.56821,N,12152.55203,W,1,11,0.8,-2.32,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,195406.00,3636.56821,N,12152.55203,W,1,11,0.8,-2.32,M,-33.21,M,,*75


: successfully parse sentence at 19:54:6

: AshtechGPS::processRecord -sample time is 1142279646
: 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 R44.82

: Sonardyne - parsing R44.82

: Sonardyne - read R = 44.820000 from 44.82

: Sonardyne - got range only (44.820000), tat = 510
: Sonardyne - POSD response: 
POSD S130.0,N33.2,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.0,N33.2,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195407.00,3636.56811,N,12152.55207,W,1,11,0.8,-2.36,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,195407.00,3636.56811,N,12152.55207,W,1,11,0.8,-2.36,M,-33.21,M,,*77


: successfully parse sentence at 19:54:7

: AshtechGPS::processRecord -sample time is 1142279647
: 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 R44.91,X-16.76,Y-0.27,Z-41.66

: Sonardyne - parsing R44.91,X-16.76,Y-0.27,Z-41.66

: Sonardyne - read R = 44.910000 from 44.91,X-16.76,Y-0.27,Z-41.66

: Sonardyne - got all data, Vehicle coordinates,
    r=44.910000, x=41.660000, y=-16.760000, z=0.270000 tat = 530
: AshtechGps::processRecord() - $GPGGA,195408.00,3636.56804,N,12152.55202,W,1,11,0.8,-2.36,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,195408.00,3636.56804,N,12152.55202,W,1,11,0.8,-2.36,M,-33.21,M,,*79


: successfully parse sentence at 19:54:8

: AshtechGPS::processRecord -sample time is 1142279648
: 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 R45.03,X-15.36,Y42.33,Z0.00

: Sonardyne - parsing R45.03,X-15.36,Y42.33,Z0.00

: Sonardyne - read R = 45.030000 from 45.03,X-15.36,Y42.33,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=45.030000, x=0.000000, y=-15.360000, z=-42.330000 tat = 530
: AshtechGps::processRecord() - $GPGGA,195409.00,3636.56797,N,12152.55208,W,1,11,0.8,-2.37,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,195409.00,3636.56797,N,12152.55208,W,1,11,0.8,-2.37,M,-33.21,M,,*76


: successfully parse sentence at 19:54:9

: AshtechGPS::processRecord -sample time is 1142279649
: 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 R44.88

: Sonardyne - parsing R44.88

: Sonardyne - read R = 44.880000 from 44.88

: Sonardyne - got range only (44.880000), tat = 509
: Sonardyne - POSD response: 
POSD S131.6,N31.0,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.6,N31.0,D-14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195410.00,3636.56790,N,12152.55207,W,1,11,0.8,-2.42,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195410.00,3636.56790,N,12152.55207,W,1,11,0.8,-2.42,M,-33.21,M,,*74


: successfully parse sentence at 19:54:10

: AshtechGPS::processRecord -sample time is 1142279650
: 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 R44.92

: Sonardyne - parsing R44.92

: Sonardyne - read R = 44.920000 from 44.92

: Sonardyne - got range only (44.920000), tat = 510
: Sonardyne - POSD response: 
POSD S125.7,N32.1,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.7,N32.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195411.00,3636.56784,N,12152.55204,W,1,11,0.8,-2.48,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,195411.00,3636.56784,N,12152.55204,W,1,11,0.8,-2.48,M,-33.21,M,,*79


: successfully parse sentence at 19:54:11

: AshtechGPS::processRecord -sample time is 1142279651
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.62  3.13 16.21 4.07 4.10 0   337.14 02:25:20 m

: Sonardyne - POS response: 
POS V4,1 R45.01

: Sonardyne - parsing R45.01

: Sonardyne - read R = 45.010000 from 45.01

: Sonardyne - got range only (45.010000), tat = 510
: Sonardyne - POSD response: 
POSD S117.9,N28.1,D14,U3,Q0.007581

: Sonardyne - POSD response: 
POSD S117.9,N28.1,D14,U3,Q0.007581

: AshtechGps::processRecord() - $GPGGA,195412.00,3636.56778,N,12152.55205,W,1,11,0.8,-2.57,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,195412.00,3636.56778,N,12152.55205,W,1,11,0.8,-2.57,M,-33.21,M,,*76


: successfully parse sentence at 19:54:12

: AshtechGPS::processRecord -sample time is 1142279652
: 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

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

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

: Sonardyne - POS response: 
POS V4,1 R45.03

: Sonardyne - parsing R45.03

: Sonardyne - read R = 45.030000 from 45.03

: Sonardyne - got range only (45.030000), tat = 510
: Sonardyne - POSD response: 
POSD S131.0,N31.3,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.0,N31.3,D8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195413.00,3636.56780,N,12152.55203,W,1,11,0.8,-2.72,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,195413.00,3636.56780,N,12152.55203,W,1,11,0.8,-2.72,M,-33.21,M,,*71


: successfully parse sentence at 19:54:13

: AshtechGPS::processRecord -sample time is 1142279653
:  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 R44.76,X35.52,Y-18.33,Z-20.14

: Sonardyne - parsing R44.76,X35.52,Y-18.33,Z-20.14

: Sonardyne - read R = 44.760000 from 44.76,X35.52,Y-18.33,Z-20.14

: Sonardyne - got all data, Vehicle coordinates,
    r=44.760000, x=20.140000, y=35.520000, z=18.330000 tat = 530
: AshtechGps::processRecord() - $GPGGA,195414.00,3636.56786,N,12152.55223,W,1,11,0.8,-2.81,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195414.00,3636.56786,N,12152.55223,W,1,11,0.8,-2.81,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:14

: AshtechGPS::processRecord -sample time is 1142279654
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195415.00,3636.56800,N,12152.55227,W,1,11,0.8,-2.83,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,195415.00,3636.56800,N,12152.55227,W,1,11,0.8,-2.83,M,-33.21,M,,*78


: successfully parse sentence at 19:54:15

: AshtechGPS::processRecord -sample time is 1142279655
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195416.00,3636.56811,N,12152.55242,W,1,11,0.8,-2.66,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195416.00,3636.56811,N,12152.55242,W,1,11,0.8,-2.66,M,-33.21,M,,*73


: successfully parse sentence at 19:54:16

: AshtechGPS::processRecord -sample time is 1142279656
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195417.00,3636.56823,N,12152.55246,W,1,11,0.8,-2.56,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195417.00,3636.56823,N,12152.55246,W,1,11,0.8,-2.56,M,-33.21,M,,*74


: successfully parse sentence at 19:54:17

: AshtechGPS::processRecord -sample time is 1142279657
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195418.00,3636.56834,N,12152.55246,W,1,11,0.8,-2.38,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,195418.00,3636.56834,N,12152.55246,W,1,11,0.8,-2.38,M,-33.21,M,,*75


: successfully parse sentence at 19:54:18

: AshtechGPS::processRecord -sample time is 1142279658
: Sonardyne - POS response: 
POS V4,1 R44.76

: Sonardyne - parsing R44.76

: Sonardyne - read R = 44.760000 from 44.76

: Sonardyne - got range only (44.760000), tat = 510
: Sonardyne - POSD response: 
POSD S133.3,N33.1,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.3,N33.1,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,195419.00,3636.56852,N,12152.55246,W,1,11,0.8,-2.30,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195419.00,3636.56852,N,12152.55246,W,1,11,0.8,-2.30,M,-33.21,M,,*7C


: successfully parse sentence at 19:54:19

: AshtechGPS::processRecord -sample time is 1142279659
: Sonardyne - POS response: 
POS V4,1 R44.76

: Sonardyne - parsing R44.76

: Sonardyne - read R = 44.760000 from 44.76

: Sonardyne - got range only (44.760000), tat = 510
: Sonardyne - POSD response: 
POSD S121.4,N25.4,D27,U2,Q0.011012

: Sonardyne - POSD response: 
POSD S121.4,N25.4,D27,U2,Q0.011012

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

: AshtechGps::processRecord() - $GPGGA,195420.00,3636.56870,N,12152.55249,W,1,11,0.8,-2.22,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,195420.00,3636.56870,N,12152.55249,W,1,11,0.8,-2.22,M,-33.21,M,,*7A


: successfully parse sentence at 19:54:20

: AshtechGPS::processRecord -sample time is 1142279660
: Sonardyne - POS response: 
POS V4,1 R45.16,X-43.65,Y3.29,Z-11.13

: Sonardyne - parsing R45.16,X-43.65,Y3.29,Z-11.13

: Sonardyne - read R = 45.160000 from 45.16,X-43.65,Y3.29,Z-11.13

: Sonardyne - got all data, Vehicle coordinates,
    r=45.160000, x=11.130000, y=-43.650000, z=-3.290000 tat = 530
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195421.00,3636.56893,N,12152.55249,W,1,11,0.8,-2.30,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,195421.00,3636.56893,N,12152.55249,W,1,11,0.8,-2.30,M,-33.21,M,,*75


: successfully parse sentence at 19:54:21

: AshtechGPS::processRecord -sample time is 1142279661
: Sonardyne - POS response: 
POS V4,1 R45.37,X7.97,Y8.92,Z-43.76

: Sonardyne - parsing R45.37,X7.97,Y8.92,Z-43.76

: Sonardyne - read R = 45.370000 from 45.37,X7.97,Y8.92,Z-43.76

: Sonardyne - got all data, Vehicle coordinates,
    r=45.370000, x=43.760000, y=7.970000, z=-8.920000 tat = 530
: BluefinBatt Reply: $aaq0 d- 32.36 10.31 16.21 4.05 4.08 0   336.56 02:25:30 m

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

: AshtechGps::processRecord() - $GPGGA,195422.00,3636.56921,N,12152.55265,W,1,11,0.8,-2.52,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195422.00,3636.56921,N,12152.55265,W,1,11,0.8,-2.52,M,-33.21,M,,*74


: successfully parse sentence at 19:54:22

: AshtechGPS::processRecord -sample time is 1142279662
: Sonardyne - POS response: 
POS V4,1 R45.50

: Sonardyne - parsing R45.50

: Sonardyne - read R = 45.500000 from 45.50

: Sonardyne - got range only (45.500000), tat = 510
: Sonardyne - POSD response: 
POSD S126.0,N29.2,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.0,N29.2,D11,U0,Q0.000000

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,195423.00,3636.56957,N,12152.55282,W,1,11,0.8,-2.49,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,195423.00,3636.56957,N,12152.55282,W,1,11,0.8,-2.49,M,-33.21,M,,*77


: successfully parse sentence at 19:54:23

: AshtechGPS::processRecord -sample time is 1142279663
: Sonardyne - POS response: 
POS V4,1 R45.76

: Sonardyne - parsing R45.76

: Sonardyne - read R = 45.760000 from 45.76

: Sonardyne - got range only (45.760000), tat = 510
: Sonardyne - POSD response: 
POSD S133.6,N32.4,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N32.4,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,195424.00,3636.56992,N,12152.55307,W,1,11,0.8,-2.53,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195424.00,3636.56992,N,12152.55307,W,1,11,0.8,-2.53,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:24

: AshtechGPS::processRecord -sample time is 1142279664
: Sonardyne - POS response: 
POS V4,1 R45.86

: Sonardyne - parsing R45.86

: Sonardyne - read R = 45.860000 from 45.86

: Sonardyne - got range only (45.860000), tat = 509
: Sonardyne - POSD response: 
POSD S135.6,N39.9,D7,U1,Q0.012946

: Sonardyne - POSD response: 
POSD S135.6,N39.9,D7,U1,Q0.012946

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

: AshtechGps::processRecord() - $GPGGA,195425.00,3636.57034,N,12152.55345,W,1,11,0.8,-2.70,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195425.00,3636.57034,N,12152.55345,W,1,11,0.8,-2.70,M,-33.21,M,,*7C


: successfully parse sentence at 19:54:25

: AshtechGPS::processRecord -sample time is 1142279665
: Sonardyne - POS response: 
POS V4,1 R45.84

: Sonardyne - parsing R45.84

: Sonardyne - read R = 45.840000 from 45.84

: Sonardyne - got range only (45.840000), tat = 510
: Sonardyne - POSD response: 
POSD S138.8,N39.6,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.8,N39.6,D-1,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,195426.00,3636.57077,N,12152.55395,W,1,11,0.8,-2.84,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195426.00,3636.57077,N,12152.55395,W,1,11,0.8,-2.84,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:26

: AshtechGPS::processRecord -sample time is 1142279666
: Sonardyne - POS response: 
POS V4,1 R45.67

: Sonardyne - parsing R45.67

: Sonardyne - read R = 45.670000 from 45.67

: Sonardyne - got range only (45.670000), tat = 510
: Sonardyne - POSD response: 
POSD S130.6,N32.0,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N32.0,D-15,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195427.00,3636.57116,N,12152.55454,W,1,11,0.8,-2.74,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195427.00,3636.57116,N,12152.55454,W,1,11,0.8,-2.74,M,-33.21,M,,*7C


: successfully parse sentence at 19:54:27

: AshtechGPS::processRecord -sample time is 1142279667
: Sonardyne - POS response: 
POS V4,1 R45.67

: Sonardyne - parsing R45.67

: Sonardyne - read R = 45.670000 from 45.67

: Sonardyne - got range only (45.670000), tat = 510
: Sonardyne - POSD response: 
POSD S137.5,N31.5,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.5,N31.5,D-5,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195428.00,3636.57147,N,12152.55508,W,1,11,0.8,-2.56,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,195428.00,3636.57147,N,12152.55508,W,1,11,0.8,-2.56,M,-33.21,M,,*7F


: successfully parse sentence at 19:54:28

: AshtechGPS::processRecord -sample time is 1142279668
: 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 S126.3,N28.2,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N28.2,D16,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195429.00,3636.57172,N,12152.55570,W,1,11,0.8,-2.60,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195429.00,3636.57172,N,12152.55570,W,1,11,0.8,-2.60,M,-33.21,M,,*72


: successfully parse sentence at 19:54:29

: AshtechGPS::processRecord -sample time is 1142279669
: Sonardyne - POS response: 
POS V4,1 R44.82

: Sonardyne - parsing R44.82

: Sonardyne - read R = 44.820000 from 44.82

: Sonardyne - got range only (44.820000), tat = 510
: Sonardyne - POSD response: 
POSD S138.1,N29.6,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.1,N29.6,D-22,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,195430.00,3636.57191,N,12152.55643,W,1,11,0.8,-2.74,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,195430.00,3636.57191,N,12152.55643,W,1,11,0.8,-2.74,M,-33.21,M,,*71


: successfully parse sentence at 19:54:30

: AshtechGPS::processRecord -sample time is 1142279670
: Sonardyne - POS response: 
POS V4,1 R44.31

: Sonardyne - parsing R44.31

: Sonardyne - read R = 44.310000 from 44.31

: Sonardyne - got range only (44.310000), tat = 510
: Sonardyne - POSD response: 
POSD S136.7,N32.9,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N32.9,D-14,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,195431.00,3636.57203,N,12152.55722,W,1,11,0.8,-2.76,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195431.00,3636.57203,N,12152.55722,W,1,11,0.8,-2.76,M,-33.21,M,,*7C


: successfully parse sentence at 19:54:31

: AshtechGPS::processRecord -sample time is 1142279671
: Sonardyne - POS response: 
POS V4,1 R43.92

: Sonardyne - parsing R43.92

: Sonardyne - read R = 43.920000 from 43.92

: Sonardyne - got range only (43.920000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.2,N35.4,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.2,N35.4,D-17,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.39  9.26 16.21 4.05 4.08 0   335.56 02:25:40 m

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

: AshtechGps::processRecord() - $GPGGA,195432.00,3636.57206,N,12152.55802,W,1,11,0.8,-2.51,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195432.00,3636.57206,N,12152.55802,W,1,11,0.8,-2.51,M,-33.21,M,,*72


: successfully parse sentence at 19:54:32

: AshtechGPS::processRecord -sample time is 1142279672
: Sonardyne - POS response: 
POS V4,1 R43.12

: Sonardyne - parsing R43.12

: Sonardyne - read R = 43.120000 from 43.12

: Sonardyne - got range only (43.120000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N37.7,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N37.7,D-21,U0,Q0.000000

: batts online 1, min cell voltage 4.050000, mean min cell voltage 4.050000

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

: AshtechGps::processRecord() - $GPGGA,195433.00,3636.57192,N,12152.55881,W,1,11,0.8,-2.36,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,195433.00,3636.57192,N,12152.55881,W,1,11,0.8,-2.36,M,-33.21,M,,*77


: successfully parse sentence at 19:54:33

: AshtechGPS::processRecord -sample time is 1142279673
: Sonardyne - POS response: 
POS V4,1 R42.38

: Sonardyne - parsing R42.38

: Sonardyne - read R = 42.380000 from 42.38

: Sonardyne - got range only (42.380000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.1,N34.0,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.1,N34.0,D-20,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,195434.00,3636.57168,N,12152.55957,W,1,11,0.8,-2.29,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,195434.00,3636.57168,N,12152.55957,W,1,11,0.8,-2.29,M,-33.21,M,,*71


: successfully parse sentence at 19:54:34

: AshtechGPS::processRecord -sample time is 1142279674
: Sonardyne - POS response: 
POS V4,1 R41.39

: Sonardyne - parsing R41.39

: Sonardyne - read R = 41.390000 from 41.39

: Sonardyne - got range only (41.390000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.7,N35.6,D-26,U1,Q0.007238

: Sonardyne - POSD response: 
POSD S+144.7,N35.6,D-26,U1,Q0.007238

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

: AshtechGps::processRecord() - $GPGGA,195435.00,3636.57132,N,12152.56033,W,1,11,0.8,-2.31,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195435.00,3636.57132,N,12152.56033,W,1,11,0.8,-2.31,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:35

: AshtechGPS::processRecord -sample time is 1142279675
: Sonardyne - POS response: 
POS V4,1 R40.52,X-27.48,Y-29.78,Z0.00

: Sonardyne - parsing R40.52,X-27.48,Y-29.78,Z0.00

: Sonardyne - read R = 40.520000 from 40.52,X-27.48,Y-29.78,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=40.520000, x=0.000000, y=-27.480000, z=29.780000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.3,N32.2,D-18,U8,Q0.003142

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

: AshtechGps::processRecord() - $GPGGA,195436.00,3636.57099,N,12152.56114,W,1,11,0.8,-2.44,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195436.00,3636.57099,N,12152.56114,W,1,11,0.8,-2.44,M,-33.21,M,,*7B


: successfully parse sentence at 19:54:36

: AshtechGPS::processRecord -sample time is 1142279676
: Sonardyne - POS response: 
POS V4,1 R39.75

: Sonardyne - parsing R39.75

: Sonardyne - read R = 39.750000 from 39.75

: Sonardyne - got range only (39.750000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.6,N36.7,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N36.7,D-23,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,195437.00,3636.57069,N,12152.56197,W,1,11,0.8,-2.42,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,195437.00,3636.57069,N,12152.56197,W,1,11,0.8,-2.42,M,-33.21,M,,*78


: successfully parse sentence at 19:54:37

: AshtechGPS::processRecord -sample time is 1142279677
: Sonardyne - POS response: 
POS V4,1 R38.71

: Sonardyne - parsing R38.71

: Sonardyne - read R = 38.710000 from 38.71

: Sonardyne - got range only (38.710000), tat = 500
: Sonardyne - POSD response: 
POSD S136.6,N25.7,D-17,U1,Q0.008738

: Sonardyne - POSD response: 
POSD S136.6,N25.7,D-17,U1,Q0.008738

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

: AshtechGps::processRecord() - $GPGGA,195438.00,3636.57038,N,12152.56277,W,1,11,0.8,-2.72,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,195438.00,3636.57038,N,12152.56277,W,1,11,0.8,-2.72,M,-33.21,M,,*7D


: successfully parse sentence at 19:54:38

: AshtechGPS::processRecord -sample time is 1142279678
: Sonardyne - POS response: 
POS V4,1 R38.10,X-29.73,Y5.33,Z-23.22

: Sonardyne - parsing R38.10,X-29.73,Y5.33,Z-23.22

: Sonardyne - read R = 38.100000 from 38.10,X-29.73,Y5.33,Z-23.22

: Sonardyne - got all data, Vehicle coordinates,
    r=38.100000, x=23.220000, y=-29.730000, z=-5.330000 tat = 520
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195439.00,3636.57019,N,12152.56367,W,1,11,0.8,-2.80,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195439.00,3636.57019,N,12152.56367,W,1,11,0.8,-2.80,M,-33.21,M,,*72


: successfully parse sentence at 19:54:39

: AshtechGPS::processRecord -sample time is 1142279679
: Sonardyne - POS response: 
POS V4,1 R37.35

: Sonardyne - parsing R37.35

: Sonardyne - read R = 37.350000 from 37.35

: Sonardyne - got range only (37.350000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N37.3,D-23,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,195440.00,3636.57000,N,12152.56465,W,1,11,0.8,-2.75,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195440.00,3636.57000,N,12152.56465,W,1,11,0.8,-2.75,M,-33.21,M,,*7B


: successfully parse sentence at 19:54:40

: AshtechGPS::processRecord -sample time is 1142279680
: Sonardyne - POS response: 
POS V4,1 R36.44

: Sonardyne - parsing R36.44

: Sonardyne - read R = 36.440000 from 36.44

: Sonardyne - got range only (36.440000), tat = 500
: Sonardyne - POSD response: 
POSD S139.6,N30.2,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.6,N30.2,D-16,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195441.00,3636.56976,N,12152.56561,W,1,11,0.8,-2.65,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,195441.00,3636.56976,N,12152.56561,W,1,11,0.8,-2.65,M,-33.21,M,,*77


: successfully parse sentence at 19:54:41

: AshtechGPS::processRecord -sample time is 1142279681
: Sonardyne - POS response: 
POS V4,1 R35.89,X-21.91,Y28.43,Z0.00

: Sonardyne - parsing R35.89,X-21.91,Y28.43,Z0.00

: Sonardyne - read R = 35.890000 from 35.89,X-21.91,Y28.43,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=35.890000, x=0.000000, y=-21.910000, z=-28.430000 tat = 520
: BluefinBatt Reply: $aaq0 d- 32.39  8.92 16.30 4.03 4.07 0   334.87 02:25:50 m

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

: AshtechGps::processRecord() - $GPGGA,195442.00,3636.56948,N,12152.56645,W,1,11,0.8,-2.38,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195442.00,3636.56948,N,12152.56645,W,1,11,0.8,-2.38,M,-33.21,M,,*74


: successfully parse sentence at 19:54:42

: AshtechGPS::processRecord -sample time is 1142279682
: Sonardyne - POS response: 
POS V4,1 R35.00

: Sonardyne - parsing R35.00

: Sonardyne - read R = 35.000000 from 35.00

: Sonardyne - got range only (35.000000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.3,N32.8,D-17,U4,Q0.018033

: Sonardyne - POSD response: 
POSD S+144.3,N32.8,D-17,U4,Q0.018033

: LayeredControl::execute() -- (t = 38.997329) Behavior setpoint has changed to state Finished

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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,195443.00,3636.56913,N,12152.56721,W,1,11,0.8,-2.11,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195443.00,3636.56913,N,12152.56721,W,1,11,0.8,-2.11,M,-33.21,M,,*73


: successfully parse sentence at 19:54:43

: AshtechGPS::processRecord -sample time is 1142279683
: Sonardyne - POS response: 
POS V4,1 R33.85

: Sonardyne - parsing R33.85

: Sonardyne - read R = 33.850000 from 33.85

: Sonardyne - got range only (33.850000), tat = 490
: Sonardyne - POSD response: 
POSD S137.2,N26.0,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.2,N26.0,D22,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195444.00,3636.56869,N,12152.56799,W,1,11,0.8,-2.22,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195444.00,3636.56869,N,12152.56799,W,1,11,0.8,-2.22,M,-33.21,M,,*7B


: successfully parse sentence at 19:54:44

: AshtechGPS::processRecord -sample time is 1142279684
: Sonardyne - POS response: 
POS V4,1 R32.99

: Sonardyne - parsing R32.99

: Sonardyne - read R = 32.990000 from 32.99

: Sonardyne - got range only (32.990000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.5,N35.4,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N35.4,D-11,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,195445.00,3636.56828,N,12152.56881,W,1,11,0.8,-2.40,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,195445.00,3636.56828,N,12152.56881,W,1,11,0.8,-2.40,M,-33.21,M,,*7D


: successfully parse sentence at 19:54:45

: AshtechGPS::processRecord -sample time is 1142279685
: Sonardyne - POS response: 
POS V4,1 R32.34

: Sonardyne - parsing R32.34

: Sonardyne - read R = 32.340000 from 32.34

: Sonardyne - got range only (32.340000), tat = 490
: Sonardyne - POSD response: 
POSD S139.9,N25.6,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.9,N25.6,D-30,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,195446.00,3636.56797,N,12152.56967,W,1,11,0.8,-2.54,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,195446.00,3636.56797,N,12152.56967,W,1,11,0.8,-2.54,M,-33.21,M,,*79


: successfully parse sentence at 19:54:46

: AshtechGPS::processRecord -sample time is 1142279686
: Sonardyne - POS response: 
POS V4,1 R31.84

: Sonardyne - parsing R31.84

: Sonardyne - read R = 31.840000 from 31.84

: Sonardyne - got range only (31.840000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N39.0,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N39.0,D-13,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195447.00,3636.56754,N,12152.57048,W,1,11,0.8,-2.56,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,195447.00,3636.56754,N,12152.57048,W,1,11,0.8,-2.56,M,-33.21,M,,*70


: successfully parse sentence at 19:54:47

: AshtechGPS::processRecord -sample time is 1142279687
: Sonardyne - POS response: 
POS V4,1 R31.31

: Sonardyne - parsing R31.31

: Sonardyne - read R = 31.310000 from 31.31

: Sonardyne - got range only (31.310000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N39.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.7,N39.5,D-10,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195448.00,3636.56706,N,12152.57124,W,1,11,0.8,-2.46,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195448.00,3636.56706,N,12152.57124,W,1,11,0.8,-2.46,M,-33.21,M,,*72


: successfully parse sentence at 19:54:48

: AshtechGPS::processRecord -sample time is 1142279688
: Sonardyne - POS response: 
POS V4,1 R30.70,X7.54,Y4.65,Z-29.40

: Sonardyne - parsing R30.70,X7.54,Y4.65,Z-29.40

: Sonardyne - read R = 30.700000 from 30.70,X7.54,Y4.65,Z-29.40

: Sonardyne - got all data, Vehicle coordinates,
    r=30.700000, x=29.400000, y=7.540000, z=-4.650000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N36.7,D-21,U6,Q0.012569

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

: AshtechGps::processRecord() - $GPGGA,195449.00,3636.56660,N,12152.57204,W,1,11,0.8,-2.40,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,195449.00,3636.56660,N,12152.57204,W,1,11,0.8,-2.40,M,-33.21,M,,*75


: successfully parse sentence at 19:54:49

: AshtechGPS::processRecord -sample time is 1142279689
: Sonardyne - POS response: 
POS V4,1 R30.08

: Sonardyne - parsing R30.08

: Sonardyne - read R = 30.080000 from 30.08

: Sonardyne - got range only (30.080000), tat = 490
: Sonardyne - POSD response: 
POSD S136.6,N26.7,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.6,N26.7,D3,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195450.00,3636.56617,N,12152.57281,W,1,11,0.8,-2.35,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195450.00,3636.56617,N,12152.57281,W,1,11,0.8,-2.35,M,-33.21,M,,*72


: successfully parse sentence at 19:54:50

: AshtechGPS::processRecord -sample time is 1142279690
: Sonardyne - POS response: 
POS V4,1 R29.64,X19.05,Y22.71,Z0.00

: Sonardyne - parsing R29.64,X19.05,Y22.71,Z0.00

: Sonardyne - read R = 29.640000 from 29.64,X19.05,Y22.71,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=29.640000, x=0.000000, y=19.050000, z=-22.710000 tat = 510
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195451.00,3636.56575,N,12152.57352,W,1,11,0.8,-2.37,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,195451.00,3636.56575,N,12152.57352,W,1,11,0.8,-2.37,M,-33.21,M,,*79


: successfully parse sentence at 19:54:51

: AshtechGPS::processRecord -sample time is 1142279691
: Sonardyne - POS response: 
POS V4,1 R29.20,X-26.97,Y-7.67,Z-8.16

: Sonardyne - parsing R29.20,X-26.97,Y-7.67,Z-8.16

: Sonardyne - read R = 29.200000 from 29.20,X-26.97,Y-7.67,Z-8.16

: Sonardyne - got all data, Vehicle coordinates,
    r=29.200000, x=8.160000, y=-26.970000, z=7.670000 tat = 510
: BluefinBatt Reply: $aaq0 d- 32.39  8.25 16.30 4.03 4.07 0   333.93 02:26:00 m

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

: AshtechGps::processRecord() - $GPGGA,195452.00,3636.56543,N,12152.57432,W,1,11,0.8,-2.42,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,195452.00,3636.56543,N,12152.57432,W,1,11,0.8,-2.42,M,-33.21,M,,*7C


: successfully parse sentence at 19:54:52

: AshtechGPS::processRecord -sample time is 1142279692
: Sonardyne - POS response: 
POS V4,1 R29.21

: Sonardyne - parsing R29.21

: Sonardyne - read R = 29.210000 from 29.21

: Sonardyne - got range only (29.210000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.0,N33.8,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.0,N33.8,D-2,U0,Q0.000000

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,195453.00,3636.56506,N,12152.57515,W,1,11,0.8,-2.59,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195453.00,3636.56506,N,12152.57515,W,1,11,0.8,-2.59,M,-33.21,M,,*72


: successfully parse sentence at 19:54:53

: AshtechGPS::processRecord -sample time is 1142279693
: Sonardyne - POS response: 
POS V4,1 R28.92

: Sonardyne - parsing R28.92

: Sonardyne - read R = 28.920000 from 28.92

: Sonardyne - got range only (28.920000), tat = 489
: Sonardyne - POSD response: 
POSD S+141.0,N25.3,D37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.0,N25.3,D37,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,195454.00,3636.56510,N,12152.57621,W,1,11,0.8,-2.89,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,195454.00,3636.56510,N,12152.57621,W,1,11,0.8,-2.89,M,-33.21,M,,*7B


: successfully parse sentence at 19:54:54

: AshtechGPS::processRecord -sample time is 1142279694
: Sonardyne - POS response: 
POS V4,1 R29.32,X18.87,Y22.44,Z0.00

: Sonardyne - parsing R29.32,X18.87,Y22.44,Z0.00

: Sonardyne - read R = 29.320000 from 29.32,X18.87,Y22.44,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=29.320000, x=0.000000, y=18.870000, z=-22.440000 tat = 510
: Sonardyne - POSD response: 
POSD S+143.9,N33.2,D-4,U6,Q0.010952

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

: AshtechGps::processRecord() - $GPGGA,195455.00,3636.56481,N,12152.57711,W,1,11,0.8,-2.65,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195455.00,3636.56481,N,12152.57711,W,1,11,0.8,-2.65,M,-33.21,M,,*73


: successfully parse sentence at 19:54:55

: AshtechGPS::processRecord -sample time is 1142279695
: Sonardyne - POS response: 
POS V4,1 R29.65

: Sonardyne - parsing R29.65

: Sonardyne - read R = 29.650000 from 29.65

: Sonardyne - got range only (29.650000), tat = 490
: Sonardyne - POSD response: 
POSD S137.7,N29.0,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N29.0,D3,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195456.00,3636.56458,N,12152.57797,W,1,11,0.8,-2.11,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,195456.00,3636.56458,N,12152.57797,W,1,11,0.8,-2.11,M,-33.21,M,,*79


: successfully parse sentence at 19:54:56

: AshtechGPS::processRecord -sample time is 1142279696
: Sonardyne - POS response: 
POS V4,1 R29.42

: Sonardyne - parsing R29.42

: Sonardyne - read R = 29.420000 from 29.42

: Sonardyne - got range only (29.420000), tat = 490
: Sonardyne - POSD response: 
POSD S137.4,N26.6,D-10,U2,Q0.000460

: Sonardyne - POSD response: 
POSD S137.4,N26.6,D-10,U2,Q0.000460

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

: AshtechGps::processRecord() - $GPGGA,195457.00,3636.56417,N,12152.57871,W,1,11,0.8,-2.02,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,195457.00,3636.56417,N,12152.57871,W,1,11,0.8,-2.02,M,-33.21,M,,*76


: successfully parse sentence at 19:54:57

: AshtechGPS::processRecord -sample time is 1142279697
: Sonardyne - POS response: 
POS V4,1 R28.99,X21.92,Y10.06,Z-16.07

: Sonardyne - parsing R28.99,X21.92,Y10.06,Z-16.07

: Sonardyne - read R = 28.990000 from 28.99,X21.92,Y10.06,Z-16.07

: Sonardyne - got all data, Vehicle coordinates,
    r=28.990000, x=16.070000, y=21.920000, z=-10.060000 tat = 510
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195458.00,3636.56375,N,12152.57947,W,1,11,0.8,-2.20,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,195458.00,3636.56375,N,12152.57947,W,1,11,0.8,-2.20,M,-33.21,M,,*7E


: successfully parse sentence at 19:54:58

: AshtechGPS::processRecord -sample time is 1142279698
: Sonardyne - POS response: 
POS V4,1 R28.79,X20.64,Y11.33,Z-16.57

: Sonardyne - parsing R28.79,X20.64,Y11.33,Z-16.57

: Sonardyne - read R = 28.790000 from 28.79,X20.64,Y11.33,Z-16.57

: Sonardyne - got all data, Vehicle coordinates,
    r=28.790000, x=16.570000, y=20.640000, z=-11.330000 tat = 510
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195459.00,3636.56337,N,12152.58025,W,1,11,0.8,-2.26,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,195459.00,3636.56337,N,12152.58025,W,1,11,0.8,-2.26,M,-33.21,M,,*7D


: successfully parse sentence at 19:54:59

: AshtechGPS::processRecord -sample time is 1142279699
: Sonardyne - POS response: 
POS V4,1 R28.76

: Sonardyne - parsing R28.76

: Sonardyne - read R = 28.760000 from 28.76

: Sonardyne - got range only (28.760000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.6,N43.7,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.6,N43.7,D4,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,195500.00,3636.56294,N,12152.58103,W,1,11,0.8,-2.58,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,195500.00,3636.56294,N,12152.58103,W,1,11,0.8,-2.58,M,-33.21,M,,*74


: successfully parse sentence at 19:55:0

: AshtechGPS::processRecord -sample time is 1142279700
: Sonardyne - POS response: 
POS V4,1 R29.21,X-24.11,Y12.50,Z-10.76

: Sonardyne - parsing R29.21,X-24.11,Y12.50,Z-10.76

: Sonardyne - read R = 29.210000 from 29.21,X-24.11,Y12.50,Z-10.76

: Sonardyne - got all data, Vehicle coordinates,
    r=29.210000, x=10.760000, y=-24.110000, z=-12.500000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.3,N38.0,D2,U6,Q0.009921

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

: AshtechGps::processRecord() - $GPGGA,195501.00,3636.56261,N,12152.58191,W,1,11,0.8,-2.96,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,195501.00,3636.56261,N,12152.58191,W,1,11,0.8,-2.96,M,-33.21,M,,*76


: successfully parse sentence at 19:55:1

: AshtechGPS::processRecord -sample time is 1142279701
: Sonardyne - POS response: 
POS V4,1 R29.52

: Sonardyne - parsing R29.52

: Sonardyne - read R = 29.520000 from 29.52

: Sonardyne - got range only (29.520000), tat = 490
: Sonardyne - POSD response: 
POSD S+140.9,N30.8,D5,U3,Q0.013022

: Sonardyne - POSD response: 
POSD S+140.9,N30.8,D5,U3,Q0.013022

: BluefinBatt Reply: $aaq0 d- 32.36  8.55 16.30 4.04 4.07 0   333.34 02:26:10 m

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

: AshtechGps::processRecord() - $GPGGA,195502.00,3636.56225,N,12152.58278,W,1,11,0.8,-2.94,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195502.00,3636.56225,N,12152.58278,W,1,11,0.8,-2.94,M,-33.21,M,,*73


: successfully parse sentence at 19:55:2

: AshtechGPS::processRecord -sample time is 1142279702
: Sonardyne - POS response: 
POS V4,1 R29.97

: Sonardyne - parsing R29.97

: Sonardyne - read R = 29.970000 from 29.97

: Sonardyne - got range only (29.970000), tat = 490
: Sonardyne - POSD response: 
POSD S139.7,N28.3,D-8,U4,Q0.011469

: Sonardyne - POSD response: 
POSD S139.7,N28.3,D-8,U4,Q0.011469

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,195503.00,3636.56197,N,12152.58358,W,1,11,0.8,-3.04,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,195503.00,3636.56197,N,12152.58358,W,1,11,0.8,-3.04,M,-33.21,M,,*73


: successfully parse sentence at 19:55:3

: AshtechGPS::processRecord -sample time is 1142279703
: Sonardyne - POS response: 
POS V4,1 R30.19

: Sonardyne - parsing R30.19

: Sonardyne - read R = 30.190000 from 30.19

: Sonardyne - got range only (30.190000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.1,N31.0,D-17,U1,Q0.008181

: Sonardyne - POSD response: 
POSD S+144.1,N31.0,D-17,U1,Q0.008181

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

: AshtechGps::processRecord() - $GPGGA,195504.00,3636.56128,N,12152.58421,W,1,10,0.9,-4.19,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,195504.00,3636.56128,N,12152.58421,W,1,10,0.9,-4.19,M,-33.21,M,,*72


: successfully parse sentence at 19:55:4

: AshtechGPS::processRecord -sample time is 1142279704
: Sonardyne - POS response: 
POS V4,1 R30.22

: Sonardyne - parsing R30.22

: Sonardyne - read R = 30.220000 from 30.22

: Sonardyne - got range only (30.220000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.0,N33.4,D-12,U1,Q0.003579

: Sonardyne - POSD response: 
POSD S+144.0,N33.4,D-12,U1,Q0.003579

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

: AshtechGps::processRecord() - $GPGGA,195505.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195505.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.21

: Sonardyne - parsing R30.21

: Sonardyne - read R = 30.210000 from 30.21

: Sonardyne - got range only (30.210000), tat = 490
: Sonardyne - POSD response: 
POSD S139.3,N33.9,D-20,U2,Q0.012710

: Sonardyne - POSD response: 
POSD S139.3,N33.9,D-20,U2,Q0.012710

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

: AshtechGps::processRecord() - $GPGGA,195506.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195506.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.26

: Sonardyne - parsing R30.26

: Sonardyne - read R = 30.260000 from 30.26

: Sonardyne - got range only (30.260000), tat = 490
: Sonardyne - POSD response: 
POSD S133.8,N32.0,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.8,N32.0,D-25,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,195507.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195507.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.47

: Sonardyne - parsing R30.47

: Sonardyne - read R = 30.470000 from 30.47

: Sonardyne - got range only (30.470000), tat = 490
: Sonardyne - POSD response: 
POSD S130.9,N28.9,D1,U3,Q0.006407

: Sonardyne - POSD response: 
POSD S130.9,N28.9,D1,U3,Q0.006407

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

: AshtechGps::processRecord() - $GPGGA,195508.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195508.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.09

: Sonardyne - parsing R31.09

: Sonardyne - read R = 31.090000 from 31.09

: Sonardyne - got range only (31.090000), tat = 490
: Sonardyne - POSD response: 
POSD S131.1,N31.2,D-9,U4,Q0.005329

: Sonardyne - POSD response: 
POSD S131.1,N31.2,D-9,U4,Q0.005329

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

: AshtechGps::processRecord() - $GPGGA,195509.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195509.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.82

: Sonardyne - parsing R31.82

: Sonardyne - read R = 31.820000 from 31.82

: Sonardyne - got range only (31.820000), tat = 490
: Sonardyne - POSD response: 
POSD S133.6,N31.0,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N31.0,D-12,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,195510.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195510.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.59

: Sonardyne - parsing R32.59

: Sonardyne - read R = 32.590000 from 32.59

: Sonardyne - got range only (32.590000), tat = 490
: Sonardyne - POSD response: 
POSD S133.2,N35.5,D-15,U5,Q0.002348

: Sonardyne - POSD response: 
POSD S133.2,N35.5,D-15,U5,Q0.002348

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

: AshtechGps::processRecord() - $GPGGA,195511.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195511.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.34

: Sonardyne - parsing R33.34

: Sonardyne - read R = 33.340000 from 33.34

: Sonardyne - got range only (33.340000), tat = 490
: Sonardyne - POSD response: 
POSD S133.8,N29.7,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.8,N29.7,D21,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.36  9.46 16.30 4.04 4.07 0   332.38 02:26:20 m

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

: AshtechGps::processRecord() - $GPGGA,195512.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195512.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.87

: Sonardyne - parsing R33.87

: Sonardyne - read R = 33.870000 from 33.87

: Sonardyne - got range only (33.870000), tat = 490
: Sonardyne - POSD response: 
POSD S133.5,N32.5,D30,U4,Q0.005633

: Sonardyne - POSD response: 
POSD S133.5,N32.5,D30,U4,Q0.005633

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,195513.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195513.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.35

: Sonardyne - parsing R34.35

: Sonardyne - read R = 34.350000 from 34.35

: Sonardyne - got range only (34.350000), tat = 490
: Sonardyne - POSD response: 
POSD S131.0,N30.0,D-27,U5,Q0.002053

: Sonardyne - POSD response: 
POSD S131.0,N30.0,D-27,U5,Q0.002053

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

: AshtechGps::processRecord() - $GPGGA,195514.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195514.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.76

: Sonardyne - parsing R34.76

: Sonardyne - read R = 34.760000 from 34.76

: Sonardyne - got range only (34.760000), tat = 490
: Sonardyne - POSD response: 
POSD S128.6,N27.3,D43,U3,Q0.006194

: Sonardyne - POSD response: 
POSD S128.6,N27.3,D43,U3,Q0.006194

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

: AshtechGps::processRecord() - $GPGGA,195515.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195515.00,,,,,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,195516.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195516.00,,,,,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,195517.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195517.00,,,,,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,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,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,195518.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195518.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.94,X38.54,Y-5.53,Z0.00

: Sonardyne - parsing R38.94,X38.54,Y-5.53,Z0.00

: Sonardyne - read R = 38.940000 from 38.94,X38.54,Y-5.53,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=38.940000, x=0.000000, y=38.540000, z=5.530000 tat = 520
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195519.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195519.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 4.020772 > 4.000000 at time 75.994794

: LayeredControl::execute() -- (t = 75.994794) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 75.99                             (wplog)
  The current location (N,E) = 4052117.5      , 600468.4         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 341.8 Degrees.

: LayeredControl::execute() -- (t = 75.994794) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R44.96

: Sonardyne - parsing R44.96

: Sonardyne - read R = 44.960000 from 44.96

: Sonardyne - got range only (44.960000), tat = 510
: Sonardyne - POSD response: 
POSD S116.9,N25.6,D-38,U2,Q0.001876

: Sonardyne - POSD response: 
POSD S116.9,N25.6,D-38,U2,Q0.001876

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

: AshtechGps::processRecord() - $GPGGA,195520.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195520.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.52,X-21.51,Y-31.43,Z-16.53

: Sonardyne - parsing R41.52,X-21.51,Y-31.43,Z-16.53

: Sonardyne - read R = 41.520000 from 41.52,X-21.51,Y-31.43,Z-16.53

: Sonardyne - got all data, Vehicle coordinates,
    r=41.520000, x=16.530000, y=-21.510000, z=31.430000 tat = 530
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195521.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195521.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.32  9.33 16.30 4.03 4.07 0   331.71 02:26:30 m

: Sonardyne - POS response: 
POS V4,1 R42.39

: Sonardyne - parsing R42.39

: Sonardyne - read R = 42.390000 from 42.39

: Sonardyne - got range only (42.390000), tat = 500
: Sonardyne - POSD response: 
POSD S119.1,N23.4,D86,U2,Q0.006563

: Sonardyne - POSD response: 
POSD S119.1,N23.4,D86,U2,Q0.006563

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

: AshtechGps::processRecord() - $GPGGA,195522.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195522.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POS response: 
POS V4,1 R46.99

: Sonardyne - parsing R46.99

: Sonardyne - read R = 46.990000 from 46.99

: Sonardyne - got range only (46.990000), tat = 509
: Sonardyne - POSD response: 
POSD S117.0,N23.2,D-73,U4,Q0.006674

: Sonardyne - POSD response: 
POSD S117.0,N23.2,D-73,U4,Q0.006674

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

: AshtechGps::processRecord() - $GPGGA,195523.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195523.00,,,,,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,195524.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195524.00,,,,,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,195525.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195525.00,,,,,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,195526.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195526.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,195527.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195527.00,,,,,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,195528.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195528.00,,,,,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,195529.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195529.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,195530.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195530.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.12

: Sonardyne - parsing R54.12

: Sonardyne - read R = 54.120000 from 54.12

: Sonardyne - got range only (54.120000), tat = 520
: Sonardyne - POSD response: 
POSD S121.4,N23.9,D-82,U3,Q0.008907

: Sonardyne - POSD response: 
POSD S121.4,N23.9,D-82,U3,Q0.008907

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

: AshtechGps::processRecord() - $GPGGA,195531.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195531.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.39  8.39 16.40 4.03 4.07 0   330.70 02:26:40 m

: Sonardyne - POS response: 
POS V4,1 R55.66

: Sonardyne - parsing R55.66

: Sonardyne - read R = 55.660000 from 55.66

: Sonardyne - got range only (55.660000), tat = 520
: Sonardyne - POSD response: 
POSD S126.6,N26.6,D35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N26.6,D35,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,195532.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195532.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POS response: 
POS V4,1 R57.63

: Sonardyne - parsing R57.63

: Sonardyne - read R = 57.630000 from 57.63

: Sonardyne - got range only (57.630000), tat = 530
: Sonardyne - POSD response: 
POSD S125.1,N22.0,D77,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.1,N22.0,D77,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,195533.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195533.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.22

: Sonardyne - parsing R55.22

: Sonardyne - read R = 55.220000 from 55.22

: Sonardyne - got range only (55.220000), tat = 520
: Sonardyne - POSD response: 
POSD S130.2,N31.4,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N31.4,D-4,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,195534.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195534.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.34

: Sonardyne - parsing R56.34

: Sonardyne - read R = 56.340000 from 56.34

: Sonardyne - got range only (56.340000), tat = 520
: Sonardyne - POSD response: 
POSD S135.1,N31.1,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.1,N31.1,D26,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,195535.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195535.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.89

: Sonardyne - parsing R55.89

: Sonardyne - read R = 55.890000 from 55.89

: Sonardyne - got range only (55.890000), tat = 520
: Sonardyne - POSD response: 
POSD S130.6,N30.2,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N30.2,D20,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,195536.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195536.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.92

: Sonardyne - parsing R55.92

: Sonardyne - read R = 55.920000 from 55.92

: Sonardyne - got range only (55.920000), tat = 520
: Sonardyne - POSD response: 
POSD S130.9,N29.4,D-14,U1,Q0.014513

: Sonardyne - POSD response: 
POSD S130.9,N29.4,D-14,U1,Q0.014513

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

: AshtechGps::processRecord() - $GPGGA,195537.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195537.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.57,X-42.49,Y30.78,Z-18.32

: Sonardyne - parsing R55.57,X-42.49,Y30.78,Z-18.32

: Sonardyne - read R = 55.570000 from 55.57,X-42.49,Y30.78,Z-18.32

: Sonardyne - got all data, Vehicle coordinates,
    r=55.570000, x=18.320000, y=-42.490000, z=-30.780000 tat = 550
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195538.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195538.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.19,X-41.46,Y30.21,Z-20.37

: Sonardyne - parsing R55.19,X-41.46,Y30.21,Z-20.37

: Sonardyne - read R = 55.190000 from 55.19,X-41.46,Y30.21,Z-20.37

: Sonardyne - got all data, Vehicle coordinates,
    r=55.190000, x=20.370000, y=-41.460000, z=-30.210000 tat = 550
: AshtechGps::processRecord() - $GPGGA,195539.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195539.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.69

: Sonardyne - parsing R55.69

: Sonardyne - read R = 55.690000 from 55.69

: Sonardyne - got range only (55.690000), tat = 520
: Sonardyne - POSD response: 
POSD S136.0,N41.0,D1,U2,Q0.005089

: Sonardyne - POSD response: 
POSD S136.0,N41.0,D1,U2,Q0.005089

: AshtechGps::processRecord() - $GPGGA,195540.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195540.00,,,,,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 R54.88

: Sonardyne - parsing R54.88

: Sonardyne - read R = 54.880000 from 54.88

: Sonardyne - got range only (54.880000), tat = 520
: Sonardyne - POSD response: 
POSD S133.0,N32.9,D29,U3,Q0.001074

: Sonardyne - POSD response: 
POSD S133.0,N32.9,D29,U3,Q0.001074

: AshtechGps::processRecord() - $GPGGA,195541.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195541.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.32  9.97 16.40 4.03 4.06 0   329.98 02:26:50 m

: Sonardyne - POS response: 
POS V4,1 R55.08

: Sonardyne - parsing R55.08

: Sonardyne - read R = 55.080000 from 55.08

: Sonardyne - got range only (55.080000), tat = 520
: Sonardyne - POSD response: 
POSD S133.4,N37.1,D2,U2,Q0.000610

: Sonardyne - POSD response: 
POSD S133.4,N37.1,D2,U2,Q0.000610

: AshtechGps::processRecord() - $GPGGA,195542.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195542.00,,,,,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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POS response: 
POS V4,1 R55.42

: Sonardyne - parsing R55.42

: Sonardyne - read R = 55.420000 from 55.42

: Sonardyne - got range only (55.420000), tat = 520
: Sonardyne - POSD response: 
POSD S134.4,N30.3,D1,U1,Q0.005646

: Sonardyne - POSD response: 
POSD S134.4,N30.3,D1,U1,Q0.005646

: AshtechGps::processRecord() - $GPGGA,195543.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195543.00,,,,,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 R55.74

: Sonardyne - parsing R55.74

: Sonardyne - read R = 55.740000 from 55.74

: Sonardyne - got range only (55.740000), tat = 520
: Sonardyne - POSD response: 
POSD S131.5,N24.0,D-91,U2,Q0.003578

: Sonardyne - POSD response: 
POSD S131.5,N24.0,D-91,U2,Q0.003578

: AshtechGps::processRecord() - $GPGGA,195544.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195544.00,,,,,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 R56.31

: Sonardyne - parsing R56.31

: Sonardyne - read R = 56.310000 from 56.31

: Sonardyne - got range only (56.310000), tat = 520
: Sonardyne - POSD response: 
POSD S127.8,N29.2,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.8,N29.2,D6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195545.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195545.00,,,,,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 R57.58

: Sonardyne - parsing R57.58

: Sonardyne - read R = 57.580000 from 57.58

: Sonardyne - got range only (57.580000), tat = 520
: Sonardyne - POSD response: 
POSD S134.3,N26.3,D68,U1,Q0.006944

: Sonardyne - POSD response: 
POSD S134.3,N26.3,D68,U1,Q0.006944

: AshtechGps::processRecord() - $GPGGA,195546.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195546.00,,,,,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,195547.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195547.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,195548.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195548.00,,,,,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,195549.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195549.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195550.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195550.00,,,,,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 R60.82

: Sonardyne - parsing R60.82

: Sonardyne - read R = 60.820000 from 60.82

: Sonardyne - got range only (60.820000), tat = 530
: Sonardyne - POSD response: 
POSD S123.8,N28.8,D37,U4,Q0.000592

: Sonardyne - POSD response: 
POSD S123.8,N28.8,D37,U4,Q0.000592

: AshtechGps::processRecord() - $GPGGA,195551.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195551.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R61.22

: Sonardyne - parsing R61.22

: Sonardyne - read R = 61.220000 from 61.22

: Sonardyne - got range only (61.220000), tat = 530
: Sonardyne - POSD response: 
POSD S122.2,N22.3,D77,U1,Q0.002210

: Sonardyne - POSD response: 
POSD S122.2,N22.3,D77,U1,Q0.002210

: BluefinBatt Reply: $aaq0 d- 32.36  8.96 16.40 4.03 4.06 0   328.95 02:27:00 m

: AshtechGps::processRecord() - $GPGGA,195552.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195552.00,,,,,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 R61.82

: Sonardyne - parsing R61.82

: Sonardyne - read R = 61.820000 from 61.82

: Sonardyne - got range only (61.820000), tat = 530
: Sonardyne - POSD response: 
POSD S122.0,N23.6,D95,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.0,N23.6,D95,U0,Q0.000000

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195553.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195553.00,,,,,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 R63.32

: Sonardyne - parsing R63.32

: Sonardyne - read R = 63.320000 from 63.32

: Sonardyne - got range only (63.320000), tat = 530
: Sonardyne - POSD response: 
POSD S123.3,N26.8,D58,U4,Q0.001159

: Sonardyne - POSD response: 
POSD S123.3,N26.8,D58,U4,Q0.001159

: AshtechGps::processRecord() - $GPGGA,195554.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195554.00,,,,,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,195555.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195555.00,,,,,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,195556.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195556.00,,,,,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,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195557.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195557.00,,,,,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 R72.27

: Sonardyne - parsing R72.27

: Sonardyne - read R = 72.270000 from 72.27

: Sonardyne - got range only (72.270000), tat = 540
: Sonardyne - POSD response: 
POSD S108.4,N19.5,D-60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.4,N19.5,D-60,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195558.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195558.00,,,,,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 R73.23

: Sonardyne - parsing R73.23

: Sonardyne - read R = 73.230000 from 73.23

: Sonardyne - got range only (73.230000), tat = 550
: Sonardyne - POSD response: 
POSD S109.0,N23.8,D-52,U1,Q0.004928

: Sonardyne - POSD response: 
POSD S109.0,N23.8,D-52,U1,Q0.004928

: AshtechGps::processRecord() - $GPGGA,195559.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195559.00,,,,,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 R87.60

: Sonardyne - parsing R87.60

: Sonardyne - read R = 87.600000 from 87.60

: Sonardyne - got range only (87.600000), tat = 570
: Sonardyne - POSD response: 
POSD S112.7,N16.7,D64,U2,Q0.003830

: Sonardyne - POSD response: 
POSD S112.7,N16.7,D64,U2,Q0.003830

: AshtechGps::processRecord() - $GPGGA,195600.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195600.00,,,,,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,195601.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195601.00,,,,,0,00,,,M,,M,,*42


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

: BluefinBatt Reply: $aaq0 d- 32.32  8.86 16.50 4.03 4.06 0   328.26 02:27:10 m

: AshtechGps::processRecord() - $GPGGA,195602.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195602.00,,,,,0,00,,,M,,M,,*41


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195603.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195603.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,195604.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195604.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,195605.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195605.00,,,,,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,195606.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195606.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195607.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195607.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195608.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195608.00,,,,,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,195609.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195609.00,,,,,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,195610.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195610.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195611.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195611.00,,,,,0,00,,,M,,M,,*43


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

: BluefinBatt Reply: $aaq0 d- 32.32  8.79 16.50 4.03 4.06 0   327.29 02:27:20 m

: AshtechGps::processRecord() - $GPGGA,195612.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195612.00,,,,,0,00,,,M,,M,,*40


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195613.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195613.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195614.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195614.00,,,,,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 R99.63

: Sonardyne - parsing R99.63

: Sonardyne - read R = 99.630000 from 99.63

: Sonardyne - got range only (99.630000), tat = 580
: Sonardyne - POSD response: 
POSD S112.9,N24.7,D62,U1,Q0.001310

: Sonardyne - POSD response: 
POSD S112.9,N24.7,D62,U1,Q0.001310

: AshtechGps::processRecord() - $GPGGA,195615.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195615.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R98.63

: Sonardyne - parsing R98.63

: Sonardyne - read R = 98.630000 from 98.63

: Sonardyne - got range only (98.630000), tat = 580
: Sonardyne - POSD response: 
POSD S107.1,N17.2,D16,U2,Q0.007282

: Sonardyne - POSD response: 
POSD S107.1,N17.2,D16,U2,Q0.007282

: AshtechGps::processRecord() - $GPGGA,195616.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195616.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R147.03

: Sonardyne - parsing R147.03

: Sonardyne - read R = 147.030000 from 147.03

: Sonardyne - got range only (147.030000), tat = 650
: Sonardyne - POSD response: 
POSD S114.7,N20.7,D-45,U1,Q0.009340

: Sonardyne - POSD response: 
POSD S114.7,N20.7,D-45,U1,Q0.009340

: AshtechGps::processRecord() - $GPGGA,195617.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195617.00,,,,,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,195618.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195618.00,,,,,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,195619.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195619.00,,,,,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,195620.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195620.00,,,,,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,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195621.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195621.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $aaq0 d- 32.32  8.62 16.40 4.03 4.07 0   326.64 02:27:30 m

: AshtechGps::processRecord() - $GPGGA,195622.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195622.00,,,,,0,00,,,M,,M,,*43


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195623.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195623.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195624.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195624.00,,,,,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 R115.21

: Sonardyne - parsing R115.21

: Sonardyne - read R = 115.210000 from 115.21

: Sonardyne - got range only (115.210000), tat = 600
: Sonardyne - POSD response: 
POSD S118.6,N29.5,D11,U4,Q0.008241

: Sonardyne - POSD response: 
POSD S118.6,N29.5,D11,U4,Q0.008241

: AshtechGps::processRecord() - $GPGGA,195625.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195625.00,,,,,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 R118.90

: Sonardyne - parsing R118.90

: Sonardyne - read R = 118.900000 from 118.90

: Sonardyne - got range only (118.900000), tat = 610
: Sonardyne - POSD response: 
POSD S115.9,N21.2,D124,U2,Q0.005760

: Sonardyne - POSD response: 
POSD S115.9,N21.2,D124,U2,Q0.005760

: AshtechGps::processRecord() - $GPGGA,195626.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195626.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R117.86

: Sonardyne - parsing R117.86

: Sonardyne - read R = 117.860000 from 117.86

: Sonardyne - got range only (117.860000), tat = 610
: Sonardyne - POSD response: 
POSD S108.3,N21.1,D44,U2,Q0.015373

: Sonardyne - POSD response: 
POSD S108.3,N21.1,D44,U2,Q0.015373

: AshtechGps::processRecord() - $GPGGA,195627.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195627.00,,,,,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,195628.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195628.00,,,,,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,195629.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195629.00,,,,,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,195630.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195630.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195631.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195631.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $aaq0 d- 32.36  8.28 16.50 4.03 4.07 0   325.66 02:27:40 m

: AshtechGps::processRecord() - $GPGGA,195632.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195632.00,,,,,0,00,,,M,,M,,*42


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195633.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195633.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195634.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195634.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195635.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195635.00,,,,,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,195636.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195636.00,,,,,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,195637.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195637.00,,,,,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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195638.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195638.00,,,,,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,195639.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195639.00,,,,,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,195640.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195640.00,,,,,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,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,195641.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195641.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 32.28  9.23 16.50 4.03 4.06 0   325.06 02:27:50 m

: AshtechGps::processRecord() - $GPGGA,195642.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195642.00,,,,,0,00,,,M,,M,,*45


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195643.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195643.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195644.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195644.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N13.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195645.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195645.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,195646.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195646.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,195647.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195647.00,,,,,0,00,,,M,,M,,*40


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

: 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,195648.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195648.00,,,,,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,195649.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195649.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,195650.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195650.00,,,,,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,195651.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195651.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.32  8.72 16.50 4.03 4.06 0   324.09 02:28:00 m

: AshtechGps::processRecord() - $GPGGA,195652.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195652.00,,,,,0,00,,,M,,M,,*44


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195653.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195653.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,195654.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195654.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,195655.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195655.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,195656.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195656.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,195657.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195657.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,195658.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195658.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195659.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195659.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,195700.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195700.00,,,,,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,195701.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195701.00,,,,,0,00,,,M,,M,,*43


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

: BluefinBatt Reply: $aaq0 d- 32.28  8.69 16.50 4.03 4.06 0   323.45 02:28:10 m

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,195702.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195702.00,,,,,0,00,,,M,,M,,*40


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195703.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195703.00,,,,,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,195704.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195704.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,195705.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195705.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,195706.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195706.00,,,,,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,195707.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195707.00,,,,,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,195708.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195708.00,,,,,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,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,195709.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195709.00,,,,,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,195710.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195710.00,,,,,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,195711.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195711.00,,,,,0,00,,,M,,M,,*42


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

: BluefinBatt Reply: $aaq0 d- 32.32  9.60 16.50 4.03 4.06 0   322.53 02:28:20 m

: AshtechGps::processRecord() - $GPGGA,195712.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195712.00,,,,,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,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195713.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195713.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,195714.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195714.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,195715.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195715.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,195716.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195716.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,195717.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195717.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195718.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195718.00,,,,,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,195719.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195719.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,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,195720.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195720.00,,,,,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,195721.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195721.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $aaq0 d- 32.28  8.55 16.50 4.03 4.06 0   321.95 02:28:30 m

: AshtechGps::processRecord() - $GPGGA,195722.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195722.00,,,,,0,00,,,M,,M,,*42


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195723.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195723.00,,,,,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,195724.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195724.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195725.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195725.00,,,,,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,195726.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195726.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195727.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195727.00,,,,,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,195728.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195728.00,,,,,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,195729.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195729.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195730.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195730.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,195731.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195731.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $aaq0 d- 32.28  8.92 16.50 4.03 4.06 0   321.00 02:28:40 m

: AshtechGps::processRecord() - $GPGGA,195732.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195732.00,,,,,0,00,,,M,,M,,*43


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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,195733.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195733.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,195734.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195734.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,195735.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195735.00,,,,,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,195736.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195736.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195737.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195737.00,,,,,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,195738.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195738.00,,,,,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,195739.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195739.00,,,,,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,195740.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195740.00,,,,,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,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,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,195741.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195741.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.28  8.69 16.50 4.02 4.05 0   320.35 02:28:50 m

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

: AshtechGps::processRecord() - $GPGGA,195742.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195742.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,195743.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195743.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195744.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195744.00,,,,,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,195745.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195745.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,195746.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195746.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,195747.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195747.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,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,195748.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195748.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,195749.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195749.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,195750.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195750.00,,,,,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,N9.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195751.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195751.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.28  7.91 16.50 4.02 4.05 0   319.44 02:29:00 m

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

: AshtechGps::processRecord() - $GPGGA,195752.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195752.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,195753.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195753.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,195754.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,195754.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,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,195755.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,195755.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,195756.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195756.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,195757.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195757.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195758.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195758.00,,,,,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,195759.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195759.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,195800.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195800.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,195801.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195801.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.28  9.50 16.50 4.03 4.06 0   318.81 02:29:10 m

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

: AshtechGps::processRecord() - $GPGGA,195802.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195802.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,195803.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195803.00,,,,,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,195804.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195804.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195805.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195805.00,,,,,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,195806.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195806.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,195807.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195807.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,195808.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195808.00,,,,,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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,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,195809.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195809.00,,,,,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,195810.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195810.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,195811.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195811.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.25  9.09 16.60 4.03 4.06 0   317.82 02:29:20 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,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,195812.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195812.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,195813.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195813.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,195814.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195814.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,195815.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195815.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195816.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195816.00,,,,,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,195817.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195817.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,195818.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195818.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: AshtechGps::processRecord() - $GPGGA,195819.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195819.00,,,,,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,195820.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195820.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,195821.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195821.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.21  9.67 16.50 4.02 4.05 0   317.17 02:29:30 m

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

: AshtechGps::processRecord() - $GPGGA,195822.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195822.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,195823.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195823.00,,,,,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,195824.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195824.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 260.99                                          (wplog)

: Vehicle Position is error is (-0.1, 0.7)

: LayeredControl::execute() -- (t = 260.992121) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 260.99                            (wplog)
  The current location (N,E) = 4052381.5      , 600380.9         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 152.9 Degrees.

: LayeredControl::execute() -- (t = 261.002120) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,195825.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195825.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195826.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195826.00,,,,,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,195827.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195827.00,,,,,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,195828.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195828.00,,,,,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,195829.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195829.00,,,,,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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,195830.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195830.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,195831.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195831.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.28  9.16 16.60 4.02 4.05 0   316.18 02:29:40 m

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

: AshtechGps::processRecord() - $GPGGA,195832.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195832.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

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

: AshtechGps::processRecord() - $GPGGA,195833.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195833.00,,,,,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,195834.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195834.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R312.08,X-234.43,Y161.61,Z-127.75

: Sonardyne - parsing R312.08,X-234.43,Y161.61,Z-127.75

: Sonardyne - read R = 312.080000 from 312.08,X-234.43,Y161.61,Z-127.75

: Sonardyne - got all data, Vehicle coordinates,
    r=312.080000, x=127.750000, y=-234.430000, z=-161.610000 tat = 900
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195835.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195835.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R312.01,X295.54,Y-10.24,Z-99.52

: Sonardyne - parsing R312.01,X295.54,Y-10.24,Z-99.52

: Sonardyne - read R = 312.010000 from 312.01,X295.54,Y-10.24,Z-99.52

: Sonardyne - got all data, Vehicle coordinates,
    r=312.010000, x=99.520000, y=295.540000, z=10.240000 tat = 890
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195836.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195836.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R311.64,X-252.61,Y182.50,Z0.00

: Sonardyne - parsing R311.64,X-252.61,Y182.50,Z0.00

: Sonardyne - read R = 311.640000 from 311.64,X-252.61,Y182.50,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=311.640000, x=0.000000, y=-252.610000, z=-182.500000 tat = 890
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195837.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195837.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R310.91,X256.88,Y1.94,Z-175.14

: Sonardyne - parsing R310.91,X256.88,Y1.94,Z-175.14

: Sonardyne - read R = 310.910000 from 310.91,X256.88,Y1.94,Z-175.14

: Sonardyne - got all data, Vehicle coordinates,
    r=310.910000, x=175.140000, y=256.880000, z=-1.940000 tat = 890
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195838.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195838.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R310.09

: Sonardyne - parsing R310.09

: Sonardyne - read R = 310.090000 from 310.09

: Sonardyne - got range only (310.090000), tat = 870
: Sonardyne - POSD response: 
POSD S133.6,N29.6,D20,U5,Q0.008913

: Sonardyne - POSD response: 
POSD S133.6,N29.6,D20,U5,Q0.008913

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

: AshtechGps::processRecord() - $GPGGA,195839.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195839.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R309.36,X181.49,Y22.87,Z-249.49

: Sonardyne - parsing R309.36,X181.49,Y22.87,Z-249.49

: Sonardyne - read R = 309.360000 from 309.36,X181.49,Y22.87,Z-249.49

: Sonardyne - got all data, Vehicle coordinates,
    r=309.360000, x=249.490000, y=181.490000, z=-22.870000 tat = 890
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195840.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195840.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.60,X140.17,Y11.31,Z-274.70

: Sonardyne - parsing R308.60,X140.17,Y11.31,Z-274.70

: Sonardyne - read R = 308.600000 from 308.60,X140.17,Y11.31,Z-274.70

: Sonardyne - got all data, Vehicle coordinates,
    r=308.600000, x=274.700000, y=140.170000, z=-11.310000 tat = 890
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195841.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195841.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.94,X90.41,Y30.22,Z-292.81

: Sonardyne - parsing R307.94,X90.41,Y30.22,Z-292.81

: Sonardyne - read R = 307.940000 from 307.94,X90.41,Y30.22,Z-292.81

: Sonardyne - got all data, Vehicle coordinates,
    r=307.940000, x=292.810000, y=90.410000, z=-30.220000 tat = 890
: BluefinBatt Reply: $aaq0 d- 32.21  9.83 16.60 4.02 4.05 0   315.48 02:29:50 m

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

: AshtechGps::processRecord() - $GPGGA,195842.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195842.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.04,X33.89,Y24.35,Z-304.19

: Sonardyne - parsing R307.04,X33.89,Y24.35,Z-304.19

: Sonardyne - read R = 307.040000 from 307.04,X33.89,Y24.35,Z-304.19

: Sonardyne - got all data, Vehicle coordinates,
    r=307.040000, x=304.190000, y=33.890000, z=-24.350000 tat = 890
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,195843.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195843.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R305.84,X-9.09,Y25.13,Z-304.67

: Sonardyne - parsing R305.84,X-9.09,Y25.13,Z-304.67

: Sonardyne - read R = 305.840000 from 305.84,X-9.09,Y25.13,Z-304.67

: Sonardyne - got all data, Vehicle coordinates,
    r=305.840000, x=304.670000, y=-9.090000, z=-25.130000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195844.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195844.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.54,X-42.44,Y27.92,Z-300.27

: Sonardyne - parsing R304.54,X-42.44,Y27.92,Z-300.27

: Sonardyne - read R = 304.540000 from 304.54,X-42.44,Y27.92,Z-300.27

: Sonardyne - got all data, Vehicle coordinates,
    r=304.540000, x=300.270000, y=-42.440000, z=-27.920000 tat = 890
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195845.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195845.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R303.12,X-73.50,Y35.65,Z-291.90

: Sonardyne - parsing R303.12,X-73.50,Y35.65,Z-291.90

: Sonardyne - read R = 303.120000 from 303.12,X-73.50,Y35.65,Z-291.90

: Sonardyne - got all data, Vehicle coordinates,
    r=303.120000, x=291.900000, y=-73.500000, z=-35.650000 tat = 880
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195846.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195846.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R301.74,X-95.58,Y40.46,Z-283.33

: Sonardyne - parsing R301.74,X-95.58,Y40.46,Z-283.33

: Sonardyne - read R = 301.740000 from 301.74,X-95.58,Y40.46,Z-283.33

: Sonardyne - got all data, Vehicle coordinates,
    r=301.740000, x=283.330000, y=-95.580000, z=-40.460000 tat = 880
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195847.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195847.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R300.42,X-107.73,Y38.16,Z-277.83

: Sonardyne - parsing R300.42,X-107.73,Y38.16,Z-277.83

: Sonardyne - read R = 300.420000 from 300.42,X-107.73,Y38.16,Z-277.83

: Sonardyne - got all data, Vehicle coordinates,
    r=300.420000, x=277.830000, y=-107.730000, z=-38.160000 tat = 879
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195848.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195848.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.38,X-112.69,Y46.22,Z-273.49

: Sonardyne - parsing R299.38,X-112.69,Y46.22,Z-273.49

: Sonardyne - read R = 299.380000 from 299.38,X-112.69,Y46.22,Z-273.49

: Sonardyne - got all data, Vehicle coordinates,
    r=299.380000, x=273.490000, y=-112.690000, z=-46.220000 tat = 880
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195849.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195849.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.44,X-112.39,Y58.54,Z-270.20

: Sonardyne - parsing R298.44,X-112.39,Y58.54,Z-270.20

: Sonardyne - read R = 298.440000 from 298.44,X-112.39,Y58.54,Z-270.20

: Sonardyne - got all data, Vehicle coordinates,
    r=298.440000, x=270.200000, y=-112.390000, z=-58.540000 tat = 880
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195850.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195850.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.42,X-108.92,Y61.34,Z-269.87

: Sonardyne - parsing R297.42,X-108.92,Y61.34,Z-269.87

: Sonardyne - read R = 297.420000 from 297.42,X-108.92,Y61.34,Z-269.87

: Sonardyne - got all data, Vehicle coordinates,
    r=297.420000, x=269.870000, y=-108.920000, z=-61.340000 tat = 880
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195851.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195851.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R296.37,X-100.87,Y68.25,Z-270.19

: Sonardyne - parsing R296.37,X-100.87,Y68.25,Z-270.19

: Sonardyne - read R = 296.370000 from 296.37,X-100.87,Y68.25,Z-270.19

: Sonardyne - got all data, Vehicle coordinates,
    r=296.370000, x=270.190000, y=-100.870000, z=-68.250000 tat = 870
: BluefinBatt Reply: $aaq0 d- 32.21 10.58 16.60 4.02 4.05 0   314.36 02:30:00 m

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

: AshtechGps::processRecord() - $GPGGA,195852.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195852.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R295.18,X-88.88,Y76.60,Z-270.86

: Sonardyne - parsing R295.18,X-88.88,Y76.60,Z-270.86

: Sonardyne - read R = 295.180000 from 295.18,X-88.88,Y76.60,Z-270.86

: Sonardyne - got all data, Vehicle coordinates,
    r=295.180000, x=270.860000, y=-88.880000, z=-76.600000 tat = 870
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,195853.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195853.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.87,X-80.66,Y71.36,Z-273.42

: Sonardyne - parsing R293.87,X-80.66,Y71.36,Z-273.42

: Sonardyne - read R = 293.870000 from 293.87,X-80.66,Y71.36,Z-273.42

: Sonardyne - got all data, Vehicle coordinates,
    r=293.870000, x=273.420000, y=-80.660000, z=-71.360000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195854.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195854.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.29,X-71.34,Y61.68,Z-276.66

: Sonardyne - parsing R292.29,X-71.34,Y61.68,Z-276.66

: Sonardyne - read R = 292.290000 from 292.29,X-71.34,Y61.68,Z-276.66

: Sonardyne - got all data, Vehicle coordinates,
    r=292.290000, x=276.660000, y=-71.340000, z=-61.680000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195855.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195855.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R290.69,X-60.20,Y58.93,Z-278.22

: Sonardyne - parsing R290.69,X-60.20,Y58.93,Z-278.22

: Sonardyne - read R = 290.690000 from 290.69,X-60.20,Y58.93,Z-278.22

: Sonardyne - got all data, Vehicle coordinates,
    r=290.690000, x=278.220000, y=-60.200000, z=-58.930000 tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195856.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195856.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R288.91,X-49.99,Y44.19,Z-281.10

: Sonardyne - parsing R288.91,X-49.99,Y44.19,Z-281.10

: Sonardyne - read R = 288.910000 from 288.91,X-49.99,Y44.19,Z-281.10

: Sonardyne - got all data, Vehicle coordinates,
    r=288.910000, x=281.100000, y=-49.990000, z=-44.190000 tat = 860
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195857.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195857.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.22,X-36.56,Y39.46,Z-282.14

: Sonardyne - parsing R287.22,X-36.56,Y39.46,Z-282.14

: Sonardyne - read R = 287.220000 from 287.22,X-36.56,Y39.46,Z-282.14

: Sonardyne - got all data, Vehicle coordinates,
    r=287.220000, x=282.140000, y=-36.560000, z=-39.460000 tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195858.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195858.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.77,X-24.18,Y40.60,Z-281.83

: Sonardyne - parsing R285.77,X-24.18,Y40.60,Z-281.83

: Sonardyne - read R = 285.770000 from 285.77,X-24.18,Y40.60,Z-281.83

: Sonardyne - got all data, Vehicle coordinates,
    r=285.770000, x=281.830000, y=-24.180000, z=-40.600000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195859.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195859.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.31,X-14.08,Y36.90,Z-281.55

: Sonardyne - parsing R284.31,X-14.08,Y36.90,Z-281.55

: Sonardyne - read R = 284.310000 from 284.31,X-14.08,Y36.90,Z-281.55

: Sonardyne - got all data, Vehicle coordinates,
    r=284.310000, x=281.550000, y=-14.080000, z=-36.900000 tat = 860
: AshtechGps::processRecord() - $GPGGA,195900.00,,,,,0,00,,,M,,M,,*4C

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

: GpsUtils::parseFix() - $GPGGA,195900.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.78,X-6.52,Y27.27,Z-281.38

: Sonardyne - parsing R282.78,X-6.52,Y27.27,Z-281.38

: Sonardyne - read R = 282.780000 from 282.78,X-6.52,Y27.27,Z-281.38

: Sonardyne - got all data, Vehicle coordinates,
    r=282.780000, x=281.380000, y=-6.520000, z=-27.270000 tat = 850
: AshtechGps::processRecord() - $GPGGA,195901.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195901.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R281.45,X2.18,Y26.57,Z-280.18

: Sonardyne - parsing R281.45,X2.18,Y26.57,Z-280.18

: Sonardyne - read R = 281.450000 from 281.45,X2.18,Y26.57,Z-280.18

: Sonardyne - got all data, Vehicle coordinates,
    r=281.450000, x=280.180000, y=2.180000, z=-26.570000 tat = 850
: BluefinBatt Reply: $aaq0 d- 32.25  9.36 16.60 4.02 4.05 0   313.66 02:30:10 m

: AshtechGps::processRecord() - $GPGGA,195902.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195902.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R281.23,X15.32,Y35.94,Z-278.51

: Sonardyne - parsing R281.23,X15.32,Y35.94,Z-278.51

: Sonardyne - read R = 281.230000 from 281.23,X15.32,Y35.94,Z-278.51

: Sonardyne - got all data, Vehicle coordinates,
    r=281.230000, x=278.510000, y=15.320000, z=-35.940000 tat = 850
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: Sonardyne - POS response: 
POS V4,1 R278.39

: Sonardyne - parsing R278.39

: AshtechGps::processRecord() - $GPGGA,195903.00,,,,,0,00,,,M,,M,,*4F

: Sonardyne - read R = 278.390000 from 278.39

: GpsUtils::parseFix() - $GPGGA,195903.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - got range only (278.390000), tat = 820
: 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 - POSD response: 
POSD S130.6,N23.4,D-56,U5,Q0.001536

: Sonardyne - POSD response: 
POSD S130.6,N23.4,D-56,U5,Q0.001536

: AshtechGps::processRecord() - $GPGGA,195904.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195904.00,,,,,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 R276.82,X24.54,Y18.81,Z-275.09

: Sonardyne - parsing R276.82,X24.54,Y18.81,Z-275.09

: Sonardyne - read R = 276.820000 from 276.82,X24.54,Y18.81,Z-275.09

: Sonardyne - got all data, Vehicle coordinates,
    r=276.820000, x=275.090000, y=24.540000, z=-18.810000 tat = 850
: AshtechGps::processRecord() - $GPGGA,195905.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195905.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R275.37,X30.73,Y14.71,Z-273.25

: Sonardyne - parsing R275.37,X30.73,Y14.71,Z-273.25

: Sonardyne - read R = 275.370000 from 275.37,X30.73,Y14.71,Z-273.25

:  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=275.370000, x=273.250000, y=30.730000, z=-14.710000 tat = 840
: AshtechGps::processRecord() - $GPGGA,195906.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195906.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R273.98,X36.10,Y13.24,Z-271.26

: Sonardyne - parsing R273.98,X36.10,Y13.24,Z-271.26

: Sonardyne - read R = 273.980000 from 273.98,X36.10,Y13.24,Z-271.26

: Sonardyne - got all data, Vehicle coordinates,
    r=273.980000, x=271.260000, y=36.100000, z=-13.240000 tat = 840
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195907.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195907.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R273.30,X41.24,Y19.20,Z-269.48

: Sonardyne - parsing R273.30,X41.24,Y19.20,Z-269.48

: Sonardyne - read R = 273.300000 from 273.30,X41.24,Y19.20,Z-269.48

: Sonardyne - got all data, Vehicle coordinates,
    r=273.300000, x=269.480000, y=41.240000, z=-19.200000 tat = 840
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195908.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195908.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R271.43,X45.81,Y15.20,Z-267.11

: Sonardyne - parsing R271.43,X45.81,Y15.20,Z-267.11

: Sonardyne - read R = 271.430000 from 271.43,X45.81,Y15.20,Z-267.11

: Sonardyne - got all data, Vehicle coordinates,
    r=271.430000, x=267.110000, y=45.810000, z=-15.200000 tat = 840
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195909.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195909.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R269.71,X48.82,Y3.66,Z-265.23

: Sonardyne - parsing R269.71,X48.82,Y3.66,Z-265.23

: Sonardyne - read R = 269.710000 from 269.71,X48.82,Y3.66,Z-265.23

: Sonardyne - got all data, Vehicle coordinates,
    r=269.710000, x=265.230000, y=48.820000, z=-3.660000 tat = 840
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195910.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195910.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R267.97,X53.53,Y9.14,Z-262.42

: Sonardyne - parsing R267.97,X53.53,Y9.14,Z-262.42

: Sonardyne - read R = 267.970000 from 267.97,X53.53,Y9.14,Z-262.42

: Sonardyne - got all data, Vehicle coordinates,
    r=267.970000, x=262.420000, y=53.530000, z=-9.140000 tat = 840
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,195911.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195911.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R266.26,X55.75,Y8.45,Z-260.22

: Sonardyne - parsing R266.26,X55.75,Y8.45,Z-260.22

: Sonardyne - read R = 266.260000 from 266.26,X55.75,Y8.45,Z-260.22

: Sonardyne - got all data, Vehicle coordinates,
    r=266.260000, x=260.220000, y=55.750000, z=-8.450000 tat = 830
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.25  8.72 16.60 4.02 4.05 0   312.73 02:30:20 m

: AshtechGps::processRecord() - $GPGGA,195912.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195912.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R265.70,X59.02,Y16.34,Z-258.54

: Sonardyne - parsing R265.70,X59.02,Y16.34,Z-258.54

: Sonardyne - read R = 265.700000 from 265.70,X59.02,Y16.34,Z-258.54

: Sonardyne - got all data, Vehicle coordinates,
    r=265.700000, x=258.540000, y=59.020000, z=-16.340000 tat = 840
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,195913.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195913.00,,,,,0,00,,,M,,M,,*4E


: Sonardyne - POS response: 
POS V4,1 R262.71,X58.32,Y6.53,Z-256.07

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R262.71,X58.32,Y6.53,Z-256.07

: Sonardyne - read R = 262.710000 from 262.71,X58.32,Y6.53,Z-256.07

: Sonardyne - got all data, Vehicle coordinates,
    r=262.710000, x=256.070000, y=58.320000, z=-6.530000 tat = 830
:  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 R260.88,X58.32,Y-5.19,Z-254.23

: AshtechGps::processRecord() - $GPGGA,195914.00,,,,,0,00,,,M,,M,,*49

: Sonardyne - parsing R260.88,X58.32,Y-5.19,Z-254.23

: GpsUtils::parseFix() - $GPGGA,195914.00,,,,,0,00,,,M,,M,,*49


: Sonardyne - read R = 260.880000 from 260.88,X58.32,Y-5.19,Z-254.23

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - got all data, Vehicle coordinates,
    r=260.880000, x=254.230000, y=58.320000, z=5.190000 tat = 820
:  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 R259.70,X60.89,Y8.08,Z-252.33

: Sonardyne - parsing R259.70,X60.89,Y8.08,Z-252.33

: Sonardyne - read R = 259.700000 from 259.70,X60.89,Y8.08,Z-252.33

: AshtechGps::processRecord() - $GPGGA,195915.00,,,,,0,00,,,M,,M,,*48

: Sonardyne - got all data, Vehicle coordinates,
    r=259.700000, x=252.330000, y=60.890000, z=-8.080000 tat = 820
: GpsUtils::parseFix() - $GPGGA,195915.00,,,,,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 R258.21,X64.04,Y9.86,Z-249.95

: Sonardyne - parsing R258.21,X64.04,Y9.86,Z-249.95

: Sonardyne - read R = 258.210000 from 258.21,X64.04,Y9.86,Z-249.95

: AshtechGps::processRecord() - $GPGGA,195916.00,,,,,0,00,,,M,,M,,*4B

: Sonardyne - got all data, Vehicle coordinates,
    r=258.210000, x=249.950000, y=64.040000, z=-9.860000 tat = 819
: GpsUtils::parseFix() - $GPGGA,195916.00,,,,,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 R256.65,X65.49,Y11.89,Z-247.87

: Sonardyne - parsing R256.65,X65.49,Y11.89,Z-247.87

: Sonardyne - read R = 256.650000 from 256.65,X65.49,Y11.89,Z-247.87

: AshtechGps::processRecord() - $GPGGA,195917.00,,,,,0,00,,,M,,M,,*4A

: Sonardyne - got all data, Vehicle coordinates,
    r=256.650000, x=247.870000, y=65.490000, z=-11.890000 tat = 820
: GpsUtils::parseFix() - $GPGGA,195917.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R255.20,X69.06,Y12.81,Z-245.34

: Sonardyne - parsing R255.20,X69.06,Y12.81,Z-245.34

: Sonardyne - read R = 255.200000 from 255.20,X69.06,Y12.81,Z-245.34

: Sonardyne - got all data, Vehicle coordinates,
    r=255.200000, x=245.340000, y=69.060000, z=-12.810000 tat = 820
: AshtechGps::processRecord() - $GPGGA,195918.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,195918.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R253.63,X68.87,Y6.34,Z-244.02

: Sonardyne - parsing R253.63,X68.87,Y6.34,Z-244.02

: Sonardyne - read R = 253.630000 from 253.63,X68.87,Y6.34,Z-244.02

: Sonardyne - got all data, Vehicle coordinates,
    r=253.630000, x=244.020000, y=68.870000, z=-6.340000 tat = 810
: AshtechGps::processRecord() - $GPGGA,195919.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,195919.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R252.12,X69.98,Y7.58,Z-242.09

: Sonardyne - parsing R252.12,X69.98,Y7.58,Z-242.09

: Sonardyne - read R = 252.120000 from 252.12,X69.98,Y7.58,Z-242.09

: Sonardyne - got all data, Vehicle coordinates,
    r=252.120000, x=242.090000, y=69.980000, z=-7.580000 tat = 810
: AshtechGps::processRecord() - $GPGGA,195920.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195920.00,,,,,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 R250.67,X67.12,Y-0.50,Z-241.52

: Sonardyne - parsing R250.67,X67.12,Y-0.50,Z-241.52

: Sonardyne - read R = 250.670000 from 250.67,X67.12,Y-0.50,Z-241.52

: Sonardyne - got all data, Vehicle coordinates,
    r=250.670000, x=241.520000, y=67.120000, z=0.500000 tat = 810
: AshtechGps::processRecord() - $GPGGA,195921.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195921.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 32.28  7.95 16.60 4.02 4.05 0   312.11 02:30:30 m

: Sonardyne - POS response: 
POS V4,1 R249.15,X66.78,Y1.22,Z-240.03

: Sonardyne - parsing R249.15,X66.78,Y1.22,Z-240.03

: Sonardyne - read R = 249.150000 from 249.15,X66.78,Y1.22,Z-240.03

: Sonardyne - got all data, Vehicle coordinates,
    r=249.150000, x=240.030000, y=66.780000, z=-1.220000 tat = 810
: AshtechGps::processRecord() - $GPGGA,195922.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195922.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: Sonardyne - POS response: 
POS V4,1 R247.56,X68.66,Y12.54,Z-237.52

: Sonardyne - parsing R247.56,X68.66,Y12.54,Z-237.52

: Sonardyne - read R = 247.560000 from 247.56,X68.66,Y12.54,Z-237.52

: Sonardyne - got all data, Vehicle coordinates,
    r=247.560000, x=237.520000, y=68.660000, z=-12.540000 tat = 810
: AshtechGps::processRecord() - $GPGGA,195923.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195923.00,,,,,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 R245.84,X69.02,Y9.43,Z-235.77

: Sonardyne - parsing R245.84,X69.02,Y9.43,Z-235.77

: Sonardyne - read R = 245.840000 from 245.84,X69.02,Y9.43,Z-235.77

: Sonardyne - got all data, Vehicle coordinates,
    r=245.840000, x=235.770000, y=69.020000, z=-9.430000 tat = 800
: AshtechGps::processRecord() - $GPGGA,195924.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195924.00,,,,,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 R244.01,X67.42,Y4.20,Z-234.48

: Sonardyne - parsing R244.01,X67.42,Y4.20,Z-234.48

: Sonardyne - read R = 244.010000 from 244.01,X67.42,Y4.20,Z-234.48

: Sonardyne - got all data, Vehicle coordinates,
    r=244.010000, x=234.480000, y=67.420000, z=-4.200000 tat = 800
: AshtechGps::processRecord() - $GPGGA,195925.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195925.00,,,,,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 R242.29,X68.69,Y11.55,Z-232.06

: Sonardyne - parsing R242.29,X68.69,Y11.55,Z-232.06

: Sonardyne - read R = 242.290000 from 242.29,X68.69,Y11.55,Z-232.06

: Sonardyne - got all data, Vehicle coordinates,
    r=242.290000, x=232.060000, y=68.690000, z=-11.550000 tat = 800
: AshtechGps::processRecord() - $GPGGA,195926.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195926.00,,,,,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 R240.75,X69.98,Y13.38,Z-229.97

: Sonardyne - parsing R240.75,X69.98,Y13.38,Z-229.97

: Sonardyne - read R = 240.750000 from 240.75,X69.98,Y13.38,Z-229.97

: Sonardyne - got all data, Vehicle coordinates,
    r=240.750000, x=229.970000, y=69.980000, z=-13.380000 tat = 800
: AshtechGps::processRecord() - $GPGGA,195927.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195927.00,,,,,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 R239.35,X69.93,Y8.38,Z-228.75

: Sonardyne - parsing R239.35,X69.93,Y8.38,Z-228.75

: Sonardyne - read R = 239.350000 from 239.35,X69.93,Y8.38,Z-228.75

: Sonardyne - got all data, Vehicle coordinates,
    r=239.350000, x=228.750000, y=69.930000, z=-8.380000 tat = 790
: AshtechGps::processRecord() - $GPGGA,195928.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195928.00,,,,,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 R237.86,X69.49,Y8.63,Z-227.32

: Sonardyne - parsing R237.86,X69.49,Y8.63,Z-227.32

: Sonardyne - read R = 237.860000 from 237.86,X69.49,Y8.63,Z-227.32

: Sonardyne - got all data, Vehicle coordinates,
    r=237.860000, x=227.320000, y=69.490000, z=-8.630000 tat = 790
: AshtechGps::processRecord() - $GPGGA,195929.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195929.00,,,,,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 R236.33,X70.13,Y11.39,Z-225.40

: Sonardyne - parsing R236.33,X70.13,Y11.39,Z-225.40

: Sonardyne - read R = 236.330000 from 236.33,X70.13,Y11.39,Z-225.40

: Sonardyne - got all data, Vehicle coordinates,
    r=236.330000, x=225.400000, y=70.130000, z=-11.390000 tat = 790
: AshtechGps::processRecord() - $GPGGA,195930.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195930.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R234.81,X69.34,Y10.75,Z-224.08

: Sonardyne - parsing R234.81,X69.34,Y10.75,Z-224.08

: Sonardyne - read R = 234.810000 from 234.81,X69.34,Y10.75,Z-224.08

: Sonardyne - got all data, Vehicle coordinates,
    r=234.810000, x=224.080000, y=69.340000, z=-10.750000 tat = 789
: AshtechGps::processRecord() - $GPGGA,195931.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195931.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $aaq0 d- 32.25  9.46 16.60 4.02 4.05 0   311.21 02:30:40 m

: Sonardyne - POS response: 
POS V4,1 R233.23,X68.89,Y11.51,Z-222.53

: Sonardyne - parsing R233.23,X68.89,Y11.51,Z-222.53

: Sonardyne - read R = 233.230000 from 233.23,X68.89,Y11.51,Z-222.53

: Sonardyne - got all data, Vehicle coordinates,
    r=233.230000, x=222.530000, y=68.890000, z=-11.510000 tat = 790
: AshtechGps::processRecord() - $GPGGA,195932.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195932.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: Sonardyne - POS response: 
POS V4,1 R234.57

: Sonardyne - parsing R234.57

: Sonardyne - read R = 234.570000 from 234.57

: Sonardyne - got range only (234.570000), tat = 760
: AshtechGps::processRecord() - $GPGGA,195933.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195933.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.7,N22.6,D-89,U1,Q0.006194

: Sonardyne - POSD response: 
POSD S131.7,N22.6,D-89,U1,Q0.006194

:  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 R230.07,X67.72,Y3.71,Z-219.85

: Sonardyne - parsing R230.07,X67.72,Y3.71,Z-219.85

: Sonardyne - read R = 230.070000 from 230.07,X67.72,Y3.71,Z-219.85

: Sonardyne - got all data, Vehicle coordinates,
    r=230.070000, x=219.850000, y=67.720000, z=-3.710000 tat = 780
: AshtechGps::processRecord() - $GPGGA,195934.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195934.00,,,,,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 R228.59,X69.30,Y9.58,Z-217.62

: Sonardyne - parsing R228.59,X69.30,Y9.58,Z-217.62

: Sonardyne - read R = 228.590000 from 228.59,X69.30,Y9.58,Z-217.62

: Sonardyne - got all data, Vehicle coordinates,
    r=228.590000, x=217.620000, y=69.300000, z=-9.580000 tat = 780
: AshtechGps::processRecord() - $GPGGA,195935.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195935.00,,,,,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 R227.20,X69.41,Y12.51,Z-215.98

: Sonardyne - parsing R227.20,X69.41,Y12.51,Z-215.98

: Sonardyne - read R = 227.200000 from 227.20,X69.41,Y12.51,Z-215.98

: Sonardyne - got all data, Vehicle coordinates,
    r=227.200000, x=215.980000, y=69.410000, z=-12.510000 tat = 780
: AshtechGps::processRecord() - $GPGGA,195936.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195936.00,,,,,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 R225.51,X69.32,Y4.62,Z-214.54

: Sonardyne - parsing R225.51,X69.32,Y4.62,Z-214.54

: Sonardyne - read R = 225.510000 from 225.51,X69.32,Y4.62,Z-214.54

: Sonardyne - got all data, Vehicle coordinates,
    r=225.510000, x=214.540000, y=69.320000, z=-4.620000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195937.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195937.00,,,,,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 R223.89,X68.25,Y4.77,Z-213.19

: Sonardyne - parsing R223.89,X68.25,Y4.77,Z-213.19

: Sonardyne - read R = 223.890000 from 223.89,X68.25,Y4.77,Z-213.19

: Sonardyne - got all data, Vehicle coordinates,
    r=223.890000, x=213.190000, y=68.250000, z=-4.770000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195938.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,195938.00,,,,,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 R222.36,X69.92,Y9.48,Z-210.87

: Sonardyne - parsing R222.36,X69.92,Y9.48,Z-210.87

: Sonardyne - read R = 222.360000 from 222.36,X69.92,Y9.48,Z-210.87

: Sonardyne - got all data, Vehicle coordinates,
    r=222.360000, x=210.870000, y=69.920000, z=-9.480000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195939.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,195939.00,,,,,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 R220.64,X69.65,Y2.38,Z-209.35

: Sonardyne - parsing R220.64,X69.65,Y2.38,Z-209.35

: Sonardyne - read R = 220.640000 from 220.64,X69.65,Y2.38,Z-209.35

: Sonardyne - got all data, Vehicle coordinates,
    r=220.640000, x=209.350000, y=69.650000, z=-2.380000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195940.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195940.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R219.10,X69.84,Y9.99,Z-207.43

: Sonardyne - parsing R219.10,X69.84,Y9.99,Z-207.43

: Sonardyne - read R = 219.100000 from 219.10,X69.84,Y9.99,Z-207.43

: Sonardyne - got all data, Vehicle coordinates,
    r=219.100000, x=207.430000, y=69.840000, z=-9.990000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195941.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195941.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $aaq0 d- 32.25  8.45 16.60 4.02 4.05 0   310.58 02:30:50 m

: Sonardyne - POS response: 
POS V4,1 R217.84,X69.36,Y10.24,Z-206.25

: Sonardyne - parsing R217.84,X69.36,Y10.24,Z-206.25

: Sonardyne - read R = 217.840000 from 217.84,X69.36,Y10.24,Z-206.25

: Sonardyne - got all data, Vehicle coordinates,
    r=217.840000, x=206.250000, y=69.360000, z=-10.240000 tat = 770
: AshtechGps::processRecord() - $GPGGA,195942.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195942.00,,,,,0,00,,,M,,M,,*4A


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

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: Sonardyne - POS response: 
POS V4,1 R216.05,X69.43,Y6.01,Z-204.50

: Sonardyne - parsing R216.05,X69.43,Y6.01,Z-204.50

: Sonardyne - read R = 216.050000 from 216.05,X69.43,Y6.01,Z-204.50

: Sonardyne - got all data, Vehicle coordinates,
    r=216.050000, x=204.500000, y=69.430000, z=-6.010000 tat = 760
: AshtechGps::processRecord() - $GPGGA,195943.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195943.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R214.50,X68.05,Y-10.99,Z-203.13

: Sonardyne - parsing R214.50,X68.05,Y-10.99,Z-203.13

: Sonardyne - read R = 214.500000 from 214.50,X68.05,Y-10.99,Z-203.13

: Sonardyne - got all data, Vehicle coordinates,
    r=214.500000, x=203.130000, y=68.050000, z=10.990000 tat = 760
: AshtechGps::processRecord() - $GPGGA,195944.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195944.00,,,,,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 R212.96,X67.53,Y-3.67,Z-201.93

: Sonardyne - parsing R212.96,X67.53,Y-3.67,Z-201.93

: Sonardyne - read R = 212.960000 from 212.96,X67.53,Y-3.67,Z-201.93

: Sonardyne - got all data, Vehicle coordinates,
    r=212.960000, x=201.930000, y=67.530000, z=3.670000 tat = 760
: AshtechGps::processRecord() - $GPGGA,195945.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195945.00,,,,,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,195946.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195946.00,,,,,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,195947.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195947.00,,,,,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,195948.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195948.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,195949.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195949.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R205.83,X69.25,Y-0.35,Z-193.83

: Sonardyne - parsing R205.83,X69.25,Y-0.35,Z-193.83

: Sonardyne - read R = 205.830000 from 205.83,X69.25,Y-0.35,Z-193.83

: Sonardyne - got all data, Vehicle coordinates,
    r=205.830000, x=193.830000, y=69.250000, z=0.350000 tat = 750
: AshtechGps::processRecord() - $GPGGA,195950.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,195950.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R204.36,X71.67,Y7.73,Z-191.22

: Sonardyne - parsing R204.36,X71.67,Y7.73,Z-191.22

: Sonardyne - read R = 204.360000 from 204.36,X71.67,Y7.73,Z-191.22

: Sonardyne - got all data, Vehicle coordinates,
    r=204.360000, x=191.220000, y=71.670000, z=-7.730000 tat = 750
: AshtechGps::processRecord() - $GPGGA,195951.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,195951.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R202.92,X70.91,Y0.69,Z-190.13

: Sonardyne - parsing R202.92,X70.91,Y0.69,Z-190.13

: Sonardyne - read R = 202.920000 from 202.92,X70.91,Y0.69,Z-190.13

: Sonardyne - got all data, Vehicle coordinates,
    r=202.920000, x=190.130000, y=70.910000, z=-0.690000 tat = 740
: BluefinBatt Reply: $aaq0 d- 32.25  8.35 16.60 4.02 4.05 0   309.59 02:31:00 m

: AshtechGps::processRecord() - $GPGGA,195952.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,195952.00,,,,,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 R201.45,X72.76,Y-1.17,Z-187.85

: Sonardyne - parsing R201.45,X72.76,Y-1.17,Z-187.85

: Sonardyne - read R = 201.450000 from 201.45,X72.76,Y-1.17,Z-187.85

: Sonardyne - got all data, Vehicle coordinates,
    r=201.450000, x=187.850000, y=72.760000, z=1.170000 tat = 740
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,195953.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,195953.00,,,,,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 R200.33,X74.07,Y10.11,Z-185.87

: Sonardyne - parsing R200.33,X74.07,Y10.11,Z-185.87

: Sonardyne - read R = 200.330000 from 200.33,X74.07,Y10.11,Z-185.87

: Sonardyne - got all data, Vehicle coordinates,
    r=200.330000, x=185.870000, y=74.070000, z=-10.110000 tat = 740
: AshtechGps::processRecord() - $GPGGA,195954.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,195954.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 351.00                                          (wplog)

: Vehicle Position is error is (0.2, -0.2)

: LayeredControl::execute() -- (t = 350.995955) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 351.01                            (wplog)
  The current location (N,E) = 4052292.0      , 600426.8         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.2 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 351.005955) Behavior waypoint_homing has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R198.91,X72.28,Y6.21,Z-185.21

: Sonardyne - parsing R198.91,X72.28,Y6.21,Z-185.21

: Sonardyne - read R = 198.910000 from 198.91,X72.28,Y6.21,Z-185.21

: Sonardyne - got all data, Vehicle coordinates,
    r=198.910000, x=185.210000, y=72.280000, z=-6.210000 tat = 740
: AshtechGps::processRecord() - $GPGGA,195955.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,195955.00,,,,,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 R197.36,X68.83,Y5.87,Z-184.88

: Sonardyne - parsing R197.36,X68.83,Y5.87,Z-184.88

: Sonardyne - read R = 197.360000 from 197.36,X68.83,Y5.87,Z-184.88

: Sonardyne - got all data, Vehicle coordinates,
    r=197.360000, x=184.880000, y=68.830000, z=-5.870000 tat = 740
: AshtechGps::processRecord() - $GPGGA,195956.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,195956.00,,,,,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 R195.44,X45.41,Y12.85,Z-189.66

: Sonardyne - parsing R195.44,X45.41,Y12.85,Z-189.66

: Sonardyne - read R = 195.440000 from 195.44,X45.41,Y12.85,Z-189.66

: Sonardyne - got all data, Vehicle coordinates,
    r=195.440000, x=189.660000, y=45.410000, z=-12.850000 tat = 740
: AshtechGps::processRecord() - $GPGGA,195957.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,195957.00,,,,,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 R193.63,X23.28,Y13.17,Z-191.77

: Sonardyne - parsing R193.63,X23.28,Y13.17,Z-191.77

: Sonardyne - read R = 193.630000 from 193.63,X23.28,Y13.17,Z-191.77

: Sonardyne - got all data, Vehicle coordinates,
    r=193.630000, x=191.770000, y=23.280000, z=-13.170000 tat = 730
: AshtechGps::processRecord() - $GPGGA,195958.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,195958.00,,,,,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 R192.06,X13.73,Y11.45,Z-191.22

: Sonardyne - parsing R192.06,X13.73,Y11.45,Z-191.22

: Sonardyne - read R = 192.060000 from 192.06,X13.73,Y11.45,Z-191.22

: Sonardyne - got all data, Vehicle coordinates,
    r=192.060000, x=191.220000, y=13.730000, z=-11.450000 tat = 730
: AshtechGps::processRecord() - $GPGGA,195959.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,195959.00,,,,,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 R190.69,X6.77,Y5.13,Z-190.50

: Sonardyne - parsing R190.69,X6.77,Y5.13,Z-190.50

: Sonardyne - read R = 190.690000 from 190.69,X6.77,Y5.13,Z-190.50

: Sonardyne - got all data, Vehicle coordinates,
    r=190.690000, x=190.500000, y=6.770000, z=-5.130000 tat = 730
: AshtechGps::processRecord() - $GPGGA,200000.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200000.00,,,,,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 R189.39,X3.73,Y14.92,Z-188.76

: Sonardyne - parsing R189.39,X3.73,Y14.92,Z-188.76

: Sonardyne - read R = 189.390000 from 189.39,X3.73,Y14.92,Z-188.76

: Sonardyne - got all data, Vehicle coordinates,
    r=189.390000, x=188.760000, y=3.730000, z=-14.920000 tat = 730
: AshtechGps::processRecord() - $GPGGA,200001.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200001.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R187.99,X1.92,Y20.00,Z-186.91

: Sonardyne - parsing R187.99,X1.92,Y20.00,Z-186.91

: Sonardyne - read R = 187.990000 from 187.99,X1.92,Y20.00,Z-186.91

: Sonardyne - got all data, Vehicle coordinates,
    r=187.990000, x=186.910000, y=1.920000, z=-20.000000 tat = 720
: BluefinBatt Reply: $aaq0 d- 32.25  7.85 16.60 4.02 4.05 0   308.95 02:31:10 m

: AshtechGps::processRecord() - $GPGGA,200002.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200002.00,,,,,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 R186.42,X1.53,Y18.83,Z-185.46

: Sonardyne - parsing R186.42,X1.53,Y18.83,Z-185.46

: Sonardyne - read R = 186.420000 from 186.42,X1.53,Y18.83,Z-185.46

: Sonardyne - got all data, Vehicle coordinates,
    r=186.420000, x=185.460000, y=1.530000, z=-18.830000 tat = 720
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200003.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200003.00,,,,,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 R184.70,X0.15,Y12.17,Z-184.29

: Sonardyne - parsing R184.70,X0.15,Y12.17,Z-184.29

: Sonardyne - read R = 184.700000 from 184.70,X0.15,Y12.17,Z-184.29

: Sonardyne - got all data, Vehicle coordinates,
    r=184.700000, x=184.290000, y=0.150000, z=-12.170000 tat = 720
: AshtechGps::processRecord() - $GPGGA,200004.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200004.00,,,,,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 R182.92

: Sonardyne - parsing R182.92

: Sonardyne - read R = 182.920000 from 182.92

: Sonardyne - got range only (182.920000), tat = 690
: Sonardyne - POSD response: 
POSD S137.8,N23.9,D71,U3,Q0.002054

: Sonardyne - POSD response: 
POSD S137.8,N23.9,D71,U3,Q0.002054

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,200005.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200005.00,,,,,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 R181.59,X1.56,Y20.05,Z-180.47

: Sonardyne - parsing R181.59,X1.56,Y20.05,Z-180.47

: Sonardyne - read R = 181.590000 from 181.59,X1.56,Y20.05,Z-180.47

: Sonardyne - got all data, Vehicle coordinates,
    r=181.590000, x=180.470000, y=1.560000, z=-20.050000 tat = 710
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,200006.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200006.00,,,,,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 R179.98

: Sonardyne - parsing R179.98

: Sonardyne - read R = 179.980000 from 179.98

: Sonardyne - got range only (179.980000), tat = 690
: Sonardyne - POSD response: 
POSD S133.7,N19.7,D-33,U5,Q0.000745

: Sonardyne - POSD response: 
POSD S133.7,N19.7,D-33,U5,Q0.000745

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,200007.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200007.00,,,,,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 R178.27,X-1.64,Y0.02,Z-178.26

: Sonardyne - parsing R178.27,X-1.64,Y0.02,Z-178.26

: Sonardyne - read R = 178.270000 from 178.27,X-1.64,Y0.02,Z-178.26

: Sonardyne - got all data, Vehicle coordinates,
    r=178.270000, x=178.260000, y=-1.640000, z=-0.020000 tat = 710
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,200008.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200008.00,,,,,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 R176.56,X-3.77,Y-0.54,Z-176.52

: Sonardyne - parsing R176.56,X-3.77,Y-0.54,Z-176.52

: Sonardyne - read R = 176.560000 from 176.56,X-3.77,Y-0.54,Z-176.52

: Sonardyne - got all data, Vehicle coordinates,
    r=176.560000, x=176.520000, y=-3.770000, z=0.540000 tat = 710
: AshtechGps::processRecord() - $GPGGA,200009.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200009.00,,,,,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 R174.88,X-0.91,Y8.36,Z-174.68

: Sonardyne - parsing R174.88,X-0.91,Y8.36,Z-174.68

: Sonardyne - read R = 174.880000 from 174.88,X-0.91,Y8.36,Z-174.68

: Sonardyne - got all data, Vehicle coordinates,
    r=174.880000, x=174.680000, y=-0.910000, z=-8.360000 tat = 710
: AshtechGps::processRecord() - $GPGGA,200010.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200010.00,,,,,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 R173.18,X-0.74,Y5.11,Z-173.10

: Sonardyne - parsing R173.18,X-0.74,Y5.11,Z-173.10

: Sonardyne - read R = 173.180000 from 173.18,X-0.74,Y5.11,Z-173.10

: Sonardyne - got all data, Vehicle coordinates,
    r=173.180000, x=173.100000, y=-0.740000, z=-5.110000 tat = 700
: AshtechGps::processRecord() - $GPGGA,200011.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200011.00,,,,,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 R171.51,X2.51,Y19.93,Z-170.33

: Sonardyne - parsing R171.51,X2.51,Y19.93,Z-170.33

: Sonardyne - read R = 171.510000 from 171.51,X2.51,Y19.93,Z-170.33

: Sonardyne - got all data, Vehicle coordinates,
    r=171.510000, x=170.330000, y=2.510000, z=-19.930000 tat = 700
: BluefinBatt Reply: $aaq0 d- 32.21  9.50 16.60 4.02 4.05 0   307.95 02:31:20 m

: AshtechGps::processRecord() - $GPGGA,200012.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200012.00,,,,,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 R169.81,X1.72,Y15.47,Z-169.10

: Sonardyne - parsing R169.81,X1.72,Y15.47,Z-169.10

: Sonardyne - read R = 169.810000 from 169.81,X1.72,Y15.47,Z-169.10

: Sonardyne - got all data, Vehicle coordinates,
    r=169.810000, x=169.100000, y=1.720000, z=-15.470000 tat = 700
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200013.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200013.00,,,,,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 R169.51,X0.13,Y0.75,Z-169.51

: Sonardyne - parsing R169.51,X0.13,Y0.75,Z-169.51

: Sonardyne - read R = 169.510000 from 169.51,X0.13,Y0.75,Z-169.51

: Sonardyne - got all data, Vehicle coordinates,
    r=169.510000, x=169.510000, y=0.130000, z=-0.750000 tat = 700
: AshtechGps::processRecord() - $GPGGA,200014.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200014.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.72,X1.68,Y16.35,Z-165.91

: Sonardyne - parsing R166.72,X1.68,Y16.35,Z-165.91

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

: Sonardyne - read R = 166.720000 from 166.72,X1.68,Y16.35,Z-165.91

: Sonardyne - got all data, Vehicle coordinates,
    r=166.720000, x=165.910000, y=1.680000, z=-16.350000 tat = 689
: AshtechGps::processRecord() - $GPGGA,200015.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200015.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.30,X-0.36,Y5.78,Z-165.20

: Sonardyne - parsing R165.30,X-0.36,Y5.78,Z-165.20

: Sonardyne - read R = 165.300000 from 165.30,X-0.36,Y5.78,Z-165.20

: Sonardyne - got all data, Vehicle coordinates,
    r=165.300000, x=165.200000, y=-0.360000, z=-5.780000 tat = 690
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200016.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200016.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.70,X0.79,Y9.60,Z-163.42

: Sonardyne - parsing R163.70,X0.79,Y9.60,Z-163.42

: Sonardyne - read R = 163.700000 from 163.70,X0.79,Y9.60,Z-163.42

: Sonardyne - got all data, Vehicle coordinates,
    r=163.700000, x=163.420000, y=0.790000, z=-9.600000 tat = 690
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200017.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200017.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.23

: Sonardyne - parsing R162.23

: Sonardyne - read R = 162.230000 from 162.23

: Sonardyne - got range only (162.230000), tat = 670
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+141.5,N23.4,D-55,U3,Q0.008735

: Sonardyne - POSD response: 
POSD S+141.5,N23.4,D-55,U3,Q0.008735

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,200018.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200018.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.58,X1.97,Y18.98,Z-159.44

: Sonardyne - parsing R160.58,X1.97,Y18.98,Z-159.44

: Sonardyne - read R = 160.580000 from 160.58,X1.97,Y18.98,Z-159.44

: Sonardyne - got all data, Vehicle coordinates,
    r=160.580000, x=159.440000, y=1.970000, z=-18.980000 tat = 690
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.3,N34.7,D-23,U8,Q0.000065

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,200019.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200019.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R159.10,X1.12,Y17.56,Z-158.12

: Sonardyne - parsing R159.10,X1.12,Y17.56,Z-158.12

: Sonardyne - read R = 159.100000 from 159.10,X1.12,Y17.56,Z-158.12

: Sonardyne - got all data, Vehicle coordinates,
    r=159.100000, x=158.120000, y=1.120000, z=-17.560000 tat = 690
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.9,N24.2,D-42,U8,Q0.000198

: AshtechGps::processRecord() - $GPGGA,200020.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200020.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.37,X-0.05,Y18.63,Z-156.26

: Sonardyne - parsing R157.37,X-0.05,Y18.63,Z-156.26

: Sonardyne - read R = 157.370000 from 157.37,X-0.05,Y18.63,Z-156.26

: Sonardyne - got all data, Vehicle coordinates,
    r=157.370000, x=156.260000, y=-0.050000, z=-18.630000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.2,N28.6,D-51,U8,Q0.000056

: AshtechGps::processRecord() - $GPGGA,200021.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200021.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.48,X-0.57,Y16.85,Z-154.56

: Sonardyne - parsing R155.48,X-0.57,Y16.85,Z-154.56

: Sonardyne - read R = 155.480000 from 155.48,X-0.57,Y16.85,Z-154.56

: Sonardyne - got all data, Vehicle coordinates,
    r=155.480000, x=154.560000, y=-0.570000, z=-16.850000 tat = 680
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.1,N29.9,D-26,U8,Q0.000061

: BluefinBatt Reply: $aaq0 d- 32.25  8.08 16.60 4.02 4.05 0   307.27 02:31:30 m

: AshtechGps::processRecord() - $GPGGA,200022.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200022.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.74,X-0.54,Y14.75,Z-153.03

: Sonardyne - parsing R153.74,X-0.54,Y14.75,Z-153.03

: Sonardyne - read R = 153.740000 from 153.74,X-0.54,Y14.75,Z-153.03

: Sonardyne - got all data, Vehicle coordinates,
    r=153.740000, x=153.030000, y=-0.540000, z=-14.750000 tat = 680
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.8,N25.7,D-54,U8,Q0.000050

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200023.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200023.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.01,X-1.01,Y10.33,Z-151.65

: Sonardyne - parsing R152.01,X-1.01,Y10.33,Z-151.65

: Sonardyne - read R = 152.010000 from 152.01,X-1.01,Y10.33,Z-151.65

: Sonardyne - got all data, Vehicle coordinates,
    r=152.010000, x=151.650000, y=-1.010000, z=-10.330000 tat = 680
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.4,N28.1,D-27,U8,Q0.000049

: AshtechGps::processRecord() - $GPGGA,200024.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200024.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R150.43,X-0.71,Y7.87,Z-150.22

: Sonardyne - parsing R150.43,X-0.71,Y7.87,Z-150.22

: Sonardyne - read R = 150.430000 from 150.43,X-0.71,Y7.87,Z-150.22

: Sonardyne - got all data, Vehicle coordinates,
    r=150.430000, x=150.220000, y=-0.710000, z=-7.870000 tat = 670
: Sonardyne - POSD response: 
POSD S+143.9,N32.6,D-10,U8,Q0.000205

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

: AshtechGps::processRecord() - $GPGGA,200025.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200025.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R148.81,X-1.19,Y7.13,Z-148.64

: Sonardyne - parsing R148.81,X-1.19,Y7.13,Z-148.64

: Sonardyne - read R = 148.810000 from 148.81,X-1.19,Y7.13,Z-148.64

: Sonardyne - got all data, Vehicle coordinates,
    r=148.810000, x=148.640000, y=-1.190000, z=-7.130000 tat = 670
: Sonardyne - POSD response: 
POSD S+144.1,N28.8,D-8,U8,Q0.002166

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

: AshtechGps::processRecord() - $GPGGA,200026.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200026.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.20,X-0.40,Y7.88,Z-146.99

: Sonardyne - parsing R147.20,X-0.40,Y7.88,Z-146.99

: Sonardyne - read R = 147.200000 from 147.20,X-0.40,Y7.88,Z-146.99

: Sonardyne - got all data, Vehicle coordinates,
    r=147.200000, x=146.990000, y=-0.400000, z=-7.880000 tat = 680
: Sonardyne - POSD response: 
POSD S+143.5,N24.6,D-52,U8,Q0.000201

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

: AshtechGps::processRecord() - $GPGGA,200027.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200027.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.30

: Sonardyne - parsing R152.30

: Sonardyne - read R = 152.300000 from 152.30

: Sonardyne - got range only (152.300000), tat = 650
: Sonardyne - POSD response: 
POSD S133.3,N28.0,D-24,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S133.3,N28.0,D-24,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,200028.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200028.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R144.11,X0.68,Y14.04,Z-143.43

: Sonardyne - parsing R144.11,X0.68,Y14.04,Z-143.43

: Sonardyne - read R = 144.110000 from 144.11,X0.68,Y14.04,Z-143.43

: Sonardyne - got all data, Vehicle coordinates,
    r=144.110000, x=143.430000, y=0.680000, z=-14.040000 tat = 670
:  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,200029.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200029.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R142.26,X-0.52,Y10.93,Z-141.84

: Sonardyne - parsing R142.26,X-0.52,Y10.93,Z-141.84

: Sonardyne - read R = 142.260000 from 142.26,X-0.52,Y10.93,Z-141.84

: Sonardyne - got all data, Vehicle coordinates,
    r=142.260000, x=141.840000, y=-0.520000, z=-10.930000 tat = 669
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200030.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200030.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.37,X-0.19,Y12.43,Z-139.82

: Sonardyne - parsing R140.37,X-0.19,Y12.43,Z-139.82

: Sonardyne - read R = 140.370000 from 140.37,X-0.19,Y12.43,Z-139.82

: Sonardyne - got all data, Vehicle coordinates,
    r=140.370000, x=139.820000, y=-0.190000, z=-12.430000 tat = 660
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200031.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200031.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.57,X0.24,Y13.71,Z-137.89

: Sonardyne - parsing R138.57,X0.24,Y13.71,Z-137.89

: Sonardyne - read R = 138.570000 from 138.57,X0.24,Y13.71,Z-137.89

: Sonardyne - got all data, Vehicle coordinates,
    r=138.570000, x=137.890000, y=0.240000, z=-13.710000 tat = 660
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.28  7.98 16.60 4.02 4.05 0   306.35 02:31:40 m

: AshtechGps::processRecord() - $GPGGA,200032.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200032.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.94,X-1.00,Y8.71,Z-136.66

: Sonardyne - parsing R136.94,X-1.00,Y8.71,Z-136.66

: Sonardyne - read R = 136.940000 from 136.94,X-1.00,Y8.71,Z-136.66

: Sonardyne - got all data, Vehicle coordinates,
    r=136.940000, x=136.660000, y=-1.000000, z=-8.710000 tat = 660
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200033.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200033.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.56,X-0.33,Y11.97,Z-135.03

: Sonardyne - parsing R135.56,X-0.33,Y11.97,Z-135.03

: Sonardyne - read R = 135.560000 from 135.56,X-0.33,Y11.97,Z-135.03

: Sonardyne - got all data, Vehicle coordinates,
    r=135.560000, x=135.030000, y=-0.330000, z=-11.970000 tat = 650
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200034.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200034.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.15,X-1.29,Y6.67,Z-133.98

: Sonardyne - parsing R134.15,X-1.29,Y6.67,Z-133.98

: Sonardyne - read R = 134.150000 from 134.15,X-1.29,Y6.67,Z-133.98

: Sonardyne - got all data, Vehicle coordinates,
    r=134.150000, x=133.980000, y=-1.290000, z=-6.670000 tat = 650
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200035.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200035.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.66,X-0.21,Y12.56,Z-132.07

: Sonardyne - parsing R132.66,X-0.21,Y12.56,Z-132.07

: Sonardyne - read R = 132.660000 from 132.66,X-0.21,Y12.56,Z-132.07

: Sonardyne - got all data, Vehicle coordinates,
    r=132.660000, x=132.070000, y=-0.210000, z=-12.560000 tat = 650
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200036.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200036.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.32,X0.47,Y17.06,Z-130.20

: Sonardyne - parsing R131.32,X0.47,Y17.06,Z-130.20

: Sonardyne - read R = 131.320000 from 131.32,X0.47,Y17.06,Z-130.20

: Sonardyne - got all data, Vehicle coordinates,
    r=131.320000, x=130.200000, y=0.470000, z=-17.060000 tat = 650
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200037.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200037.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.71,X0.12,Y16.44,Z-128.66

: Sonardyne - parsing R129.71,X0.12,Y16.44,Z-128.66

: Sonardyne - read R = 129.710000 from 129.71,X0.12,Y16.44,Z-128.66

: Sonardyne - got all data, Vehicle coordinates,
    r=129.710000, x=128.660000, y=0.120000, z=-16.440000 tat = 640
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200038.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200038.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.04,X-1.40,Y10.31,Z-127.61

: Sonardyne - parsing R128.04,X-1.40,Y10.31,Z-127.61

: Sonardyne - read R = 128.040000 from 128.04,X-1.40,Y10.31,Z-127.61

: Sonardyne - got all data, Vehicle coordinates,
    r=128.040000, x=127.610000, y=-1.400000, z=-10.310000 tat = 640
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200039.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200039.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R126.26,X-0.98,Y9.69,Z-125.88

: Sonardyne - parsing R126.26,X-0.98,Y9.69,Z-125.88

: Sonardyne - read R = 126.260000 from 126.26,X-0.98,Y9.69,Z-125.88

: Sonardyne - got all data, Vehicle coordinates,
    r=126.260000, x=125.880000, y=-0.980000, z=-9.690000 tat = 640
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200040.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200040.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.25,X-0.40,Y14.79,Z-123.37

: Sonardyne - parsing R124.25,X-0.40,Y14.79,Z-123.37

: Sonardyne - read R = 124.250000 from 124.25,X-0.40,Y14.79,Z-123.37

: Sonardyne - got all data, Vehicle coordinates,
    r=124.250000, x=123.370000, y=-0.400000, z=-14.790000 tat = 640
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200041.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200041.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.42,X0.16,Y12.09,Z-121.82

: Sonardyne - parsing R122.42,X0.16,Y12.09,Z-121.82

: Sonardyne - read R = 122.420000 from 122.42,X0.16,Y12.09,Z-121.82

: Sonardyne - got all data, Vehicle coordinates,
    r=122.420000, x=121.820000, y=0.160000, z=-12.090000 tat = 640
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.25  8.45 16.69 4.02 4.05 0   305.73 02:31:50 m

: AshtechGps::processRecord() - $GPGGA,200042.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200042.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.18,X-0.04,Y6.41,Z-121.01

: Sonardyne - parsing R121.18,X-0.04,Y6.41,Z-121.01

: Sonardyne - read R = 121.180000 from 121.18,X-0.04,Y6.41,Z-121.01

: Sonardyne - got all data, Vehicle coordinates,
    r=121.180000, x=121.010000, y=-0.040000, z=-6.410000 tat = 630
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200043.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200043.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.21,X-0.69,Y3.56,Z-119.15

: Sonardyne - parsing R119.21,X-0.69,Y3.56,Z-119.15

: Sonardyne - read R = 119.210000 from 119.21,X-0.69,Y3.56,Z-119.15

: Sonardyne - got all data, Vehicle coordinates,
    r=119.210000, x=119.150000, y=-0.690000, z=-3.560000 tat = 630
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200044.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200044.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.68,X-0.08,Y7.63,Z-117.43

: Sonardyne - parsing R117.68,X-0.08,Y7.63,Z-117.43

: Sonardyne - read R = 117.680000 from 117.68,X-0.08,Y7.63,Z-117.43

: Sonardyne - got all data, Vehicle coordinates,
    r=117.680000, x=117.430000, y=-0.080000, z=-7.630000 tat = 630
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200045.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200045.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.00,X-1.10,Y2.43,Z-115.96

: Sonardyne - parsing R116.00,X-1.10,Y2.43,Z-115.96

: Sonardyne - read R = 116.000000 from 116.00,X-1.10,Y2.43,Z-115.96

: Sonardyne - got all data, Vehicle coordinates,
    r=116.000000, x=115.960000, y=-1.100000, z=-2.430000 tat = 630
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200046.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200046.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.38,X-0.68,Y2.74,Z-114.35

: Sonardyne - parsing R114.38,X-0.68,Y2.74,Z-114.35

: Sonardyne - read R = 114.380000 from 114.38,X-0.68,Y2.74,Z-114.35

: Sonardyne - got all data, Vehicle coordinates,
    r=114.380000, x=114.350000, y=-0.680000, z=-2.740000 tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200047.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200047.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.64,X0.48,Y6.39,Z-112.46

: Sonardyne - parsing R112.64,X0.48,Y6.39,Z-112.46

: Sonardyne - read R = 112.640000 from 112.64,X0.48,Y6.39,Z-112.46

: Sonardyne - got all data, Vehicle coordinates,
    r=112.640000, x=112.460000, y=0.480000, z=-6.390000 tat = 620
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200048.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200048.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.20,X1.57,Y7.08,Z-110.96

: Sonardyne - parsing R111.20,X1.57,Y7.08,Z-110.96

: Sonardyne - read R = 111.200000 from 111.20,X1.57,Y7.08,Z-110.96

: Sonardyne - got all data, Vehicle coordinates,
    r=111.200000, x=110.960000, y=1.570000, z=-7.080000 tat = 620
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200049.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200049.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.99,X-0.19,Y0.89,Z-109.99

: Sonardyne - parsing R109.99,X-0.19,Y0.89,Z-109.99

: Sonardyne - read R = 109.990000 from 109.99,X-0.19,Y0.89,Z-109.99

: Sonardyne - got all data, Vehicle coordinates,
    r=109.990000, x=109.990000, y=-0.190000, z=-0.890000 tat = 620
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200050.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200050.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.73,X0.97,Y12.17,Z-108.04

: Sonardyne - parsing R108.73,X0.97,Y12.17,Z-108.04

: Sonardyne - read R = 108.730000 from 108.73,X0.97,Y12.17,Z-108.04

: Sonardyne - got all data, Vehicle coordinates,
    r=108.730000, x=108.040000, y=0.970000, z=-12.170000 tat = 620
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200051.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200051.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R107.37,X0.70,Y12.32,Z-106.66

: Sonardyne - parsing R107.37,X0.70,Y12.32,Z-106.66

: Sonardyne - read R = 107.370000 from 107.37,X0.70,Y12.32,Z-106.66

: Sonardyne - got all data, Vehicle coordinates,
    r=107.370000, x=106.660000, y=0.700000, z=-12.320000 tat = 620
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.25  8.05 16.69 4.02 4.05 0   304.77 02:32:00 m

: AshtechGps::processRecord() - $GPGGA,200052.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200052.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R105.55

: Sonardyne - parsing R105.55

: Sonardyne - read R = 105.550000 from 105.55

: Sonardyne - got range only (105.550000), tat = 590
: Sonardyne - POSD response: 
POSD S+144.4,N31.0,D-14,U2,Q0.000212

: Sonardyne - POSD response: 
POSD S+144.4,N31.0,D-14,U2,Q0.000212

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

: AshtechGps::processRecord() - $GPGGA,200053.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200053.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.83,X0.31,Y14.37,Z-102.83

: Sonardyne - parsing R103.83,X0.31,Y14.37,Z-102.83

: Sonardyne - read R = 103.830000 from 103.83,X0.31,Y14.37,Z-102.83

: Sonardyne - got all data, Vehicle coordinates,
    r=103.830000, x=102.830000, y=0.310000, z=-14.370000 tat = 610
: Sonardyne - POSD response: 
POSD S+141.4,N21.0,D-122,U8,Q0.000345

: 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,200054.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200054.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.18,X0.10,Y11.59,Z-101.52

: Sonardyne - parsing R102.18,X0.10,Y11.59,Z-101.52

: Sonardyne - read R = 102.180000 from 102.18,X0.10,Y11.59,Z-101.52

: Sonardyne - got all data, Vehicle coordinates,
    r=102.180000, x=101.520000, y=0.100000, z=-11.590000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.7,N23.8,D-74,U8,Q0.000057

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

: AshtechGps::processRecord() - $GPGGA,200055.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200055.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R100.13,X-1.20,Y6.10,Z-99.93

: Sonardyne - parsing R100.13,X-1.20,Y6.10,Z-99.93

: Sonardyne - read R = 100.130000 from 100.13,X-1.20,Y6.10,Z-99.93

: Sonardyne - got all data, Vehicle coordinates,
    r=100.130000, x=99.930000, y=-1.200000, z=-6.100000 tat = 600
: Sonardyne - POSD response: 
POSD S+143.3,N22.6,D-60,U8,Q0.000069

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

: AshtechGps::processRecord() - $GPGGA,200056.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200056.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.53,X0.00,Y10.11,Z-98.01

: Sonardyne - parsing R98.53,X0.00,Y10.11,Z-98.01

: Sonardyne - read R = 98.530000 from 98.53,X0.00,Y10.11,Z-98.01

: Sonardyne - got all data, Vehicle coordinates,
    r=98.530000, x=98.010000, y=0.000000, z=-10.110000 tat = 600
: Sonardyne - POSD response: 
POSD S+143.6,N21.1,D-98,U8,Q0.000154

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

: AshtechGps::processRecord() - $GPGGA,200057.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200057.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.73

: Sonardyne - parsing R96.73

: Sonardyne - read R = 96.730000 from 96.73

: Sonardyne - got range only (96.730000), tat = 580
: Sonardyne - POSD response: 
POSD S+144.5,N25.4,D-14,U2,Q0.000066

: Sonardyne - POSD response: 
POSD S+144.5,N25.4,D-14,U2,Q0.000066

: 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,200058.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200058.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R95.15

: Sonardyne - parsing R95.15

: Sonardyne - read R = 95.150000 from 95.15

: Sonardyne - got range only (95.150000), tat = 579
: Sonardyne - POSD response: 
POSD S+144.8,N34.9,D47,U1,Q0.000045

: Sonardyne - POSD response: 
POSD S+144.8,N34.9,D47,U1,Q0.000045

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

: AshtechGps::processRecord() - $GPGGA,200059.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200059.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.73,X0.20,Y7.36,Z-93.44

: Sonardyne - parsing R93.73,X0.20,Y7.36,Z-93.44

: Sonardyne - read R = 93.730000 from 93.73,X0.20,Y7.36,Z-93.44

: Sonardyne - got all data, Vehicle coordinates,
    r=93.730000, x=93.440000, y=0.200000, z=-7.360000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.5,N32.7,D-33,U8,Q0.000163

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200100.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200100.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R91.86,X-0.55,Y6.45,Z-91.63

: Sonardyne - parsing R91.86,X-0.55,Y6.45,Z-91.63

: Sonardyne - read R = 91.860000 from 91.86,X-0.55,Y6.45,Z-91.63

: Sonardyne - got all data, Vehicle coordinates,
    r=91.860000, x=91.630000, y=-0.550000, z=-6.450000 tat = 590
: Sonardyne - POSD response: 
POSD S+143.7,N27.3,D-30,U8,Q0.000171

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

: AshtechGps::processRecord() - $GPGGA,200101.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200101.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.14,X-0.09,Y10.42,Z-89.54

: Sonardyne - parsing R90.14,X-0.09,Y10.42,Z-89.54

: Sonardyne - read R = 90.140000 from 90.14,X-0.09,Y10.42,Z-89.54

: Sonardyne - got all data, Vehicle coordinates,
    r=90.140000, x=89.540000, y=-0.090000, z=-10.420000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.7,N28.9,D-55,U8,Q0.000049

: BluefinBatt Reply: $aaq0 d- 32.25  9.63 16.69 4.02 4.05 0   304.11 02:32:10 m

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

: AshtechGps::processRecord() - $GPGGA,200102.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200102.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.47,X-0.93,Y2.85,Z-88.42

: Sonardyne - parsing R88.47,X-0.93,Y2.85,Z-88.42

: Sonardyne - read R = 88.470000 from 88.47,X-0.93,Y2.85,Z-88.42

: Sonardyne - got all data, Vehicle coordinates,
    r=88.470000, x=88.420000, y=-0.930000, z=-2.850000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.4,N32.1,D-10,U8,Q0.001168

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,200103.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200103.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.05,X-0.50,Y9.99,Z-86.47

: Sonardyne - parsing R87.05,X-0.50,Y9.99,Z-86.47

: Sonardyne - read R = 87.050000 from 87.05,X-0.50,Y9.99,Z-86.47

: Sonardyne - got all data, Vehicle coordinates,
    r=87.050000, x=86.470000, y=-0.500000, z=-9.990000 tat = 590
: Sonardyne - POSD response: 
POSD S+143.7,N17.4,D-109,U8,Q0.000085

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

: AshtechGps::processRecord() - $GPGGA,200104.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200104.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.59

: Sonardyne - parsing R85.59

: Sonardyne - read R = 85.590000 from 85.59

: Sonardyne - got range only (85.590000), tat = 560
: Sonardyne - POSD response: 
POSD S+144.2,N23.1,D-73,U5,Q0.000150

: Sonardyne - POSD response: 
POSD S+144.2,N23.1,D-73,U5,Q0.000150

: 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,200105.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200105.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R84.74

: Sonardyne - parsing R84.74

: Sonardyne - read R = 84.740000 from 84.74

: Sonardyne - got range only (84.740000), tat = 560
: Sonardyne - POSD response: 
POSD S+142.5,N27.3,D-5,U2,Q0.000056

: Sonardyne - POSD response: 
POSD S+142.5,N27.3,D-5,U2,Q0.000056

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

: AshtechGps::processRecord() - $GPGGA,200106.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200106.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.66

: Sonardyne - parsing R85.66

: Sonardyne - read R = 85.660000 from 85.66

: Sonardyne - got range only (85.660000), tat = 560
: Sonardyne - POSD response: 
POSD S138.4,N29.9,D31,U2,Q0.008735

: Sonardyne - POSD response: 
POSD S138.4,N29.9,D31,U2,Q0.008735

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

: AshtechGps::processRecord() - $GPGGA,200107.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200107.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R80.87,X-0.70,Y3.17,Z-80.81

: Sonardyne - parsing R80.87,X-0.70,Y3.17,Z-80.81

: Sonardyne - read R = 80.870000 from 80.87,X-0.70,Y3.17,Z-80.81

: Sonardyne - got all data, Vehicle coordinates,
    r=80.870000, x=80.810000, y=-0.700000, z=-3.170000 tat = 580
: 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,200108.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200108.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R79.22,X-0.48,Y3.77,Z-79.13

: Sonardyne - parsing R79.22,X-0.48,Y3.77,Z-79.13

: Sonardyne - read R = 79.220000 from 79.22,X-0.48,Y3.77,Z-79.13

: Sonardyne - got all data, Vehicle coordinates,
    r=79.220000, x=79.130000, y=-0.480000, z=-3.770000 tat = 580
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200109.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200109.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R77.74,X0.09,Y5.14,Z-77.57

: Sonardyne - parsing R77.74,X0.09,Y5.14,Z-77.57

: Sonardyne - read R = 77.740000 from 77.74,X0.09,Y5.14,Z-77.57

: Sonardyne - got all data, Vehicle coordinates,
    r=77.740000, x=77.570000, y=0.090000, z=-5.140000 tat = 570
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200110.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200110.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R76.31,X0.32,Y6.46,Z-76.03

: Sonardyne - parsing R76.31,X0.32,Y6.46,Z-76.03

: Sonardyne - read R = 76.310000 from 76.31,X0.32,Y6.46,Z-76.03

: Sonardyne - got all data, Vehicle coordinates,
    r=76.310000, x=76.030000, y=0.320000, z=-6.460000 tat = 570
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200111.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200111.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.92,X0.08,Y6.50,Z-74.63

: Sonardyne - parsing R74.92,X0.08,Y6.50,Z-74.63

: Sonardyne - read R = 74.920000 from 74.92,X0.08,Y6.50,Z-74.63

: Sonardyne - got all data, Vehicle coordinates,
    r=74.920000, x=74.630000, y=0.080000, z=-6.500000 tat = 570
: BluefinBatt Reply: $aaq0 d- 32.25  8.49 16.69 4.02 4.05 0   303.15 02:32:20 m

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

: AshtechGps::processRecord() - $GPGGA,200112.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200112.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.26

: Sonardyne - parsing R73.26

: Sonardyne - read R = 73.260000 from 73.26

: Sonardyne - got range only (73.260000), tat = 550
: Sonardyne - POSD response: 
POSD S+141.1,N23.5,D72,U3,Q0.000064

: Sonardyne - POSD response: 
POSD S+141.1,N23.5,D72,U3,Q0.000064

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,200113.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200113.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.37,X0.53,Y6.98,Z-71.03

: Sonardyne - parsing R71.37,X0.53,Y6.98,Z-71.03

: Sonardyne - read R = 71.370000 from 71.37,X0.53,Y6.98,Z-71.03

: Sonardyne - got all data, Vehicle coordinates,
    r=71.370000, x=71.030000, y=0.530000, z=-6.980000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.8,N24.0,D-100,U8,Q0.000099

: 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,200114.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200114.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.37

: Sonardyne - parsing R69.37

: Sonardyne - read R = 69.370000 from 69.37

: Sonardyne - got range only (69.370000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.9,N37.2,D79,U2,Q0.000045

: Sonardyne - POSD response: 
POSD S+144.9,N37.2,D79,U2,Q0.000045

: 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,200115.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200115.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.61

: Sonardyne - parsing R67.61

: Sonardyne - read R = 67.610000 from 67.61

: Sonardyne - got range only (67.610000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.9,N42.3,D17,U4,Q0.000063

: Sonardyne - POSD response: 
POSD S+144.9,N42.3,D17,U4,Q0.000063

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

: AshtechGps::processRecord() - $GPGGA,200116.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200116.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.65,X0.18,Y3.63,Z-65.55

: Sonardyne - parsing R65.65,X0.18,Y3.63,Z-65.55

: Sonardyne - read R = 65.650000 from 65.65,X0.18,Y3.63,Z-65.55

: Sonardyne - got all data, Vehicle coordinates,
    r=65.650000, x=65.550000, y=0.180000, z=-3.630000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.8,N38.4,D-3,U8,Q0.000066

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200117.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200117.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.12

: Sonardyne - parsing R64.12

: Sonardyne - read R = 64.120000 from 64.12

: Sonardyne - got range only (64.120000), tat = 530
: Sonardyne - POSD response: 
POSD S+144.7,N32.7,D37,U3,Q0.000050

: Sonardyne - POSD response: 
POSD S+144.7,N32.7,D37,U3,Q0.000050

: 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,200118.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200118.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.01

: Sonardyne - parsing R63.01

: Sonardyne - read R = 63.010000 from 63.01

: Sonardyne - got range only (63.010000), tat = 530
: Sonardyne - POSD response: 
POSD S+144.3,N27.6,D119,U1,Q0.003997

: Sonardyne - POSD response: 
POSD S+144.3,N27.6,D119,U1,Q0.003997

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

: AshtechGps::processRecord() - $GPGGA,200119.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200119.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.92

: Sonardyne - parsing R65.92

: Sonardyne - read R = 65.920000 from 65.92

: Sonardyne - got range only (65.920000), tat = 540
: Sonardyne - POSD response: 
POSD S+143.1,N31.5,D47,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.1,N31.5,D47,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,200120.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200120.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R59.96,X-0.18,Y5.48,Z-59.71

: Sonardyne - parsing R59.96,X-0.18,Y5.48,Z-59.71

: Sonardyne - read R = 59.960000 from 59.96,X-0.18,Y5.48,Z-59.71

: Sonardyne - got all data, Vehicle coordinates,
    r=59.960000, x=59.710000, y=-0.180000, z=-5.480000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N31.7,D-16,U7,Q0.000060

: 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,200121.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200121.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R58.31,X-0.26,Y3.51,Z-58.20

: Sonardyne - parsing R58.31,X-0.26,Y3.51,Z-58.20

: Sonardyne - read R = 58.310000 from 58.31,X-0.26,Y3.51,Z-58.20

: Sonardyne - got all data, Vehicle coordinates,
    r=58.310000, x=58.200000, y=-0.260000, z=-3.510000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N27.9,D-72,U8,Q0.000067

: BluefinBatt Reply: $aaq0 d- 32.25  9.23 16.69 4.02 4.05 0   302.49 02:32:30 m

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

: AshtechGps::processRecord() - $GPGGA,200122.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200122.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.61,X-0.42,Y3.56,Z-56.49

: Sonardyne - parsing R56.61,X-0.42,Y3.56,Z-56.49

: Sonardyne - read R = 56.610000 from 56.61,X-0.42,Y3.56,Z-56.49

: Sonardyne - got all data, Vehicle coordinates,
    r=56.610000, x=56.490000, y=-0.420000, z=-3.560000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.2,N25.9,D-70,U8,Q0.000098

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,200123.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200123.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.82,X-0.58,Y3.36,Z-54.72

: Sonardyne - parsing R54.82,X-0.58,Y3.36,Z-54.72

: Sonardyne - read R = 54.820000 from 54.82,X-0.58,Y3.36,Z-54.72

: Sonardyne - got all data, Vehicle coordinates,
    r=54.820000, x=54.720000, y=-0.580000, z=-3.360000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.8,N42.0,D-15,U8,Q0.000107

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

: AshtechGps::processRecord() - $GPGGA,200124.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200124.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.07,X-0.39,Y2.92,Z-52.99

: Sonardyne - parsing R53.07,X-0.39,Y2.92,Z-52.99

: Sonardyne - read R = 53.070000 from 53.07,X-0.39,Y2.92,Z-52.99

: Sonardyne - got all data, Vehicle coordinates,
    r=53.070000, x=52.990000, y=-0.390000, z=-2.920000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.9,N30.1,D-46,U8,Q0.000071

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

: AshtechGps::processRecord() - $GPGGA,200125.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200125.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R51.33

: Sonardyne - parsing R51.33

: Sonardyne - read R = 51.330000 from 51.33

: Sonardyne - got range only (51.330000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.9,N29.8,D68,U4,Q0.000050

: Sonardyne - POSD response: 
POSD S+144.9,N29.8,D68,U4,Q0.000050

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200126.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200126.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.70

: Sonardyne - parsing R49.70

: Sonardyne - read R = 49.700000 from 49.70

: Sonardyne - got range only (49.700000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N38.5,D-20,U4,Q0.000051

: Sonardyne - POSD response: 
POSD S+144.9,N38.5,D-20,U4,Q0.000051

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

: AshtechGps::processRecord() - $GPGGA,200127.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200127.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R48.18

: Sonardyne - parsing R48.18

: Sonardyne - read R = 48.180000 from 48.18

: Sonardyne - got range only (48.180000), tat = 509
: Sonardyne - POSD response: 
POSD S+144.9,N28.6,D-61,U5,Q0.000054

: Sonardyne - POSD response: 
POSD S+144.9,N28.6,D-61,U5,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,200128.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200128.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R46.67,X-0.28,Y1.46,Z-46.65

: Sonardyne - parsing R46.67,X-0.28,Y1.46,Z-46.65

: Sonardyne - read R = 46.670000 from 46.67,X-0.28,Y1.46,Z-46.65

: Sonardyne - got all data, Vehicle coordinates,
    r=46.670000, x=46.650000, y=-0.280000, z=-1.460000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.8,N40.1,D-2,U8,Q0.000060

: 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,200129.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200129.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R45.17,X-0.24,Y1.78,Z-45.14

: Sonardyne - parsing R45.17,X-0.24,Y1.78,Z-45.14

: Sonardyne - read R = 45.170000 from 45.17,X-0.24,Y1.78,Z-45.14

: Sonardyne - got all data, Vehicle coordinates,
    r=45.170000, x=45.140000, y=-0.240000, z=-1.780000 tat = 530
: Sonardyne - POSD response: 
POSD S+143.0,N20.4,D-107,U8,Q0.000069

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

: AshtechGps::processRecord() - $GPGGA,200130.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200130.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R43.74

: Sonardyne - parsing R43.74

: Sonardyne - read R = 43.740000 from 43.74

: Sonardyne - got range only (43.740000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N32.8,D-33,U5,Q0.000047

: Sonardyne - POSD response: 
POSD S+144.9,N32.8,D-33,U5,Q0.000047

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200131.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200131.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.15,X-0.16,Y1.16,Z-42.13

: Sonardyne - parsing R42.15,X-0.16,Y1.16,Z-42.13

: Sonardyne - read R = 42.150000 from 42.15,X-0.16,Y1.16,Z-42.13

: Sonardyne - got all data, Vehicle coordinates,
    r=42.150000, x=42.130000, y=-0.160000, z=-1.160000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.7,N38.9,D-9,U8,Q0.000056

: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $aaq0 d- 32.21  8.76 16.69 4.02 4.05 0   301.58 02:32:40 m

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

: AshtechGps::processRecord() - $GPGGA,200132.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200132.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.54,X2.15,Y17.51,Z-37.61

: Sonardyne - parsing R41.54,X2.15,Y17.51,Z-37.61

: Sonardyne - read R = 41.540000 from 41.54,X2.15,Y17.51,Z-37.61

: Sonardyne - got all data, Vehicle coordinates,
    r=41.540000, x=37.610000, y=2.150000, z=-17.510000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.8,N32.2,D-26,U6,Q0.001242

: batts online 1, min cell voltage 4.020000, mean min cell voltage 4.020000

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

: AshtechGps::processRecord() - $GPGGA,200133.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200133.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.87,X0.06,Y1.55,Z-38.84

: Sonardyne - parsing R38.87,X0.06,Y1.55,Z-38.84

: Sonardyne - read R = 38.870000 from 38.87,X0.06,Y1.55,Z-38.84

: Sonardyne - got all data, Vehicle coordinates,
    r=38.870000, x=38.840000, y=0.060000, z=-1.550000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.6,N21.3,D-144,U6,Q0.000053

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

: AshtechGps::processRecord() - $GPGGA,200134.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200134.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.34

: Sonardyne - parsing R37.34

: Sonardyne - read R = 37.340000 from 37.34

: Sonardyne - got range only (37.340000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.8,N25.3,D88,U5,Q0.000051

: Sonardyne - POSD response: 
POSD S+144.8,N25.3,D88,U5,Q0.000051

: 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,200135.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200135.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R35.73,X-0.47,Y1.25,Z-35.71

: Sonardyne - parsing R35.73,X-0.47,Y1.25,Z-35.71

: Sonardyne - read R = 35.730000 from 35.73,X-0.47,Y1.25,Z-35.71

: Sonardyne - got all data, Vehicle coordinates,
    r=35.730000, x=35.710000, y=-0.470000, z=-1.250000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.9,N35.8,D3,U8,Q0.000075

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200136.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200136.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.04,X-0.58,Y1.70,Z-33.99

: Sonardyne - parsing R34.04,X-0.58,Y1.70,Z-33.99

: Sonardyne - read R = 34.040000 from 34.04,X-0.58,Y1.70,Z-33.99

: Sonardyne - got all data, Vehicle coordinates,
    r=34.040000, x=33.990000, y=-0.580000, z=-1.700000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N25.1,D-80,U8,Q0.000063

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

: AshtechGps::processRecord() - $GPGGA,200137.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200137.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.27,X-0.46,Y1.04,Z-32.25

: Sonardyne - parsing R32.27,X-0.46,Y1.04,Z-32.25

: Sonardyne - read R = 32.270000 from 32.27,X-0.46,Y1.04,Z-32.25

: Sonardyne - got all data, Vehicle coordinates,
    r=32.270000, x=32.250000, y=-0.460000, z=-1.040000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N34.7,D-20,U8,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,200138.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200138.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.48,X-0.22,Y0.75,Z-30.47

: Sonardyne - parsing R30.48,X-0.22,Y0.75,Z-30.47

: Sonardyne - read R = 30.480000 from 30.48,X-0.22,Y0.75,Z-30.47

: Sonardyne - got all data, Vehicle coordinates,
    r=30.480000, x=30.470000, y=-0.220000, z=-0.750000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N29.6,D-41,U8,Q0.000051

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

: AshtechGps::processRecord() - $GPGGA,200139.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200139.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.85,X-0.01,Y0.48,Z-28.85

: Sonardyne - parsing R28.85,X-0.01,Y0.48,Z-28.85

: Sonardyne - read R = 28.850000 from 28.85,X-0.01,Y0.48,Z-28.85

: Sonardyne - got all data, Vehicle coordinates,
    r=28.850000, x=28.850000, y=-0.010000, z=-0.480000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N36.0,D-34,U8,Q0.000050

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

: AshtechGps::processRecord() - $GPGGA,200140.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200140.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.40,X0.10,Y0.33,Z-27.39

: Sonardyne - parsing R27.40,X0.10,Y0.33,Z-27.39

: Sonardyne - read R = 27.400000 from 27.40,X0.10,Y0.33,Z-27.39

: Sonardyne - got all data, Vehicle coordinates,
    r=27.400000, x=27.390000, y=0.100000, z=-0.330000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N35.8,D-33,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,200141.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200141.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R26.10,X0.09,Y0.27,Z-26.10

: Sonardyne - parsing R26.10,X0.09,Y0.27,Z-26.10

: Sonardyne - read R = 26.100000 from 26.10,X0.09,Y0.27,Z-26.10

: Sonardyne - got all data, Vehicle coordinates,
    r=26.100000, x=26.100000, y=0.090000, z=-0.270000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N27.3,D-35,U8,Q0.000048

: BluefinBatt Reply: $aaq0 d- 32.21  9.13 16.69 4.01 4.05 0   300.93 02:32:50 m

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

: AshtechGps::processRecord() - $GPGGA,200142.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200142.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.63,X-0.01,Y0.32,Z-24.63

: Sonardyne - parsing R24.63,X-0.01,Y0.32,Z-24.63

: Sonardyne - read R = 24.630000 from 24.63,X-0.01,Y0.32,Z-24.63

: Sonardyne - got all data, Vehicle coordinates,
    r=24.630000, x=24.630000, y=-0.010000, z=-0.320000 tat = 499
: Sonardyne - POSD response: 
POSD S+144.9,N32.6,D-38,U8,Q0.000050

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200143.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200143.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.97,X-0.09,Y0.15,Z-22.97

: Sonardyne - parsing R22.97,X-0.09,Y0.15,Z-22.97

: Sonardyne - read R = 22.970000 from 22.97,X-0.09,Y0.15,Z-22.97

: Sonardyne - got all data, Vehicle coordinates,
    r=22.970000, x=22.970000, y=-0.090000, z=-0.150000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-42,U8,Q0.000059

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

: AshtechGps::processRecord() - $GPGGA,200144.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200144.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.17,X-0.05,Y-0.08,Z-21.17

: Sonardyne - parsing R21.17,X-0.05,Y-0.08,Z-21.17

: Sonardyne - read R = 21.170000 from 21.17,X-0.05,Y-0.08,Z-21.17

: Sonardyne - got all data, Vehicle coordinates,
    r=21.170000, x=21.170000, y=-0.050000, z=0.080000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-47,U8,Q0.000068

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

: AshtechGps::processRecord() - $GPGGA,200145.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200145.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.39,X-0.05,Y-0.14,Z-19.39

: Sonardyne - parsing R19.39,X-0.05,Y-0.14,Z-19.39

: Sonardyne - read R = 19.390000 from 19.39,X-0.05,Y-0.14,Z-19.39

: Sonardyne - got all data, Vehicle coordinates,
    r=19.390000, x=19.390000, y=-0.050000, z=0.140000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.3,D-44,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,200146.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200146.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.46,X0.07,Y-0.33,Z-17.46

: Sonardyne - parsing R17.46,X0.07,Y-0.33,Z-17.46

: Sonardyne - read R = 17.460000 from 17.46,X0.07,Y-0.33,Z-17.46

: Sonardyne - got all data, Vehicle coordinates,
    r=17.460000, x=17.460000, y=0.070000, z=0.330000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.9,N31.1,D-40,U8,Q0.000083

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

: AshtechGps::processRecord() - $GPGGA,200147.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200147.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.08,X0.06,Y-0.37,Z-16.08

: Sonardyne - parsing R16.08,X0.06,Y-0.37,Z-16.08

: Sonardyne - read R = 16.080000 from 16.08,X0.06,Y-0.37,Z-16.08

: Sonardyne - got all data, Vehicle coordinates,
    r=16.080000, x=16.080000, y=0.060000, z=0.370000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N32.1,D-37,U8,Q0.000079

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

: AshtechGps::processRecord() - $GPGGA,200148.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200148.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.60,X0.08,Y-0.47,Z-14.59

: Sonardyne - parsing R14.60,X0.08,Y-0.47,Z-14.59

: Sonardyne - read R = 14.600000 from 14.60,X0.08,Y-0.47,Z-14.59

: Sonardyne - got all data, Vehicle coordinates,
    r=14.600000, x=14.590000, y=0.080000, z=0.470000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N31.5,D-39,U8,Q0.000059

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

: AshtechGps::processRecord() - $GPGGA,200149.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200149.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.11,X0.08,Y-0.53,Z-13.09

: Sonardyne - parsing R13.11,X0.08,Y-0.53,Z-13.09

: Sonardyne - read R = 13.110000 from 13.11,X0.08,Y-0.53,Z-13.09

: Sonardyne - got all data, Vehicle coordinates,
    r=13.110000, x=13.090000, y=0.080000, z=0.530000 tat = 490
: Sonardyne - POSD response: 
POSD S+145.0,N31.2,D-39,U8,Q0.000133

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

: AshtechGps::processRecord() - $GPGGA,200150.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200150.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.56,X0.11,Y-0.43,Z-11.55

: Sonardyne - parsing R11.56,X0.11,Y-0.43,Z-11.55

: Sonardyne - read R = 11.560000 from 11.56,X0.11,Y-0.43,Z-11.55

: Sonardyne - got all data, Vehicle coordinates,
    r=11.560000, x=11.550000, y=0.110000, z=0.430000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N31.1,D-38,U8,Q0.000086

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

: AshtechGps::processRecord() - $GPGGA,200151.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200151.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.00,X0.12,Y-0.38,Z-9.99

: Sonardyne - parsing R10.00,X0.12,Y-0.38,Z-9.99

: Sonardyne - read R = 10.000000 from 10.00,X0.12,Y-0.38,Z-9.99

: Sonardyne - got all data, Vehicle coordinates,
    r=10.000000, x=9.990000, y=0.120000, z=0.380000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N31.0,D-39,U8,Q0.000051

: BluefinBatt Reply: $aaq0 d- 32.21  8.08 16.69 4.01 4.05 0   299.96 02:33:00 m

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

: AshtechGps::processRecord() - $GPGGA,200152.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200152.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.55,X0.11,Y-0.65,Z-8.52

: Sonardyne - parsing R8.55,X0.11,Y-0.65,Z-8.52

: Sonardyne - read R = 8.550000 from 8.55,X0.11,Y-0.65,Z-8.52

: Sonardyne - got all data, Vehicle coordinates,
    r=8.550000, x=8.520000, y=0.110000, z=0.650000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N30.7,D-42,U8,Q0.000547

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200153.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200153.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.88,X0.12,Y-1.04,Z-6.80

: Sonardyne - parsing R6.88,X0.12,Y-1.04,Z-6.80

: Sonardyne - read R = 6.880000 from 6.88,X0.12,Y-1.04,Z-6.80

: Sonardyne - got all data, Vehicle coordinates,
    r=6.880000, x=6.800000, y=0.120000, z=1.040000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N31.2,D-40,U8,Q0.001284

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

: AshtechGps::processRecord() - $GPGGA,200154.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200154.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.29

: Sonardyne - parsing R5.29

: Sonardyne - read R = 5.290000 from 5.29

: Sonardyne - got range only (5.290000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.8,N26.5,D-66,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.8,N26.5,D-66,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,200155.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200155.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.91

: Sonardyne - parsing R3.91

: Sonardyne - read R = 3.910000 from 3.91

: Sonardyne - got range only (3.910000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N30.1,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N30.1,D-40,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,200156.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200156.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.50,X0.16,Y2.49,Z0.00

: Sonardyne - parsing R2.50,X0.16,Y2.49,Z0.00

: Sonardyne - read R = 2.500000 from 2.50,X0.16,Y2.49,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=2.500000, x=0.000000, y=0.160000, z=-2.490000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N31.9,D-31,U8,Q0.003190

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200157.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200157.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.57,X0.10,Y-1.53,Z-0.34

: Sonardyne - parsing R1.57,X0.10,Y-1.53,Z-0.34

: Sonardyne - read R = 1.570000 from 1.57,X0.10,Y-1.53,Z-0.34

: Sonardyne - got all data, Vehicle coordinates,
    r=1.570000, x=0.340000, y=0.100000, z=1.530000 tat = 470
: Sonardyne - POSD response: 
POSD S+145.0,N43.8,D-8,U8,Q0.001235

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

: AshtechGps::processRecord() - $GPGGA,200158.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200158.00,,,,,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,200159.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200159.00,,,,,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,200200.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200200.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,200201.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200201.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $aaq0 d- 32.25  7.95 16.69 4.01 4.05 0   299.31 02:33:10 m

: Sonardyne - POS response: 
POS V4,1 R7.50

: Sonardyne - parsing R7.50

: Sonardyne - read R = 7.500000 from 7.50

: Sonardyne - got range only (7.500000), tat = 460
: Sonardyne - POSD response: 
POSD S115.4,N23.6,D57,U2,Q0.009306

: Sonardyne - POSD response: 
POSD S115.4,N23.6,D57,U2,Q0.009306

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

: AshtechGps::processRecord() - $GPGGA,200202.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200202.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  WaypointHoming has set the state to finished.

: WaypointHoming (4052087.6, 600457.8), 
  reached at t = 478.80                                          (wplog)

: Vehicle Position is error is (0.2, -0.1)

: LayeredControl::execute() -- (t = 478.797200) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 478.80                            (wplog)
  The current location (N,E) = 4052087.4      , 600457.9         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 64.7 Degrees.

: LayeredControl::execute() -- (t = 478.807199) Behavior waypoint has changed to state Active

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: Sonardyne - POS response: 
POS V4,1 R9.00

: Sonardyne - parsing R9.00

: Sonardyne - read R = 9.000000 from 9.00

: Sonardyne - got range only (9.000000), tat = 460
: Sonardyne - POSD response: 
POSD S116.0,N24.0,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.0,N24.0,D11,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,200203.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200203.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.32,X-12.58,Y4.37,Z0.00

: Sonardyne - parsing R13.32,X-12.58,Y4.37,Z0.00

: Sonardyne - read R = 13.320000 from 13.32,X-12.58,Y4.37,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=13.320000, x=0.000000, y=-12.580000, z=-4.370000 tat = 480
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200204.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200204.00,,,,,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,200205.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200205.00,,,,,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,200206.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200206.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,200207.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200207.00,,,,,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,200208.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200208.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,200209.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200209.00,,,,,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,200210.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200210.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200211.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200211.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.75

: Sonardyne - parsing R19.75

: Sonardyne - read R = 19.750000 from 19.75

: Sonardyne - got range only (19.750000), tat = 469
: Sonardyne - POSD response: 
POSD S129.7,N29.8,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.7,N29.8,D12,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.17  9.77 16.69 4.01 4.05 0   298.35 02:33:20 m

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

: AshtechGps::processRecord() - $GPGGA,200212.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200212.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.21,X20.21,Y0.30,Z0.00

: Sonardyne - parsing R20.21,X20.21,Y0.30,Z0.00

: Sonardyne - read R = 20.210000 from 20.21,X20.21,Y0.30,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=20.210000, x=0.000000, y=20.210000, z=-0.300000 tat = 490
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200213.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200213.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.65

: Sonardyne - parsing R20.65

: Sonardyne - read R = 20.650000 from 20.65

: Sonardyne - got range only (20.650000), tat = 470
: Sonardyne - POSD response: 
POSD S133.9,N32.2,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.9,N32.2,D-4,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,200214.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200214.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.29

: Sonardyne - parsing R21.29

: Sonardyne - read R = 21.290000 from 21.29

: Sonardyne - got range only (21.290000), tat = 480
: Sonardyne - POSD response: 
POSD S137.3,N30.4,D9,U1,Q0.013758

: Sonardyne - POSD response: 
POSD S137.3,N30.4,D9,U1,Q0.013758

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

: AshtechGps::processRecord() - $GPGGA,200215.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200215.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.88

: Sonardyne - parsing R21.88

: Sonardyne - read R = 21.880000 from 21.88

: Sonardyne - got range only (21.880000), tat = 480
: Sonardyne - POSD response: 
POSD S137.1,N31.2,D-86,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N31.2,D-86,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,200216.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200216.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.44

: Sonardyne - parsing R23.44

: Sonardyne - read R = 23.440000 from 23.44

: Sonardyne - got range only (23.440000), tat = 480
: Sonardyne - POSD response: 
POSD S139.8,N23.1,D19,U2,Q0.012494

: Sonardyne - POSD response: 
POSD S139.8,N23.1,D19,U2,Q0.012494

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

: AshtechGps::processRecord() - $GPGGA,200217.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200217.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.17,X17.00,Y14.24,Z0.00

: Sonardyne - parsing R22.17,X17.00,Y14.24,Z0.00

: Sonardyne - read R = 22.170000 from 22.17,X17.00,Y14.24,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=22.170000, x=0.000000, y=17.000000, z=-14.240000 tat = 500
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200218.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200218.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.83,X16.89,Y13.41,Z-3.39

: Sonardyne - parsing R21.83,X16.89,Y13.41,Z-3.39

: Sonardyne - read R = 21.830000 from 21.83,X16.89,Y13.41,Z-3.39

: Sonardyne - got all data, Vehicle coordinates,
    r=21.830000, x=3.390000, y=16.890000, z=-13.410000 tat = 500
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200219.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200219.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.35,X16.50,Y12.31,Z-5.63

: Sonardyne - parsing R21.35,X16.50,Y12.31,Z-5.63

: Sonardyne - read R = 21.350000 from 21.35,X16.50,Y12.31,Z-5.63

: Sonardyne - got all data, Vehicle coordinates,
    r=21.350000, x=5.630000, y=16.500000, z=-12.310000 tat = 500
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200220.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200220.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.84

: Sonardyne - parsing R20.84

: Sonardyne - read R = 20.840000 from 20.84

: Sonardyne - got range only (20.840000), tat = 480
: Sonardyne - POSD response: 
POSD S139.1,N30.6,D-23,U3,Q0.010084

: Sonardyne - POSD response: 
POSD S139.1,N30.6,D-23,U3,Q0.010084

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

: AshtechGps::processRecord() - $GPGGA,200221.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200221.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.80,X16.24,Y12.43,Z-3.81

: Sonardyne - parsing R20.80,X16.24,Y12.43,Z-3.81

: Sonardyne - read R = 20.800000 from 20.80,X16.24,Y12.43,Z-3.81

: Sonardyne - got all data, Vehicle coordinates,
    r=20.800000, x=3.810000, y=16.240000, z=-12.430000 tat = 500
: BluefinBatt Reply: $aaq0 d- 32.21  9.19 16.69 4.01 4.05 0   297.59 02:33:30 m

: AshtechGps::processRecord() - $GPGGA,200222.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200222.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R20.80

: Sonardyne - parsing R20.80

: Sonardyne - read R = 20.800000 from 20.80

: Sonardyne - got range only (20.800000), tat = 470
: Sonardyne - POSD response: 
POSD S127.8,N27.7,D-25,U4,Q0.004753

: Sonardyne - POSD response: 
POSD S127.8,N27.7,D-25,U4,Q0.004753

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200223.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200223.00,,,,,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 R21.12,X15.48,Y11.61,Z-8.47

: Sonardyne - parsing R21.12,X15.48,Y11.61,Z-8.47

: Sonardyne - read R = 21.120000 from 21.12,X15.48,Y11.61,Z-8.47

: Sonardyne - got all data, Vehicle coordinates,
    r=21.120000, x=8.470000, y=15.480000, z=-11.610000 tat = 500
: AshtechGps::processRecord() - $GPGGA,200224.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200224.00,,,,,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 R21.33

: Sonardyne - parsing R21.33

: Sonardyne - read R = 21.330000 from 21.33

: Sonardyne - got range only (21.330000), tat = 480
: Sonardyne - POSD response: 
POSD S129.0,N20.7,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.0,N20.7,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200225.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200225.00,,,,,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 R21.65,X14.15,Y12.00,Z-11.15

: Sonardyne - parsing R21.65,X14.15,Y12.00,Z-11.15

: Sonardyne - read R = 21.650000 from 21.65,X14.15,Y12.00,Z-11.15

: Sonardyne - got all data, Vehicle coordinates,
    r=21.650000, x=11.150000, y=14.150000, z=-12.000000 tat = 500
: AshtechGps::processRecord() - $GPGGA,200226.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200226.00,,,,,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 R22.15

: Sonardyne - parsing R22.15

: Sonardyne - read R = 22.150000 from 22.15

: Sonardyne - got range only (22.150000), tat = 480
: Sonardyne - POSD response: 
POSD S133.1,N32.0,D21,U2,Q0.013746

: Sonardyne - POSD response: 
POSD S133.1,N32.0,D21,U2,Q0.013746

: AshtechGps::processRecord() - $GPGGA,200227.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200227.00,,,,,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 R22.71

: Sonardyne - parsing R22.71

: Sonardyne - read R = 22.710000 from 22.71

: Sonardyne - got range only (22.710000), tat = 480
: Sonardyne - POSD response: 
POSD S123.6,N21.0,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.6,N21.0,D-40,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200228.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200228.00,,,,,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 R23.89

: Sonardyne - parsing R23.89

: Sonardyne - read R = 23.890000 from 23.89

: Sonardyne - got range only (23.890000), tat = 480
: Sonardyne - POSD response: 
POSD S125.0,N29.6,D17,U4,Q0.002541

: Sonardyne - POSD response: 
POSD S125.0,N29.6,D17,U4,Q0.002541

: AshtechGps::processRecord() - $GPGGA,200229.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200229.00,,,,,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 R25.11

: Sonardyne - parsing R25.11

: Sonardyne - read R = 25.110000 from 25.11

: Sonardyne - got range only (25.110000), tat = 480
: Sonardyne - POSD response: 
POSD S123.1,N18.9,D36,U1,Q0.008140

: Sonardyne - POSD response: 
POSD S123.1,N18.9,D36,U1,Q0.008140

: AshtechGps::processRecord() - $GPGGA,200230.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200230.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R27.19

: Sonardyne - parsing R27.19

: Sonardyne - read R = 27.190000 from 27.19

: Sonardyne - got range only (27.190000), tat = 480
: Sonardyne - POSD response: 
POSD S127.7,N30.0,D25,U3,Q0.003605

: Sonardyne - POSD response: 
POSD S127.7,N30.0,D25,U3,Q0.003605

: AshtechGps::processRecord() - $GPGGA,200231.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200231.00,,,,,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: $aaq0 d- 32.21  8.45 16.69 4.01 4.05 0   296.58 02:33:40 m

: AshtechGps::processRecord() - $GPGGA,200232.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200232.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200233.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200233.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200234.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200234.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200235.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200235.00,,,,,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,200236.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200236.00,,,,,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,200237.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200237.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200238.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200238.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,200239.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200239.00,,,,,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,200240.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200240.00,,,,,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,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200241.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200241.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.21  8.49 16.69 4.01 4.05 0   295.91 02:33:50 m

: Sonardyne - POS response: 
POS V4,1 R44.72

: Sonardyne - parsing R44.72

: Sonardyne - read R = 44.720000 from 44.72

: Sonardyne - got range only (44.720000), tat = 510
: Sonardyne - POSD response: 
POSD S116.5,N17.6,D82,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S116.5,N17.6,D82,U1,Q0.013937

: AshtechGps::processRecord() - $GPGGA,200242.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200242.00,,,,,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 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200243.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200243.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200244.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200244.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200245.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200245.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200246.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200246.00,,,,,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 R53.26

: Sonardyne - parsing R53.26

: Sonardyne - read R = 53.260000 from 53.26

: Sonardyne - got range only (53.260000), tat = 520
: Sonardyne - POSD response: 
POSD S109.0,N18.2,D24,U1,Q0.006944

: Sonardyne - POSD response: 
POSD S109.0,N18.2,D24,U1,Q0.006944

: AshtechGps::processRecord() - $GPGGA,200247.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200247.00,,,,,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 R57.09

: Sonardyne - parsing R57.09

: Sonardyne - read R = 57.090000 from 57.09

: Sonardyne - got range only (57.090000), tat = 520
: Sonardyne - POSD response: 
POSD S110.8,N23.2,D67,U1,Q0.009402

: Sonardyne - POSD response: 
POSD S110.8,N23.2,D67,U1,Q0.009402

: AshtechGps::processRecord() - $GPGGA,200248.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200248.00,,,,,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,200249.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200249.00,,,,,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

: LayeredControl::execute() -- (t = 525.993967) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 525.99                            (wplog)
  The current location (N,E) = 4052108.3      , 600501.8         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 345.7 Degrees.

: LayeredControl::execute() -- (t = 525.993967) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,200250.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200250.00,,,,,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
: 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

: AshtechGps::processRecord() - $GPGGA,200251.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200251.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 32.21  8.55 16.79 4.01 4.05 0   294.99 02:34:00 m

: AshtechGps::processRecord() - $GPGGA,200252.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200252.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200253.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200253.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200254.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200254.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200255.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200255.00,,,,,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,200256.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200256.00,,,,,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,200257.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200257.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200258.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200258.00,,,,,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 R66.13,X49.91,Y-22.63,Z-37.01

: Sonardyne - parsing R66.13,X49.91,Y-22.63,Z-37.01

: Sonardyne - read R = 66.130000 from 66.13,X49.91,Y-22.63,Z-37.01

: Sonardyne - got all data, Vehicle coordinates,
    r=66.130000, x=37.010000, y=49.910000, z=22.630000 tat = 560
: AshtechGps::processRecord() - $GPGGA,200259.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200259.00,,,,,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 R66.43

: Sonardyne - parsing R66.43

: Sonardyne - read R = 66.430000 from 66.43

: Sonardyne - got range only (66.430000), tat = 540
: Sonardyne - POSD response: 
POSD S129.4,N30.4,D-21,U3,Q0.000430

: Sonardyne - POSD response: 
POSD S129.4,N30.4,D-21,U3,Q0.000430

: AshtechGps::processRecord() - $GPGGA,200300.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200300.00,,,,,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 R66.81,X-58.85,Y26.38,Z-17.44

: Sonardyne - parsing R66.81,X-58.85,Y26.38,Z-17.44

: Sonardyne - read R = 66.810000 from 66.81,X-58.85,Y26.38,Z-17.44

: Sonardyne - got all data, Vehicle coordinates,
    r=66.810000, x=17.440000, y=-58.850000, z=-26.380000 tat = 560
: AshtechGps::processRecord() - $GPGGA,200301.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200301.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 32.17  8.62 16.69 4.01 4.05 0   294.37 02:34:10 m

: Sonardyne - POS response: 
POS V4,1 R65.91

: Sonardyne - parsing R65.91

: Sonardyne - read R = 65.910000 from 65.91

: Sonardyne - got range only (65.910000), tat = 540
: Sonardyne - POSD response: 
POSD S134.3,N30.4,D15,U2,Q0.010597

: Sonardyne - POSD response: 
POSD S134.3,N30.4,D15,U2,Q0.010597

: AshtechGps::processRecord() - $GPGGA,200302.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200302.00,,,,,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 4.010000, mean min cell voltage 4.010000

: Sonardyne - POS response: 
POS V4,1 R65.80

: Sonardyne - parsing R65.80

: Sonardyne - read R = 65.800000 from 65.80

: Sonardyne - got range only (65.800000), tat = 540
: Sonardyne - POSD response: 
POSD S128.7,N22.7,D-82,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N22.7,D-82,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200303.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200303.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R65.39

: Sonardyne - parsing R65.39

: Sonardyne - read R = 65.390000 from 65.39

: Sonardyne - got range only (65.390000), tat = 540
: Sonardyne - POSD response: 
POSD S+140.5,N26.8,D-10,U1,Q0.012214

: Sonardyne - POSD response: 
POSD S+140.5,N26.8,D-10,U1,Q0.012214

: AshtechGps::processRecord() - $GPGGA,200304.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200304.00,,,,,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 R64.90

: Sonardyne - parsing R64.90

: Sonardyne - read R = 64.900000 from 64.90

: Sonardyne - got range only (64.900000), tat = 530
: Sonardyne - POSD response: 
POSD S138.4,N28.8,D-48,U1,Q0.008397

: Sonardyne - POSD response: 
POSD S138.4,N28.8,D-48,U1,Q0.008397

: AshtechGps::processRecord() - $GPGGA,200305.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200305.00,,,,,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 R64.54

: Sonardyne - parsing R64.54

: Sonardyne - read R = 64.540000 from 64.54

: Sonardyne - got range only (64.540000), tat = 540
: Sonardyne - POSD response: 
POSD S134.6,N30.8,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.6,N30.8,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200306.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200306.00,,,,,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 R64.04

: Sonardyne - parsing R64.04

: Sonardyne - read R = 64.040000 from 64.04

: Sonardyne - got range only (64.040000), tat = 540
: Sonardyne - POSD response: 
POSD S125.9,N24.0,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N24.0,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200307.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200307.00,,,,,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 R63.35

: Sonardyne - parsing R63.35

: Sonardyne - read R = 63.350000 from 63.35

: Sonardyne - got range only (63.350000), tat = 530
: Sonardyne - POSD response: 
POSD S137.7,N31.0,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N31.0,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200308.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200308.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R62.85

: Sonardyne - parsing R62.85

: Sonardyne - read R = 62.850000 from 62.85

: Sonardyne - got range only (62.850000), tat = 530
: Sonardyne - POSD response: 
POSD S135.7,N29.7,D-41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.7,N29.7,D-41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200309.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200309.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R62.42

: Sonardyne - parsing R62.42

: Sonardyne - read R = 62.420000 from 62.42

: Sonardyne - got range only (62.420000), tat = 529
: Sonardyne - POSD response: 
POSD S129.3,N22.1,D-122,U4,Q0.015103

: Sonardyne - POSD response: 
POSD S129.3,N22.1,D-122,U4,Q0.015103

: AshtechGps::processRecord() - $GPGGA,200310.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200310.00,,,,,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 R61.94

: Sonardyne - parsing R61.94

: Sonardyne - read R = 61.940000 from 61.94

: Sonardyne - got range only (61.940000), tat = 530
: Sonardyne - POSD response: 
POSD S130.3,N26.9,D-57,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S130.3,N26.9,D-57,U1,Q0.013937

: AshtechGps::processRecord() - $GPGGA,200311.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200311.00,,,,,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: $aaq0 d- 32.21  9.16 16.69 4.01 4.05 0   293.33 02:34:20 m

: Sonardyne - POS response: 
POS V4,1 R61.68,X47.78,Y38.99,Z-1.00

: Sonardyne - parsing R61.68,X47.78,Y38.99,Z-1.00

: Sonardyne - read R = 61.680000 from 61.68,X47.78,Y38.99,Z-1.00

: Sonardyne - got all data, Vehicle coordinates,
    r=61.680000, x=1.000000, y=47.780000, z=-38.990000 tat = 550
: AshtechGps::processRecord() - $GPGGA,200312.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200312.00,,,,,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 4.010000, mean min cell voltage 4.010000

: Sonardyne - POS response: 
POS V4,1 R61.48,X48.18,Y37.91,Z-4.59

: Sonardyne - parsing R61.48,X48.18,Y37.91,Z-4.59

: Sonardyne - read R = 61.480000 from 61.48,X48.18,Y37.91,Z-4.59

: Sonardyne - got all data, Vehicle coordinates,
    r=61.480000, x=4.590000, y=48.180000, z=-37.910000 tat = 550
: AshtechGps::processRecord() - $GPGGA,200313.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200313.00,,,,,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 R61.36

: Sonardyne - parsing R61.36

: Sonardyne - read R = 61.360000 from 61.36

: Sonardyne - got range only (61.360000), tat = 530
: Sonardyne - POSD response: 
POSD S132.6,N27.4,D-8,U3,Q0.006063

: Sonardyne - POSD response: 
POSD S132.6,N27.4,D-8,U3,Q0.006063

: AshtechGps::processRecord() - $GPGGA,200314.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200314.00,,,,,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 R61.26

: Sonardyne - parsing R61.26

: Sonardyne - read R = 61.260000 from 61.26

: Sonardyne - got range only (61.260000), tat = 530
: Sonardyne - POSD response: 
POSD S122.0,N19.3,D-126,U2,Q0.002951

: Sonardyne - POSD response: 
POSD S122.0,N19.3,D-126,U2,Q0.002951

: AshtechGps::processRecord() - $GPGGA,200315.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200315.00,,,,,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 R62.01

: Sonardyne - parsing R62.01

: Sonardyne - read R = 62.010000 from 62.01

: Sonardyne - got range only (62.010000), tat = 530
: Sonardyne - POSD response: 
POSD S131.5,N28.8,D28,U5,Q0.000418

: Sonardyne - POSD response: 
POSD S131.5,N28.8,D28,U5,Q0.000418

: AshtechGps::processRecord() - $GPGGA,200316.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200316.00,,,,,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 R61.82

: Sonardyne - parsing R61.82

: Sonardyne - read R = 61.820000 from 61.82

: Sonardyne - got range only (61.820000), tat = 530
: Sonardyne - POSD response: 
POSD S125.3,N23.3,D80,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.3,N23.3,D80,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200317.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200317.00,,,,,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 R62.20

: Sonardyne - parsing R62.20

: Sonardyne - read R = 62.200000 from 62.20

: Sonardyne - got range only (62.200000), tat = 530
: Sonardyne - POSD response: 
POSD S135.2,N20.6,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.2,N20.6,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200318.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,200318.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R62.26

: Sonardyne - parsing R62.26

: Sonardyne - read R = 62.260000 from 62.26

: Sonardyne - got range only (62.260000), tat = 530
: Sonardyne - POSD response: 
POSD S129.4,N30.0,D-8,U2,Q0.007521

: Sonardyne - POSD response: 
POSD S129.4,N30.0,D-8,U2,Q0.007521

: AshtechGps::processRecord() - $GPGGA,200319.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,200319.00,,,,,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 R62.89

: Sonardyne - parsing R62.89

: Sonardyne - read R = 62.890000 from 62.89

: Sonardyne - got range only (62.890000), tat = 530
: Sonardyne - POSD response: 
POSD S124.1,N20.9,D129,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N20.9,D129,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200320.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200320.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R63.62

: Sonardyne - parsing R63.62

: Sonardyne - read R = 63.620000 from 63.62

: Sonardyne - got range only (63.620000), tat = 530
: Sonardyne - POSD response: 
POSD S128.1,N29.7,D-3,U2,Q0.005303

: Sonardyne - POSD response: 
POSD S128.1,N29.7,D-3,U2,Q0.005303

: AshtechGps::processRecord() - $GPGGA,200321.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200321.00,,,,,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: $aaq0 d- 32.17  9.46 16.79 4.01 4.04 0   292.69 02:34:30 m

: Sonardyne - POS response: 
POS V4,1 R64.30

: Sonardyne - parsing R64.30

: Sonardyne - read R = 64.300000 from 64.30

: Sonardyne - got range only (64.300000), tat = 530
: Sonardyne - POSD response: 
POSD S125.0,N23.9,D89,U2,Q0.002940

: Sonardyne - POSD response: 
POSD S125.0,N23.9,D89,U2,Q0.002940

: AshtechGps::processRecord() - $GPGGA,200322.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200322.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: Sonardyne - POS response: 
POS V4,1 R65.04,X-28.56,Y-46.37,Z-35.57

: Sonardyne - parsing R65.04,X-28.56,Y-46.37,Z-35.57

: Sonardyne - read R = 65.040000 from 65.04,X-28.56,Y-46.37,Z-35.57

: Sonardyne - got all data, Vehicle coordinates,
    r=65.040000, x=35.570000, y=-28.560000, z=46.370000 tat = 560
: AshtechGps::processRecord() - $GPGGA,200323.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200323.00,,,,,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 R65.68

: Sonardyne - parsing R65.68

: Sonardyne - read R = 65.680000 from 65.68

: Sonardyne - got range only (65.680000), tat = 540
: Sonardyne - POSD response: 
POSD S125.1,N24.6,D-43,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S125.1,N24.6,D-43,U1,Q0.016109

: AshtechGps::processRecord() - $GPGGA,200324.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200324.00,,,,,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 R66.65

: Sonardyne - parsing R66.65

: Sonardyne - read R = 66.650000 from 66.65

: Sonardyne - got range only (66.650000), tat = 540
: Sonardyne - POSD response: 
POSD S122.4,N29.0,D21,U2,Q0.005985

: Sonardyne - POSD response: 
POSD S122.4,N29.0,D21,U2,Q0.005985

: AshtechGps::processRecord() - $GPGGA,200325.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200325.00,,,,,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 R67.81

: Sonardyne - parsing R67.81

: Sonardyne - read R = 67.810000 from 67.81

: Sonardyne - got range only (67.810000), tat = 540
: Sonardyne - POSD response: 
POSD S123.4,N25.3,D79,U3,Q0.003225

: Sonardyne - POSD response: 
POSD S123.4,N25.3,D79,U3,Q0.003225

: AshtechGps::processRecord() - $GPGGA,200326.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200326.00,,,,,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 R108.93

: Sonardyne - parsing R108.93

: Sonardyne - read R = 108.930000 from 108.93

: Sonardyne - got range only (108.930000), tat = 600
: Sonardyne - POSD response: 
POSD S111.7,N25.8,D126,U2,Q0.009688

: Sonardyne - POSD response: 
POSD S111.7,N25.8,D126,U2,Q0.009688

: AshtechGps::processRecord() - $GPGGA,200327.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200327.00,,,,,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 R69.69

: Sonardyne - parsing R69.69

: Sonardyne - read R = 69.690000 from 69.69

: Sonardyne - got range only (69.690000), tat = 540
: Sonardyne - POSD response: 
POSD S123.4,N27.7,D38,U2,Q0.004230

: Sonardyne - POSD response: 
POSD S123.4,N27.7,D38,U2,Q0.004230

: AshtechGps::processRecord() - $GPGGA,200328.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200328.00,,,,,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 R70.79

: Sonardyne - parsing R70.79

: Sonardyne - read R = 70.790000 from 70.79

: Sonardyne - got range only (70.790000), tat = 540
: Sonardyne - POSD response: 
POSD S119.8,N24.4,D83,U2,Q0.002492

: Sonardyne - POSD response: 
POSD S119.8,N24.4,D83,U2,Q0.002492

: AshtechGps::processRecord() - $GPGGA,200329.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200329.00,,,,,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 R71.65

: Sonardyne - parsing R71.65

: Sonardyne - read R = 71.650000 from 71.65

: Sonardyne - got range only (71.650000), tat = 540
: Sonardyne - POSD response: 
POSD S119.7,N23.7,D-63,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.7,N23.7,D-63,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200330.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200330.00,,,,,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 R72.81

: Sonardyne - parsing R72.81

: Sonardyne - read R = 72.810000 from 72.81

: Sonardyne - got range only (72.810000), tat = 540
: Sonardyne - POSD response: 
POSD S124.6,N29.1,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.6,N29.1,D22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200331.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200331.00,,,,,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: $aaq0 d- 32.17  8.89 16.79 4.01 4.04 0   291.68 02:34:40 m

: AshtechGps::processRecord() - $GPGGA,200332.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200332.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200333.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200333.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200334.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200334.00,,,,,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,N6.7,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200335.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200335.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 S107.2,N17.3,D66,U1,Q0.005415

: Sonardyne - POSD response: 
POSD S107.2,N17.3,D66,U1,Q0.005415

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

: AshtechGps::processRecord() - $GPGGA,200336.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200336.00,,,,,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,200337.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200337.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,200338.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200338.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200339.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200339.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,200340.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200340.00,,,,,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,200341.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200341.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 32.21  8.35 16.79 4.01 4.05 0   291.08 02:34:50 m

: AshtechGps::processRecord() - $GPGGA,200342.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200342.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200343.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200343.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200344.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200344.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200345.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200345.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,200346.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200346.00,,,,,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 R94.70

: Sonardyne - parsing R94.70

: Sonardyne - read R = 94.700000 from 94.70

: Sonardyne - got range only (94.700000), tat = 570
: Sonardyne - POSD response: 
POSD S120.9,N23.8,D65,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S120.9,N23.8,D65,U1,Q0.013937

: AshtechGps::processRecord() - $GPGGA,200347.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200347.00,,,,,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,200348.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200348.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,200349.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200349.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,200350.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200350.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200351.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200351.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.17  8.82 16.79 4.01 4.05 0   290.12 02:35:00 m

: AshtechGps::processRecord() - $GPGGA,200352.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200352.00,,,,,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 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200353.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200353.00,,,,,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 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,200354.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200354.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200355.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200355.00,,,,,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,200356.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200356.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,200357.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200357.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,200358.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200358.00,,,,,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,200359.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200359.00,,,,,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,200400.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200400.00,,,,,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,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200401.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200401.00,,,,,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: $aaq0 d- 32.25  7.78 16.79 4.01 4.04 0   289.48 02:35:10 m

: AshtechGps::processRecord() - $GPGGA,200402.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200402.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200403.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200403.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,200404.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200404.00,,,,,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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200405.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200405.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,200406.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200406.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200407.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200407.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200408.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200408.00,,,,,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,200409.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200409.00,,,,,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,200410.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200410.00,,,,,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,200411.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200411.00,,,,,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,N5.0,D0,U0,Q0.000000

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

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

: BluefinBatt Reply: $aaq0 d- 32.21  9.30 16.79 4.01 4.04 0   288.55 02:35:20 m

: AshtechGps::processRecord() - $GPGGA,200412.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200412.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200413.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200413.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,200414.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200414.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200415.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200415.00,,,,,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,200416.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200416.00,,,,,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,200417.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200417.00,,,,,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,200418.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200418.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,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,200419.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200419.00,,,,,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,200420.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200420.00,,,,,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,200421.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200421.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  9.19 16.69 4.01 4.04 0   287.95 02:35:30 m

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

: Sonardyne - POS response: 
POS V4,1 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,200422.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200422.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200423.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200423.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200424.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200424.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200425.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200425.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,200426.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200426.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,200427.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200427.00,,,,,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,200428.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200428.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200429.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200429.00,,,,,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,200430.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200430.00,,,,,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,200431.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200431.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.21  7.98 16.79 4.01 4.04 0   287.04 02:35:40 m

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

: AshtechGps::processRecord() - $GPGGA,200432.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200432.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200433.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200433.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200434.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200434.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200435.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200435.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200436.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200436.00,,,,,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,200437.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200437.00,,,,,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,200438.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200438.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,200439.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200439.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,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,200440.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200440.00,,,,,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,200441.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200441.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.21  7.98 16.69 4.01 4.04 0   286.39 02:35:50 m

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

: AshtechGps::processRecord() - $GPGGA,200442.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200442.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

:  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,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200443.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200443.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200444.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200444.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200445.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200445.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200446.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200446.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200447.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200447.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,200448.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200448.00,,,,,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,200449.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200449.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200450.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200450.00,,,,,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,200451.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200451.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  9.40 16.79 4.01 4.04 0   285.44 02:36:00 m

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

: AshtechGps::processRecord() - $GPGGA,200452.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200452.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200453.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200453.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200454.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200454.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200455.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200455.00,,,,,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,200456.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200456.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200457.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200457.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,200458.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200458.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,200459.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200459.00,,,,,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,200500.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200500.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,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,200501.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200501.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  8.59 16.79 4.01 4.05 0   284.81 02:36:10 m

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

: AshtechGps::processRecord() - $GPGGA,200502.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200502.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200503.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200503.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200504.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200504.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,200505.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200505.00,,,,,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,200506.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200506.00,,,,,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,200507.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200507.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,200508.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200508.00,,,,,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,200509.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200509.00,,,,,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,200510.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200510.00,,,,,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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200511.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200511.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  8.76 16.79 4.01 4.05 0   283.91 02:36:20 m

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

: AshtechGps::processRecord() - $GPGGA,200512.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200512.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200513.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200513.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,200514.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200514.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,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,200515.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200515.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,200516.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200516.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200517.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200517.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200518.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200518.00,,,,,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,200519.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200519.00,,,,,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,200520.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200520.00,,,,,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,200521.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200521.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.17  8.15 16.79 4.01 4.04 0   283.32 02:36:30 m

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

: AshtechGps::processRecord() - $GPGGA,200522.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200522.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200523.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200523.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200524.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200524.00,,,,,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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,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,200525.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200525.00,,,,,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,200526.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200526.00,,,,,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,200527.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200527.00,,,,,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,200528.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200528.00,,,,,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,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200529.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200529.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,200530.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200530.00,,,,,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,200531.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200531.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.13  9.26 16.79 4.01 4.04 0   282.41 02:36:40 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,N6.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,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,200532.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200532.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

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

: AshtechGps::processRecord() - $GPGGA,200533.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200533.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200534.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200534.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,200535.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200535.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,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,200536.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200536.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,200537.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200537.00,,,,,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,200538.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200538.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,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,200539.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200539.00,,,,,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,200540.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200540.00,,,,,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,200541.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200541.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  8.22 16.79 4.01 4.04 0   281.83 02:36:50 m

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

: AshtechGps::processRecord() - $GPGGA,200542.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200542.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200543.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200543.00,,,,,0,00,,,M,,M,,*48


:  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,200544.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200544.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200545.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200545.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200546.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200546.00,,,,,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,200547.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200547.00,,,,,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,200548.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200548.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,200549.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200549.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200550.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200550.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,200551.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200551.00,,,,,0,00,,,M,,M,,*4B


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

: BluefinBatt Reply: $aaq0 d- 32.17  8.66 16.79 4.01 4.04 0   280.87 02:37:00 m

: AshtechGps::processRecord() - $GPGGA,200552.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200552.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: 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,200553.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200553.00,,,,,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,200554.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200554.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,200555.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200555.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,200556.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200556.00,,,,,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,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200557.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200557.00,,,,,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,200558.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,200558.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,200559.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,200559.00,,,,,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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200600.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200600.00,,,,,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,200601.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200601.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.17  8.59 16.79 4.01 4.04 0   280.28 02:37:10 m

: AshtechGps::processRecord() - $GPGGA,200602.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200602.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200603.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200603.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200604.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200604.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 721.60                                          (wplog)

: Vehicle Position is error is (0.1, 0.7)

: LayeredControl::execute() -- (t = 721.600567) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 721.600567) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,200605.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200605.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200606.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200606.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,200607.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200607.00,,,,,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,200608.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200608.00,,,,,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,200609.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200609.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,200610.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200610.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200611.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200611.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.17  9.19 16.79 4.01 4.04 0   279.39 02:37:20 m

: AshtechGps::processRecord() - $GPGGA,200612.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200612.00,,,,,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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200613.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200613.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200614.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200614.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,200615.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200615.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.53

: Sonardyne - parsing R319.53

: Sonardyne - read R = 319.530000 from 319.53

: Sonardyne - got range only (319.530000), tat = 880
: Sonardyne - POSD response: 
POSD S109.3,N16.5,D-30,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 S109.3,N16.5,D-30,U0,Q0.000000

: LayeredControl::execute() -- (t = 732.599813) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 732.599813) Behavior getgps has changed to state Active

: AshtechGps::processRecord() - $GPGGA,200616.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200616.00,,,,,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 R319.13,X275.56,Y-42.24,Z-155.33

: Sonardyne - parsing R319.13,X275.56,Y-42.24,Z-155.33

: Sonardyne - read R = 319.130000 from 319.13,X275.56,Y-42.24,Z-155.33

: Sonardyne - got all data, Vehicle coordinates,
    r=319.130000, x=155.330000, y=275.560000, z=42.240000 tat = 900
: AshtechGps::processRecord() - $GPGGA,200617.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200617.00,,,,,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 R319.43

: Sonardyne - parsing R319.43

: Sonardyne - read R = 319.430000 from 319.43

: Sonardyne - got range only (319.430000), tat = 880
: Sonardyne - POSD response: 
POSD S135.2,N30.5,D-54,U4,Q0.005394

: Sonardyne - POSD response: 
POSD S135.2,N30.5,D-54,U4,Q0.005394

: AshtechGps::processRecord() - $GPGGA,200618.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200618.00,,,,,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,200619.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200619.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.23

: Sonardyne - parsing R318.23

: Sonardyne - read R = 318.230000 from 318.23

: Sonardyne - got range only (318.230000), tat = 880
: Sonardyne - POSD response: 
POSD S125.0,N25.6,D81,U1,Q0.012214

: Sonardyne - POSD response: 
POSD S125.0,N25.6,D81,U1,Q0.012214

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

: AshtechGps::processRecord() - $GPGGA,200620.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200620.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R317.49,X162.23,Y-23.99,Z-271.86

: Sonardyne - parsing R317.49,X162.23,Y-23.99,Z-271.86

: Sonardyne - read R = 317.490000 from 317.49,X162.23,Y-23.99,Z-271.86

: Sonardyne - got all data, Vehicle coordinates,
    r=317.490000, x=271.860000, y=162.230000, z=23.990000 tat = 900
: AshtechGps::processRecord() - $GPGGA,200621.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200621.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.32  3.73 16.89 4.01 4.05 0   278.97 02:37:30 m

: Sonardyne - POS response: 
POS V4,1 R315.83,X141.79,Y6.08,Z-282.14

: Sonardyne - parsing R315.83,X141.79,Y6.08,Z-282.14

: Sonardyne - read R = 315.830000 from 315.83,X141.79,Y6.08,Z-282.14

: Sonardyne - got all data, Vehicle coordinates,
    r=315.830000, x=282.140000, y=141.790000, z=-6.080000 tat = 900
: AshtechGps::processRecord() - $GPGGA,200622.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200622.00,,,,,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 R315.28,X130.20,Y-5.58,Z-287.08

: Sonardyne - parsing R315.28,X130.20,Y-5.58,Z-287.08

: Sonardyne - read R = 315.280000 from 315.28,X130.20,Y-5.58,Z-287.08

: Sonardyne - got all data, Vehicle coordinates,
    r=315.280000, x=287.080000, y=130.200000, z=5.580000 tat = 900
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200623.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200623.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R314.80,X122.68,Y-36.33,Z-287.63

: Sonardyne - parsing R314.80,X122.68,Y-36.33,Z-287.63

: Sonardyne - read R = 314.800000 from 314.80,X122.68,Y-36.33,Z-287.63

: Sonardyne - got all data, Vehicle coordinates,
    r=314.800000, x=287.630000, y=122.680000, z=36.330000 tat = 900
: AshtechGps::processRecord() - $GPGGA,200624.00,3636.72175,N,12152.58928,W,1,10,0.9,-1.61,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200624.00,3636.72175,N,12152.58928,W,1,10,0.9,-1.61,M,-33.21,M,,*7C


: successfully parse sentence at 20:6:24

: AshtechGPS::processRecord -sample time is 1142280384
: GetGPS::execute() -- Got a new GPS hit: 1 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 R315.92

: Sonardyne - parsing R315.92

: Sonardyne - read R = 315.920000 from 315.92

: Sonardyne - got range only (315.920000), tat = 870
: Sonardyne - POSD response: 
POSD S136.6,N28.6,D-57,U3,Q0.000445

: Sonardyne - POSD response: 
POSD S136.6,N28.6,D-57,U3,Q0.000445

: AshtechGps::processRecord() - $GPGGA,200625.00,3636.72163,N,12152.58916,W,1,10,0.9,-2.40,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200625.00,3636.72163,N,12152.58916,W,1,10,0.9,-2.40,M,-33.21,M,,*77


: successfully parse sentence at 20:6:25

: AshtechGPS::processRecord -sample time is 1142280385
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200626.00,3636.72122,N,12152.58862,W,1,10,0.9,-2.76,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200626.00,3636.72122,N,12152.58862,W,1,10,0.9,-2.76,M,-33.21,M,,*76


: successfully parse sentence at 20:6:26

: AshtechGPS::processRecord -sample time is 1142280386
: Sonardyne - POS response: 
POS V4,1 R313.54,X109.74,Y-7.14,Z-293.62

: Sonardyne - parsing R313.54,X109.74,Y-7.14,Z-293.62

: Sonardyne - read R = 313.540000 from 313.54,X109.74,Y-7.14,Z-293.62

: Sonardyne - got all data, Vehicle coordinates,
    r=313.540000, x=293.620000, y=109.740000, z=7.140000 tat = 900
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  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 R315.11

: Sonardyne - parsing R315.11

: AshtechGps::processRecord() - $GPGGA,200627.00,3636.72093,N,12152.58858,W,1,10,0.9,-2.13,M,-33.21,M,,*76

: Sonardyne - read R = 315.110000 from 315.11

: GpsUtils::parseFix() - $GPGGA,200627.00,3636.72093,N,12152.58858,W,1,10,0.9,-2.13,M,-33.21,M,,*76


: Sonardyne - got range only (315.110000), tat = 870
: successfully parse sentence at 20:6:27

: AshtechGPS::processRecord -sample time is 1142280387
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POSD response: 
POSD S120.9,N19.4,D-21,U1,Q0.001578

: Sonardyne - POSD response: 
POSD S120.9,N19.4,D-21,U1,Q0.001578

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

: AshtechGps::processRecord() - $GPGGA,200628.00,3636.72053,N,12152.58834,W,1,10,0.9,-1.91,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200628.00,3636.72053,N,12152.58834,W,1,10,0.9,-1.91,M,-33.21,M,,*76


: successfully parse sentence at 20:6:28

: AshtechGPS::processRecord -sample time is 1142280388
: GetGPS::execute() -- Got a new GPS hit: 5 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 R311.14,X79.45,Y5.32,Z-300.78

: Sonardyne - parsing R311.14,X79.45,Y5.32,Z-300.78

: Sonardyne - read R = 311.140000 from 311.14,X79.45,Y5.32,Z-300.78

: Sonardyne - got all data, Vehicle coordinates,
    r=311.140000, x=300.780000, y=79.450000, z=-5.320000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200629.00,3636.72031,N,12152.58834,W,1,10,0.9,-1.89,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200629.00,3636.72031,N,12152.58834,W,1,10,0.9,-1.89,M,-33.21,M,,*7A


: successfully parse sentence at 20:6:29

: AshtechGPS::processRecord -sample time is 1142280389
: GetGPS::execute() -- Got a new GPS hit: 6 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 R311.20,X65.60,Y-8.66,Z-304.09

: Sonardyne - parsing R311.20,X65.60,Y-8.66,Z-304.09

: Sonardyne - read R = 311.200000 from 311.20,X65.60,Y-8.66,Z-304.09

: Sonardyne - got all data, Vehicle coordinates,
    r=311.200000, x=304.090000, y=65.600000, z=8.660000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200630.00,3636.71989,N,12152.58795,W,1,10,0.9,-2.50,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200630.00,3636.71989,N,12152.58795,W,1,10,0.9,-2.50,M,-33.21,M,,*78


: successfully parse sentence at 20:6:30

: AshtechGPS::processRecord -sample time is 1142280390
: GetGPS::execute() -- Got a new GPS hit: 7 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 R309.87,X47.86,Y-6.08,Z-306.09

: Sonardyne - parsing R309.87,X47.86,Y-6.08,Z-306.09

: Sonardyne - read R = 309.870000 from 309.87,X47.86,Y-6.08,Z-306.09

: Sonardyne - got all data, Vehicle coordinates,
    r=309.870000, x=306.090000, y=47.860000, z=6.080000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200631.00,3636.71952,N,12152.58772,W,1,10,0.9,-2.76,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200631.00,3636.71952,N,12152.58772,W,1,10,0.9,-2.76,M,-33.21,M,,*72


: successfully parse sentence at 20:6:31

: AshtechGPS::processRecord -sample time is 1142280391
: GetGPS::execute() -- Got a new GPS hit: 8 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 R309.27,X39.64,Y2.47,Z-306.71

: Sonardyne - parsing R309.27,X39.64,Y2.47,Z-306.71

: Sonardyne - read R = 309.270000 from 309.27,X39.64,Y2.47,Z-306.71

: Sonardyne - got all data, Vehicle coordinates,
    r=309.270000, x=306.710000, y=39.640000, z=-2.470000 tat = 890
: BluefinBatt Reply: $aaq0 d- 32.36  3.16 16.89 4.01 4.05 0   278.59 02:37:40 m

: AshtechGps::processRecord() - $GPGGA,200632.00,3636.71921,N,12152.58754,W,1,10,0.9,-2.95,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200632.00,3636.71921,N,12152.58754,W,1,10,0.9,-2.95,M,-33.21,M,,*7C


: successfully parse sentence at 20:6:32

: AshtechGPS::processRecord -sample time is 1142280392
: GetGPS::execute() -- Got a new GPS hit: 9 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 R308.86,X30.82,Y2.82,Z-307.30

: Sonardyne - parsing R308.86,X30.82,Y2.82,Z-307.30

: Sonardyne - read R = 308.860000 from 308.86,X30.82,Y2.82,Z-307.30

: Sonardyne - got all data, Vehicle coordinates,
    r=308.860000, x=307.300000, y=30.820000, z=-2.820000 tat = 890
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200633.00,3636.71901,N,12152.58755,W,1,10,0.9,-3.11,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200633.00,3636.71901,N,12152.58755,W,1,10,0.9,-3.11,M,-33.21,M,,*73


: successfully parse sentence at 20:6:33

: AshtechGPS::processRecord -sample time is 1142280393
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 749.798635) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 749.798635) Behavior setpoint has changed to state Active

:  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 R308.61,X22.92,Y12.43,Z-307.51

: Sonardyne - parsing R308.61,X22.92,Y12.43,Z-307.51

: Sonardyne - read R = 308.610000 from 308.61,X22.92,Y12.43,Z-307.51

: Sonardyne - got all data, Vehicle coordinates,
    r=308.610000, x=307.510000, y=22.920000, z=-12.430000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200634.00,3636.71886,N,12152.58752,W,1,10,0.9,-3.04,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200634.00,3636.71886,N,12152.58752,W,1,10,0.9,-3.04,M,-33.21,M,,*79


: successfully parse sentence at 20:6:34

: AshtechGPS::processRecord -sample time is 1142280394
:  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 R308.28,X9.72,Y9.23,Z-307.98

: Sonardyne - parsing R308.28,X9.72,Y9.23,Z-307.98

: Sonardyne - read R = 308.280000 from 308.28,X9.72,Y9.23,Z-307.98

: Sonardyne - got all data, Vehicle coordinates,
    r=308.280000, x=307.980000, y=9.720000, z=-9.230000 tat = 879
: AshtechGps::processRecord() - $GPGGA,200635.00,3636.71863,N,12152.58753,W,1,10,0.9,-2.86,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200635.00,3636.71863,N,12152.58753,W,1,10,0.9,-2.86,M,-33.21,M,,*79


: successfully parse sentence at 20:6:35

: AshtechGPS::processRecord -sample time is 1142280395
:  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 R308.31,X0.21,Y2.14,Z-308.30

: Sonardyne - parsing R308.31,X0.21,Y2.14,Z-308.30

: Sonardyne - read R = 308.310000 from 308.31,X0.21,Y2.14,Z-308.30

: Sonardyne - got all data, Vehicle coordinates,
    r=308.310000, x=308.300000, y=0.210000, z=-2.140000 tat = 880
: AshtechGps::processRecord() - $GPGGA,200636.00,3636.71831,N,12152.58734,W,1,10,0.9,-2.71,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200636.00,3636.71831,N,12152.58734,W,1,10,0.9,-2.71,M,-33.21,M,,*74


: successfully parse sentence at 20:6:36

: AshtechGPS::processRecord -sample time is 1142280396
:  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 R307.02,X-17.28,Y11.45,Z-306.32

: Sonardyne - parsing R307.02,X-17.28,Y11.45,Z-306.32

: Sonardyne - read R = 307.020000 from 307.02,X-17.28,Y11.45,Z-306.32

: Sonardyne - got all data, Vehicle coordinates,
    r=307.020000, x=306.320000, y=-17.280000, z=-11.450000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200637.00,3636.71791,N,12152.58728,W,1,10,0.9,-2.63,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200637.00,3636.71791,N,12152.58728,W,1,10,0.9,-2.63,M,-33.21,M,,*7E


: successfully parse sentence at 20:6:37

: AshtechGPS::processRecord -sample time is 1142280397
:  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 R305.91,X-32.97,Y14.02,Z-303.80

: Sonardyne - parsing R305.91,X-32.97,Y14.02,Z-303.80

: Sonardyne - read R = 305.910000 from 305.91,X-32.97,Y14.02,Z-303.80

: Sonardyne - got all data, Vehicle coordinates,
    r=305.910000, x=303.800000, y=-32.970000, z=-14.020000 tat = 890
: AshtechGps::processRecord() - $GPGGA,200638.00,3636.71751,N,12152.58706,W,1,10,0.9,-2.61,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200638.00,3636.71751,N,12152.58706,W,1,10,0.9,-2.61,M,-33.21,M,,*73


: successfully parse sentence at 20:6:38

: AshtechGPS::processRecord -sample time is 1142280398
:  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 R308.22

: Sonardyne - parsing R308.22

: Sonardyne - read R = 308.220000 from 308.22

: Sonardyne - got range only (308.220000), tat = 860
: Sonardyne - POSD response: 
POSD S127.4,N27.9,D51,U1,Q0.000045

: Sonardyne - POSD response: 
POSD S127.4,N27.9,D51,U1,Q0.000045

: AshtechGps::processRecord() - $GPGGA,200639.00,3636.71702,N,12152.58706,W,1,10,0.9,-2.77,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200639.00,3636.71702,N,12152.58706,W,1,10,0.9,-2.77,M,-33.21,M,,*73


: successfully parse sentence at 20:6:39

: AshtechGPS::processRecord -sample time is 1142280399
:  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 R304.99

: Sonardyne - parsing R304.99

: Sonardyne - read R = 304.990000 from 304.99

: Sonardyne - got range only (304.990000), tat = 860
: Sonardyne - POSD response: 
POSD S138.2,N20.5,D12,U5,Q0.000143

: Sonardyne - POSD response: 
POSD S138.2,N20.5,D12,U5,Q0.000143

: AshtechGps::processRecord() - $GPGGA,200640.00,3636.71648,N,12152.58706,W,1,10,0.9,-2.89,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200640.00,3636.71648,N,12152.58706,W,1,10,0.9,-2.89,M,-33.21,M,,*73


: successfully parse sentence at 20:6:40

: AshtechGPS::processRecord -sample time is 1142280400
:  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 R303.51,X-135.93,Y16.87,Z-270.85

: Sonardyne - parsing R303.51,X-135.93,Y16.87,Z-270.85

: Sonardyne - read R = 303.510000 from 303.51,X-135.93,Y16.87,Z-270.85

: Sonardyne - got all data, Vehicle coordinates,
    r=303.510000, x=270.850000, y=-135.930000, z=-16.870000 tat = 880
: AshtechGps::processRecord() - $GPGGA,200641.00,3636.71599,N,12152.58724,W,1,10,0.9,-3.04,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200641.00,3636.71599,N,12152.58724,W,1,10,0.9,-3.04,M,-33.21,M,,*79


: successfully parse sentence at 20:6:41

: AshtechGPS::processRecord -sample time is 1142280401
:  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 R302.69,X-160.08,Y-2.40,Z-256.88

: Sonardyne - parsing R302.69,X-160.08,Y-2.40,Z-256.88

: Sonardyne - read R = 302.690000 from 302.69,X-160.08,Y-2.40,Z-256.88

: Sonardyne - got all data, Vehicle coordinates,
    r=302.690000, x=256.880000, y=-160.080000, z=2.400000 tat = 880
: BluefinBatt Reply: $aaq0 d- 32.17  9.77 16.89 4.03 4.06 0   278.08 02:37:50 m

: AshtechGps::processRecord() - $GPGGA,200642.00,3636.71554,N,12152.58766,W,1,10,0.9,-3.09,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200642.00,3636.71554,N,12152.58766,W,1,10,0.9,-3.09,M,-33.21,M,,*70


: successfully parse sentence at 20:6:42

: AshtechGPS::processRecord -sample time is 1142280402
:  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 R302.12,X-192.21,Y37.87,Z-230.00

: Sonardyne - parsing R302.12,X-192.21,Y37.87,Z-230.00

: Sonardyne - read R = 302.120000 from 302.12,X-192.21,Y37.87,Z-230.00

: Sonardyne - got all data, Vehicle coordinates,
    r=302.120000, x=230.000000, y=-192.210000, z=-37.870000 tat = 880
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: AshtechGps::processRecord() - $GPGGA,200643.00,3636.71504,N,12152.58806,W,1,10,0.9,-2.94,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200643.00,3636.71504,N,12152.58806,W,1,10,0.9,-2.94,M,-33.21,M,,*78


: successfully parse sentence at 20:6:43

: AshtechGPS::processRecord -sample time is 1142280403
:  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 R302.56

: Sonardyne - parsing R302.56

: Sonardyne - read R = 302.560000 from 302.56

: Sonardyne - got range only (302.560000), tat = 860
: Sonardyne - POSD response: 
POSD S116.2,N21.1,D-125,U4,Q0.005041

: Sonardyne - POSD response: 
POSD S116.2,N21.1,D-125,U4,Q0.005041

: AshtechGps::processRecord() - $GPGGA,200644.00,3636.71455,N,12152.58863,W,1,10,0.9,-2.78,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200644.00,3636.71455,N,12152.58863,W,1,10,0.9,-2.78,M,-33.21,M,,*7B


: successfully parse sentence at 20:6:44

: AshtechGPS::processRecord -sample time is 1142280404
:  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 R302.82

: Sonardyne - parsing R302.82

: Sonardyne - read R = 302.820000 from 302.82

: Sonardyne - got range only (302.820000), tat = 860
: Sonardyne - POSD response: 
POSD S127.6,N31.7,D-80,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.6,N31.7,D-80,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200645.00,3636.71397,N,12152.58916,W,1,10,0.9,-2.73,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200645.00,3636.71397,N,12152.58916,W,1,10,0.9,-2.73,M,-33.21,M,,*7B


: successfully parse sentence at 20:6:45

: AshtechGPS::processRecord -sample time is 1142280405
:  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 R301.56

: Sonardyne - parsing R301.56

: Sonardyne - read R = 301.560000 from 301.56

: Sonardyne - got range only (301.560000), tat = 850
: Sonardyne - POSD response: 
POSD S127.5,N24.0,D-68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.5,N24.0,D-68,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200646.00,3636.71347,N,12152.58981,W,1,10,0.9,-2.66,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200646.00,3636.71347,N,12152.58981,W,1,10,0.9,-2.66,M,-33.21,M,,*7F


: successfully parse sentence at 20:6:46

: AshtechGPS::processRecord -sample time is 1142280406
:  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 R300.10,X-265.26,Y59.73,Z-127.00

: Sonardyne - parsing R300.10,X-265.26,Y59.73,Z-127.00

: Sonardyne - read R = 300.100000 from 300.10,X-265.26,Y59.73,Z-127.00

: Sonardyne - got all data, Vehicle coordinates,
    r=300.100000, x=127.000000, y=-265.260000, z=-59.730000 tat = 880
: AshtechGps::processRecord() - $GPGGA,200647.00,3636.71289,N,12152.59044,W,1,10,0.9,-2.45,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200647.00,3636.71289,N,12152.59044,W,1,10,0.9,-2.45,M,-33.21,M,,*7D


: successfully parse sentence at 20:6:47

: AshtechGPS::processRecord -sample time is 1142280407
:  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 R300.72

: Sonardyne - parsing R300.72

: Sonardyne - read R = 300.720000 from 300.72

: Sonardyne - got range only (300.720000), tat = 850
: Sonardyne - POSD response: 
POSD S126.1,N20.5,D-64,U1,Q0.002820

: Sonardyne - POSD response: 
POSD S126.1,N20.5,D-64,U1,Q0.002820

: AshtechGps::processRecord() - $GPGGA,200648.00,3636.71228,N,12152.59105,W,1,10,0.9,-2.40,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200648.00,3636.71228,N,12152.59105,W,1,10,0.9,-2.40,M,-33.21,M,,*78


: successfully parse sentence at 20:6:48

: AshtechGPS::processRecord -sample time is 1142280408
:  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 R299.86

: Sonardyne - parsing R299.86

: Sonardyne - read R = 299.860000 from 299.86

: Sonardyne - got range only (299.860000), tat = 849
: Sonardyne - POSD response: 
POSD S125.7,N26.9,D21,U2,Q0.012569

: Sonardyne - POSD response: 
POSD S125.7,N26.9,D21,U2,Q0.012569

: AshtechGps::processRecord() - $GPGGA,200649.00,3636.71178,N,12152.59177,W,1,10,0.9,-2.68,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200649.00,3636.71178,N,12152.59177,W,1,10,0.9,-2.68,M,-33.21,M,,*70


: successfully parse sentence at 20:6:49

: AshtechGPS::processRecord -sample time is 1142280409
:  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 R297.10

: Sonardyne - parsing R297.10

: Sonardyne - read R = 297.100000 from 297.10

: Sonardyne - got range only (297.100000), tat = 850
: Sonardyne - POSD response: 
POSD S124.9,N31.0,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.9,N31.0,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200650.00,3636.71145,N,12152.59261,W,1,10,0.9,-3.08,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200650.00,3636.71145,N,12152.59261,W,1,10,0.9,-3.08,M,-33.21,M,,*75


: successfully parse sentence at 20:6:50

: AshtechGPS::processRecord -sample time is 1142280410
:  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 R296.80

: Sonardyne - parsing R296.80

: Sonardyne - read R = 296.800000 from 296.80

: Sonardyne - got range only (296.800000), tat = 850
: Sonardyne - POSD response: 
POSD S118.5,N22.4,D70,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.5,N22.4,D70,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200651.00,3636.71117,N,12152.59355,W,1,10,0.9,-3.07,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200651.00,3636.71117,N,12152.59355,W,1,10,0.9,-3.07,M,-33.21,M,,*7A


: successfully parse sentence at 20:6:51

: AshtechGPS::processRecord -sample time is 1142280411
:  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 R296.60

: Sonardyne - parsing R296.60

: Sonardyne - read R = 296.600000 from 296.60

: Sonardyne - got range only (296.600000), tat = 850
: BluefinBatt Reply: $aaq0 d- 32.17  8.18 16.79 4.03 4.06 0   276.97 02:38:00 m

: Sonardyne - POSD response: 
POSD S110.6,N17.0,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S110.6,N17.0,D-22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200652.00,3636.71093,N,12152.59447,W,1,10,0.9,-2.92,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200652.00,3636.71093,N,12152.59447,W,1,10,0.9,-2.92,M,-33.21,M,,*7D


: successfully parse sentence at 20:6:52

: AshtechGPS::processRecord -sample time is 1142280412
:  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 R297.24

: Sonardyne - parsing R297.24

: Sonardyne - read R = 297.240000 from 297.24

: Sonardyne - got range only (297.240000), tat = 850
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POSD response: 
POSD S123.8,N28.1,D53,U2,Q0.011784

: Sonardyne - POSD response: 
POSD S123.8,N28.1,D53,U2,Q0.011784

: AshtechGps::processRecord() - $GPGGA,200653.00,3636.71059,N,12152.59531,W,1,10,0.9,-2.96,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200653.00,3636.71059,N,12152.59531,W,1,10,0.9,-2.96,M,-33.21,M,,*7E


: successfully parse sentence at 20:6:53

: AshtechGPS::processRecord -sample time is 1142280413
:  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 R296.17

: Sonardyne - parsing R296.17

: Sonardyne - read R = 296.170000 from 296.17

: Sonardyne - got range only (296.170000), tat = 850
: Sonardyne - POSD response: 
POSD S114.8,N20.4,D27,U1,Q0.006781

: Sonardyne - POSD response: 
POSD S114.8,N20.4,D27,U1,Q0.006781

: AshtechGps::processRecord() - $GPGGA,200654.00,3636.71031,N,12152.59624,W,1,10,0.9,-2.83,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200654.00,3636.71031,N,12152.59624,W,1,10,0.9,-2.83,M,-33.21,M,,*74


: successfully parse sentence at 20:6:54

: AshtechGPS::processRecord -sample time is 1142280414
:  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 R296.53

: Sonardyne - parsing R296.53

: Sonardyne - read R = 296.530000 from 296.53

: Sonardyne - got range only (296.530000), tat = 850
: Sonardyne - POSD response: 
POSD S114.7,N20.5,D-87,U1,Q0.010669

: Sonardyne - POSD response: 
POSD S114.7,N20.5,D-87,U1,Q0.010669

: AshtechGps::processRecord() - $GPGGA,200655.00,3636.70988,N,12152.59706,W,1,10,0.9,-2.56,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200655.00,3636.70988,N,12152.59706,W,1,10,0.9,-2.56,M,-33.21,M,,*76


: successfully parse sentence at 20:6:55

: AshtechGPS::processRecord -sample time is 1142280415
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200656.00,3636.70942,N,12152.59782,W,1,10,0.9,-2.47,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200656.00,3636.70942,N,12152.59782,W,1,10,0.9,-2.47,M,-33.21,M,,*7F


: successfully parse sentence at 20:6:56

: AshtechGPS::processRecord -sample time is 1142280416
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200657.00,3636.70898,N,12152.59853,W,1,10,0.9,-2.76,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200657.00,3636.70898,N,12152.59853,W,1,10,0.9,-2.76,M,-33.21,M,,*79


: successfully parse sentence at 20:6:57

: AshtechGPS::processRecord -sample time is 1142280417
:  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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200658.00,3636.70863,N,12152.59942,W,1,10,0.9,-3.02,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,200658.00,3636.70863,N,12152.59942,W,1,10,0.9,-3.02,M,-33.21,M,,*71


: successfully parse sentence at 20:6:58

: AshtechGPS::processRecord -sample time is 1142280418
:  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 R293.02

: Sonardyne - parsing R293.02

: Sonardyne - read R = 293.020000 from 293.02

: Sonardyne - got range only (293.020000), tat = 840
: AshtechGps::processRecord() - $GPGGA,200659.00,3636.70840,N,12152.60043,W,1,10,0.9,-2.83,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200659.00,3636.70840,N,12152.60043,W,1,10,0.9,-2.83,M,-33.21,M,,*7B


: successfully parse sentence at 20:6:59

: AshtechGPS::processRecord -sample time is 1142280419
: Sonardyne - POSD response: 
POSD S123.1,N30.6,D32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.1,N30.6,D32,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 R298.86

: Sonardyne - parsing R298.86

: Sonardyne - read R = 298.860000 from 298.86

: Sonardyne - got range only (298.860000), tat = 850
: AshtechGps::processRecord() - $GPGGA,200700.00,3636.70802,N,12152.60134,W,1,10,0.9,-2.65,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200700.00,3636.70802,N,12152.60134,W,1,10,0.9,-2.65,M,-33.21,M,,*79


: successfully parse sentence at 20:7:0

: AshtechGPS::processRecord -sample time is 1142280420
: Sonardyne - POSD response: 
POSD S113.5,N27.2,D-35,U1,Q0.010581

: Sonardyne - POSD response: 
POSD S113.5,N27.2,D-35,U1,Q0.010581

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

: AshtechGps::processRecord() - $GPGGA,200701.00,3636.70760,N,12152.60213,W,1,11,0.9,-2.50,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200701.00,3636.70760,N,12152.60213,W,1,11,0.9,-2.50,M,-33.21,M,,*72


: successfully parse sentence at 20:7:1

: AshtechGPS::processRecord -sample time is 1142280421
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.13  8.76 16.79 4.01 4.04 0   276.33 02:38:10 m

: AshtechGps::processRecord() - $GPGGA,200702.00,3636.70719,N,12152.60291,W,1,11,0.9,-2.69,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200702.00,3636.70719,N,12152.60291,W,1,11,0.9,-2.69,M,-33.21,M,,*7F


: successfully parse sentence at 20:7:2

: AshtechGPS::processRecord -sample time is 1142280422
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200703.00,3636.70675,N,12152.60379,W,1,11,0.9,-2.77,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200703.00,3636.70675,N,12152.60379,W,1,11,0.9,-2.77,M,-33.21,M,,*7D


: successfully parse sentence at 20:7:3

: AshtechGPS::processRecord -sample time is 1142280423
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: LayeredControl::execute() -- (t = 779.996567) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 779.996567) Behavior descend has changed to state Active

: Sonardyne - POSD response: 
POSD S-32.7,N17.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-32.7,N17.7,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,200704.00,3636.70633,N,12152.60466,W,1,10,0.9,-2.57,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200704.00,3636.70633,N,12152.60466,W,1,10,0.9,-2.57,M,-33.21,M,,*72


: successfully parse sentence at 20:7:4

: AshtechGPS::processRecord -sample time is 1142280424
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200705.00,3636.70579,N,12152.60541,W,1,10,0.9,-2.42,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200705.00,3636.70579,N,12152.60541,W,1,10,0.9,-2.42,M,-33.21,M,,*7E


: successfully parse sentence at 20:7:5

: AshtechGPS::processRecord -sample time is 1142280425
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200706.00,3636.70527,N,12152.60616,W,1,10,0.9,-2.46,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200706.00,3636.70527,N,12152.60616,W,1,10,0.9,-2.46,M,-33.21,M,,*73


: successfully parse sentence at 20:7:6

: AshtechGPS::processRecord -sample time is 1142280426
:  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,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200707.00,3636.70484,N,12152.60692,W,1,10,0.9,-2.74,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200707.00,3636.70484,N,12152.60692,W,1,10,0.9,-2.74,M,-33.21,M,,*77


: successfully parse sentence at 20:7:7

: AshtechGPS::processRecord -sample time is 1142280427
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200708.00,3636.70448,N,12152.60777,W,1,10,0.9,-2.98,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200708.00,3636.70448,N,12152.60777,W,1,10,0.9,-2.98,M,-33.21,M,,*70


: successfully parse sentence at 20:7:8

: AshtechGPS::processRecord -sample time is 1142280428
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200709.00,3636.70423,N,12152.60878,W,1,10,0.9,-3.19,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200709.00,3636.70423,N,12152.60878,W,1,10,0.9,-3.19,M,-33.21,M,,*74


: successfully parse sentence at 20:7:9

: AshtechGPS::processRecord -sample time is 1142280429
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200710.00,3636.70394,N,12152.60977,W,1,10,0.9,-3.06,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200710.00,3636.70394,N,12152.60977,W,1,10,0.9,-3.06,M,-33.21,M,,*77


: successfully parse sentence at 20:7:10

: AshtechGPS::processRecord -sample time is 1142280430
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,200711.00,3636.70350,N,12152.61053,W,1,10,0.9,-2.93,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200711.00,3636.70350,N,12152.61053,W,1,10,0.9,-2.93,M,-33.21,M,,*7D


: successfully parse sentence at 20:7:11

: AshtechGPS::processRecord -sample time is 1142280431
:  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 R288.46

: Sonardyne - parsing R288.46

: Sonardyne - read R = 288.460000 from 288.46

: Sonardyne - got range only (288.460000), tat = 840
: BluefinBatt Reply: $aaq0 d- 32.17  8.28 16.79 4.01 4.04 0   275.41 02:38:20 m

: Sonardyne - POSD response: 
POSD S117.4,N20.6,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.4,N20.6,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200712.00,3636.70307,N,12152.61136,W,1,10,0.9,-2.92,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200712.00,3636.70307,N,12152.61136,W,1,10,0.9,-2.92,M,-33.21,M,,*7F


: successfully parse sentence at 20:7:12

: AshtechGPS::processRecord -sample time is 1142280432
:  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 R289.47

: Sonardyne - parsing R289.47

: Sonardyne - read R = 289.470000 from 289.47

: Sonardyne - got range only (289.470000), tat = 840
: Sonardyne - POSD response: 
POSD S122.7,N28.7,D-11,U2,Q0.005427

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: Sonardyne - POSD response: 
POSD S122.7,N28.7,D-11,U2,Q0.005427

: AshtechGps::processRecord() - $GPGGA,200713.00,3636.70190,N,12152.61255,W,1,10,0.9,-2.36,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200713.00,3636.70190,N,12152.61255,W,1,10,0.9,-2.36,M,-33.21,M,,*7A


: successfully parse sentence at 20:7:13

: AshtechGPS::processRecord -sample time is 1142280433
:  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 R287.69

: Sonardyne - parsing R287.69

: Sonardyne - read R = 287.690000 from 287.69

: Sonardyne - got range only (287.690000), tat = 830
: Sonardyne - POSD response: 
POSD S113.7,N16.8,D-79,U4,Q0.004681

: Sonardyne - POSD response: 
POSD S113.7,N16.8,D-79,U4,Q0.004681

: AshtechGps::processRecord() - $GPGGA,200714.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200714.00,,,,,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 R287.07,X-234.78,Y126.69,Z-106.01

: Sonardyne - parsing R287.07,X-234.78,Y126.69,Z-106.01

: Sonardyne - read R = 287.070000 from 287.07,X-234.78,Y126.69,Z-106.01

: Sonardyne - got all data, Vehicle coordinates,
    r=287.070000, x=106.010000, y=-234.780000, z=-126.690000 tat = 860
: AshtechGps::processRecord() - $GPGGA,200715.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200715.00,,,,,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 R287.10

: Sonardyne - parsing R287.10

: Sonardyne - read R = 287.100000 from 287.10

: Sonardyne - got range only (287.100000), tat = 830
: Sonardyne - POSD response: 
POSD S111.3,N19.4,D114,U3,Q0.007894

: Sonardyne - POSD response: 
POSD S111.3,N19.4,D114,U3,Q0.007894

: AshtechGps::processRecord() - $GPGGA,200716.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200716.00,,,,,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 R287.63

: Sonardyne - parsing R287.63

: Sonardyne - read R = 287.630000 from 287.63

: Sonardyne - got range only (287.630000), tat = 830
: Sonardyne - POSD response: 
POSD S111.9,N23.3,D131,U1,Q0.000907

: Sonardyne - POSD response: 
POSD S111.9,N23.3,D131,U1,Q0.000907

: AshtechGps::processRecord() - $GPGGA,200717.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200717.00,,,,,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 R283.40

: Sonardyne - parsing R283.40

: Sonardyne - read R = 283.400000 from 283.40

: Sonardyne - got range only (283.400000), tat = 829
: Sonardyne - POSD response: 
POSD S118.4,N25.3,D48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.4,N25.3,D48,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200718.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,200718.00,,,,,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 R283.40

: Sonardyne - parsing R283.40

: Sonardyne - read R = 283.400000 from 283.40

: Sonardyne - got range only (283.400000), tat = 830
: Sonardyne - POSD response: 
POSD S119.7,N20.6,D-45,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S119.7,N20.6,D-45,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,200719.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,200719.00,,,,,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 R283.46

: Sonardyne - parsing R283.46

: Sonardyne - read R = 283.460000 from 283.46

: Sonardyne - got range only (283.460000), tat = 830
: Sonardyne - POSD response: 
POSD S113.6,N27.9,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.6,N27.9,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200720.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200720.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 4.005966 > 4.000000 at time 796.795416

: LayeredControl::execute() -- (t = 796.795416) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 796.80                            (wplog)
  The current location (N,E) = 4052382.5      , 600434.1         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 268.8 Degrees.

: LayeredControl::execute() -- (t = 796.795416) Behavior waypoint has changed to state Active

:  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 R283.24

: Sonardyne - parsing R283.24

: Sonardyne - read R = 283.240000 from 283.24

: Sonardyne - got range only (283.240000), tat = 830
: Sonardyne - POSD response: 
POSD S113.9,N26.7,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.9,N26.7,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200721.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200721.00,,,,,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 R282.92

: Sonardyne - parsing R282.92

: Sonardyne - read R = 282.920000 from 282.92

: Sonardyne - got range only (282.920000), tat = 830
: Sonardyne - POSD response: 
POSD S114.6,N26.4,D41,U5,Q0.012985

: BluefinBatt Reply: $aaq0 d- 32.09  9.80 16.79 4.01 4.05 0   274.81 02:38:30 m

: Sonardyne - POSD response: 
POSD S114.6,N26.4,D41,U5,Q0.012985

: AshtechGps::processRecord() - $GPGGA,200722.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200722.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R282.45,X220.20,Y155.97,Z-83.45

: Sonardyne - parsing R282.45,X220.20,Y155.97,Z-83.45

: Sonardyne - read R = 282.450000 from 282.45,X220.20,Y155.97,Z-83.45

: Sonardyne - got all data, Vehicle coordinates,
    r=282.450000, x=83.450000, y=220.200000, z=-155.970000 tat = 850
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200723.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200723.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Abort request issued by behavior "missionTimer"

: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

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

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 800.395169) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 800.395169) Behavior missionTimer has changed to state Active

: AshtechGps::processRecord() - $GPGGA,200724.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200724.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,200725.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200725.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200726.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200726.00,,,,,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,200727.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200727.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.24

: Sonardyne - parsing R285.24

: Sonardyne - read R = 285.240000 from 285.24

: Sonardyne - got range only (285.240000), tat = 830
: Sonardyne - POSD response: 
POSD S112.7,N22.5,D8,U1,Q0.007137

: Sonardyne - POSD response: 
POSD S112.7,N22.5,D8,U1,Q0.007137

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

: AshtechGps::processRecord() - $GPGGA,200728.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,200728.00,,,,,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,200729.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,200729.00,,,,,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,200730.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,200730.00,,,,,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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,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,200731.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,200731.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.42,X220.19,Y143.09,Z-109.25

: Sonardyne - parsing R284.42,X220.19,Y143.09,Z-109.25

: Sonardyne - read R = 284.420000 from 284.42,X220.19,Y143.09,Z-109.25

: Sonardyne - got all data, Vehicle coordinates,
    r=284.420000, x=109.250000, y=220.190000, z=-143.090000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.32  4.95 16.79 4.01 4.05 0   274.14 02:38:40 m

: AshtechGps::processRecord() - $GPGGA,200732.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,200732.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.44,X223.00,Y165.54,Z-56.66

: Sonardyne - parsing R283.44,X223.00,Y165.54,Z-56.66

: Sonardyne - read R = 283.440000 from 283.44,X223.00,Y165.54,Z-56.66

: Sonardyne - got all data, Vehicle coordinates,
    r=283.440000, x=56.660000, y=223.000000, z=-165.540000 tat = 849
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,200733.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,200733.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.67

: Sonardyne - parsing R283.67

: Sonardyne - read R = 283.670000 from 283.67

: Sonardyne - got range only (283.670000), tat = 830
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.1,N29.8,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.1,N29.8,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200734.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,200734.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.17

: Sonardyne - parsing R284.17

: Sonardyne - read R = 284.170000 from 284.17

: Sonardyne - got range only (284.170000), tat = 830
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S104.2,N15.5,D-9,U1,Q0.011963

: Sonardyne - POSD response: 
POSD S104.2,N15.5,D-9,U1,Q0.011963

: AshtechGps::processRecord() - $GPGGA,200735.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,200735.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,200736.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,200736.00,,,,,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,200737.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,200737.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200738.00,3636.69668,N,12152.62821,W,1,10,0.9,-1.06,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,200738.00,3636.69668,N,12152.62821,W,1,10,0.9,-1.06,M,-33.21,M,,*71


: successfully parse sentence at 20:7:38

: AshtechGPS::processRecord -sample time is 1142280458
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R281.60

: Sonardyne - parsing R281.60

: Sonardyne - read R = 281.600000 from 281.60

: Sonardyne - got range only (281.600000), tat = 830
: AshtechGps::processRecord() - $GPGGA,200739.00,3636.69614,N,12152.62828,W,1,10,0.9,-2.68,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200739.00,3636.69614,N,12152.62828,W,1,10,0.9,-2.68,M,-33.21,M,,*79


: successfully parse sentence at 20:7:39

: AshtechGPS::processRecord -sample time is 1142280459
: Sonardyne - POSD response: 
POSD S128.7,N26.3,D-18,U4,Q0.003787

: Sonardyne - POSD response: 
POSD S128.7,N26.3,D-18,U4,Q0.003787

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

: Sonardyne - POS response: 
POS V4,1 R280.65,X-94.59,Y-9.66,Z-264.06

: Sonardyne - parsing R280.65,X-94.59,Y-9.66,Z-264.06

: Sonardyne - read R = 280.650000 from 280.65,X-94.59,Y-9.66,Z-264.06

: Sonardyne - got all data, Vehicle coordinates,
    r=280.650000, x=264.060000, y=-94.590000, z=9.660000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200740.00,3636.69612,N,12152.62872,W,1,10,0.9,-2.25,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200740.00,3636.69612,N,12152.62872,W,1,10,0.9,-2.25,M,-33.21,M,,*77


: successfully parse sentence at 20:7:40

: AshtechGPS::processRecord -sample time is 1142280460
:  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 R280.58,X-82.43,Y4.46,Z-268.16

: Sonardyne - parsing R280.58,X-82.43,Y4.46,Z-268.16

: Sonardyne - read R = 280.580000 from 280.58,X-82.43,Y4.46,Z-268.16

: Sonardyne - got all data, Vehicle coordinates,
    r=280.580000, x=268.160000, y=-82.430000, z=-4.460000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200741.00,3636.69545,N,12152.62839,W,1,10,0.9,-2.30,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200741.00,3636.69545,N,12152.62839,W,1,10,0.9,-2.30,M,-33.21,M,,*7C


: successfully parse sentence at 20:7:41

: AshtechGPS::processRecord -sample time is 1142280461
: BluefinBatt Reply: $aaq0 d- 32.32  3.19 16.89 4.03 4.06 0   273.88 02:38:50 m

:  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 R279.17,X-64.00,Y5.94,Z-271.67

: Sonardyne - parsing R279.17,X-64.00,Y5.94,Z-271.67

: Sonardyne - read R = 279.170000 from 279.17,X-64.00,Y5.94,Z-271.67

: Sonardyne - got all data, Vehicle coordinates,
    r=279.170000, x=271.670000, y=-64.000000, z=-5.940000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200742.00,3636.69508,N,12152.62849,W,1,10,0.9,-2.30,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,200742.00,3636.69508,N,12152.62849,W,1,10,0.9,-2.30,M,-33.21,M,,*71


: successfully parse sentence at 20:7:42

: AshtechGPS::processRecord -sample time is 1142280462
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: Sonardyne - POS response: 
POS V4,1 R279.01,X-34.36,Y13.80,Z-276.55

: Sonardyne - parsing R279.01,X-34.36,Y13.80,Z-276.55

: Sonardyne - read R = 279.010000 from 279.01,X-34.36,Y13.80,Z-276.55

: Sonardyne - got all data, Vehicle coordinates,
    r=279.010000, x=276.550000, y=-34.360000, z=-13.800000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200743.00,3636.69476,N,12152.62846,W,1,10,0.9,-2.34,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200743.00,3636.69476,N,12152.62846,W,1,10,0.9,-2.34,M,-33.21,M,,*73


: successfully parse sentence at 20:7:43

: AshtechGPS::processRecord -sample time is 1142280463
:  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 R278.08,X-24.44,Y2.13,Z-277.00

: Sonardyne - parsing R278.08,X-24.44,Y2.13,Z-277.00

: Sonardyne - read R = 278.080000 from 278.08,X-24.44,Y2.13,Z-277.00

: Sonardyne - got all data, Vehicle coordinates,
    r=278.080000, x=277.000000, y=-24.440000, z=-2.130000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200744.00,3636.69464,N,12152.62857,W,1,10,0.9,-2.52,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200744.00,3636.69464,N,12152.62857,W,1,10,0.9,-2.52,M,-33.21,M,,*77


: successfully parse sentence at 20:7:44

: AshtechGPS::processRecord -sample time is 1142280464
:  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 R277.37,X-11.16,Y12.93,Z-276.85

: Sonardyne - parsing R277.37,X-11.16,Y12.93,Z-276.85

: Sonardyne - read R = 277.370000 from 277.37,X-11.16,Y12.93,Z-276.85

: Sonardyne - got all data, Vehicle coordinates,
    r=277.370000, x=276.850000, y=-11.160000, z=-12.930000 tat = 850
: AshtechGps::processRecord() - $GPGGA,200745.00,3636.69446,N,12152.62854,W,1,10,0.9,-2.34,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200745.00,3636.69446,N,12152.62854,W,1,10,0.9,-2.34,M,-33.21,M,,*75


: successfully parse sentence at 20:7:45

: AshtechGPS::processRecord -sample time is 1142280465
:  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 R277.19

: Sonardyne - parsing R277.19

: Sonardyne - read R = 277.190000 from 277.19

: Sonardyne - got range only (277.190000), tat = 820
: AshtechGps::processRecord() - $GPGGA,200746.00,3636.69420,N,12152.62844,W,1,11,0.9,-2.50,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200746.00,3636.69420,N,12152.62844,W,1,11,0.9,-2.50,M,-33.21,M,,*74


: successfully parse sentence at 20:7:46

: AshtechGPS::processRecord -sample time is 1142280466
: Sonardyne - POSD response: 
POSD S137.2,N32.2,D14,U5,Q0.007219

: Sonardyne - POSD response: 
POSD S137.2,N32.2,D14,U5,Q0.007219

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

: AshtechGps::processRecord() - $GPGGA,200747.00,3636.69392,N,12152.62840,W,1,11,0.9,-2.68,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200747.00,3636.69392,N,12152.62840,W,1,11,0.9,-2.68,M,-33.21,M,,*74


: successfully parse sentence at 20:7:47

: AshtechGPS::processRecord -sample time is 1142280467
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200748.00,3636.69368,N,12152.62840,W,1,11,0.9,-2.86,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200748.00,3636.69368,N,12152.62840,W,1,11,0.9,-2.86,M,-33.21,M,,*7E


: successfully parse sentence at 20:7:48

: AshtechGPS::processRecord -sample time is 1142280468
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200749.00,3636.69356,N,12152.62836,W,1,11,0.9,-2.94,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200749.00,3636.69356,N,12152.62836,W,1,11,0.9,-2.94,M,-33.21,M,,*70


: successfully parse sentence at 20:7:49

: AshtechGPS::processRecord -sample time is 1142280469
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200750.00,3636.69342,N,12152.62836,W,1,11,0.9,-2.88,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200750.00,3636.69342,N,12152.62836,W,1,11,0.9,-2.88,M,-33.21,M,,*70


: successfully parse sentence at 20:7:50

: AshtechGPS::processRecord -sample time is 1142280470
: Sonardyne - POS response: 
POS V4,1 R276.02,X47.26,Y8.33,Z-271.81

: Sonardyne - parsing R276.02,X47.26,Y8.33,Z-271.81

: Sonardyne - read R = 276.020000 from 276.02,X47.26,Y8.33,Z-271.81

: Sonardyne - got all data, Vehicle coordinates,
    r=276.020000, x=271.810000, y=47.260000, z=-8.330000 tat = 840
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200751.00,3636.69331,N,12152.62829,W,1,11,0.9,-2.63,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200751.00,3636.69331,N,12152.62829,W,1,11,0.9,-2.63,M,-33.21,M,,*7E


: successfully parse sentence at 20:7:51

: AshtechGPS::processRecord -sample time is 1142280471
: Sonardyne - POS response: 
POS V4,1 R276.15

: Sonardyne - parsing R276.15

: Sonardyne - read R = 276.150000 from 276.15

: Sonardyne - got range only (276.150000), tat = 820
: Sonardyne - POSD response: 
POSD S132.7,N26.6,D19,U3,Q0.002113

: BluefinBatt Reply: $aaq0 d- 32.39  2.59 16.89 4.03 4.06 0   273.53 02:39:00 m

: Sonardyne - POSD response: 
POSD S132.7,N26.6,D19,U3,Q0.002113

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

: AshtechGps::processRecord() - $GPGGA,200752.00,3636.69310,N,12152.62816,W,1,11,0.9,-2.56,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200752.00,3636.69310,N,12152.62816,W,1,11,0.9,-2.56,M,-33.21,M,,*74


: successfully parse sentence at 20:7:52

: AshtechGPS::processRecord -sample time is 1142280472
: Sonardyne - POS response: 
POS V4,1 R274.30,X56.56,Y-14.29,Z-268.02

: Sonardyne - parsing R274.30,X56.56,Y-14.29,Z-268.02

: Sonardyne - read R = 274.300000 from 274.30,X56.56,Y-14.29,Z-268.02

: Sonardyne - got all data, Vehicle coordinates,
    r=274.300000, x=268.020000, y=56.560000, z=14.290000 tat = 840
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: AshtechGps::processRecord() - $GPGGA,200753.00,3636.69288,N,12152.62803,W,1,11,0.9,-2.61,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200753.00,3636.69288,N,12152.62803,W,1,11,0.9,-2.61,M,-33.21,M,,*75


: successfully parse sentence at 20:7:53

: AshtechGPS::processRecord -sample time is 1142280473
: Sonardyne - POS response: 
POS V4,1 R274.23,X68.61,Y2.67,Z-265.50

: Sonardyne - parsing R274.23,X68.61,Y2.67,Z-265.50

: Sonardyne - read R = 274.230000 from 274.23,X68.61,Y2.67,Z-265.50

: Sonardyne - got all data, Vehicle coordinates,
    r=274.230000, x=265.500000, y=68.610000, z=-2.670000 tat = 840
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200754.00,3636.69276,N,12152.62794,W,1,11,0.9,-2.80,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200754.00,3636.69276,N,12152.62794,W,1,11,0.9,-2.80,M,-33.21,M,,*7D


: successfully parse sentence at 20:7:54

: AshtechGPS::processRecord -sample time is 1142280474
: Sonardyne - POS response: 
POS V4,1 R274.55,X75.17,Y-5.77,Z-263.99

: Sonardyne - parsing R274.55,X75.17,Y-5.77,Z-263.99

: Sonardyne - read R = 274.550000 from 274.55,X75.17,Y-5.77,Z-263.99

: Sonardyne - got all data, Vehicle coordinates,
    r=274.550000, x=263.990000, y=75.170000, z=5.770000 tat = 840
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200755.00,3636.69262,N,12152.62789,W,1,11,0.9,-2.74,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200755.00,3636.69262,N,12152.62789,W,1,11,0.9,-2.74,M,-33.21,M,,*7E


: successfully parse sentence at 20:7:55

: AshtechGPS::processRecord -sample time is 1142280475
: Sonardyne - POS response: 
POS V4,1 R274.71,X78.44,Y29.72,Z-261.59

: Sonardyne - parsing R274.71,X78.44,Y29.72,Z-261.59

: Sonardyne - read R = 274.710000 from 274.71,X78.44,Y29.72,Z-261.59

: Sonardyne - got all data, Vehicle coordinates,
    r=274.710000, x=261.590000, y=78.440000, z=-29.720000 tat = 840
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200756.00,3636.69244,N,12152.62779,W,1,11,0.9,-2.57,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200756.00,3636.69244,N,12152.62779,W,1,11,0.9,-2.57,M,-33.21,M,,*77


: successfully parse sentence at 20:7:56

: AshtechGPS::processRecord -sample time is 1142280476
: Sonardyne - POS response: 
POS V4,1 R274.20

: Sonardyne - parsing R274.20

: Sonardyne - read R = 274.200000 from 274.20

: Sonardyne - got range only (274.200000), tat = 820
: Sonardyne - POSD response: 
POSD S134.0,N25.6,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.0,N25.6,D-20,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,200757.00,3636.69232,N,12152.62765,W,1,11,0.9,-2.59,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200757.00,3636.69232,N,12152.62765,W,1,11,0.9,-2.59,M,-33.21,M,,*74


: successfully parse sentence at 20:7:57

: AshtechGPS::processRecord -sample time is 1142280477
: Sonardyne - POS response: 
POS V4,1 R273.58

: Sonardyne - parsing R273.58

: Sonardyne - read R = 273.580000 from 273.58

: Sonardyne - got range only (273.580000), tat = 820
: Sonardyne - POSD response: 
POSD S129.5,N24.9,D-34,U3,Q0.004216

: Sonardyne - POSD response: 
POSD S129.5,N24.9,D-34,U3,Q0.004216

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

: AshtechGps::processRecord() - $GPGGA,200758.00,3636.69216,N,12152.62760,W,1,11,0.9,-2.46,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200758.00,3636.69216,N,12152.62760,W,1,11,0.9,-2.46,M,-33.21,M,,*76


: successfully parse sentence at 20:7:58

: AshtechGPS::processRecord -sample time is 1142280478
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200759.00,3636.69203,N,12152.62742,W,1,11,0.9,-2.37,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200759.00,3636.69203,N,12152.62742,W,1,11,0.9,-2.37,M,-33.21,M,,*75


: successfully parse sentence at 20:7:59

: AshtechGPS::processRecord -sample time is 1142280479
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200800.00,3636.69181,N,12152.62730,W,1,11,0.9,-2.36,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200800.00,3636.69181,N,12152.62730,W,1,11,0.9,-2.36,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:0

: AshtechGPS::processRecord -sample time is 1142280480
:  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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200801.00,3636.69161,N,12152.62714,W,1,11,0.9,-2.48,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200801.00,3636.69161,N,12152.62714,W,1,11,0.9,-2.48,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:1

: AshtechGPS::processRecord -sample time is 1142280481
: BluefinBatt Reply: $aaq0 d- 32.39  2.55 16.89 4.03 4.07 0   273.35 02:39:10 m

:  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 R272.23,X112.82,Y-14.36,Z-247.33

: Sonardyne - parsing R272.23,X112.82,Y-14.36,Z-247.33

: Sonardyne - read R = 272.230000 from 272.23,X112.82,Y-14.36,Z-247.33

: Sonardyne - got all data, Vehicle coordinates,
    r=272.230000, x=247.330000, y=112.820000, z=14.360000 tat = 839
: AshtechGps::processRecord() - $GPGGA,200802.00,3636.69149,N,12152.62692,W,1,11,0.9,-2.71,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200802.00,3636.69149,N,12152.62692,W,1,11,0.9,-2.71,M,-33.21,M,,*77


: successfully parse sentence at 20:8:2

: AshtechGPS::processRecord -sample time is 1142280482
: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

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

: Sonardyne - POS response: 
POS V4,1 R271.88

: Sonardyne - parsing R271.88

: Sonardyne - read R = 271.880000 from 271.88

: Sonardyne - got range only (271.880000), tat = 810
: Sonardyne - POSD response: 
POSD S126.7,N23.2,D-58,U1,Q0.003554

: AshtechGps::processRecord() - $GPGGA,200803.00,3636.69139,N,12152.62687,W,1,11,0.9,-2.89,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200803.00,3636.69139,N,12152.62687,W,1,11,0.9,-2.89,M,-33.21,M,,*72


: successfully parse sentence at 20:8:3

: AshtechGPS::processRecord -sample time is 1142280483
: Sonardyne - POSD response: 
POSD S126.7,N23.2,D-58,U1,Q0.003554

:  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 R273.05

: Sonardyne - parsing R273.05

: Sonardyne - read R = 273.050000 from 273.05

: Sonardyne - got range only (273.050000), tat = 820
: Sonardyne - POSD response: 
POSD S132.1,N24.1,D95,U2,Q0.006276

: AshtechGps::processRecord() - $GPGGA,200804.00,3636.69144,N,12152.62680,W,1,11,0.9,-3.10,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200804.00,3636.69144,N,12152.62680,W,1,11,0.9,-3.10,M,-33.21,M,,*79


: successfully parse sentence at 20:8:4

: AshtechGPS::processRecord -sample time is 1142280484
: Sonardyne - POSD response: 
POSD S132.1,N24.1,D95,U2,Q0.006276

:  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 R272.23

: Sonardyne - parsing R272.23

: Sonardyne - read R = 272.230000 from 272.23

: Sonardyne - got range only (272.230000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200805.00,3636.69142,N,12152.62687,W,1,11,0.9,-2.92,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200805.00,3636.69142,N,12152.62687,W,1,11,0.9,-2.92,M,-33.21,M,,*72


: successfully parse sentence at 20:8:5

: Sonardyne - POSD response: 
POSD S123.2,N20.0,D-23,U2,Q0.002110

: AshtechGPS::processRecord -sample time is 1142280485
: Sonardyne - POSD response: 
POSD S123.2,N20.0,D-23,U2,Q0.002110

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

: AshtechGps::processRecord() - $GPGGA,200806.00,3636.69136,N,12152.62676,W,1,11,0.9,-2.57,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200806.00,3636.69136,N,12152.62676,W,1,11,0.9,-2.57,M,-33.21,M,,*75


: successfully parse sentence at 20:8:6

: AshtechGPS::processRecord -sample time is 1142280486
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200807.00,3636.69120,N,12152.62662,W,1,11,0.9,-2.38,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200807.00,3636.69120,N,12152.62662,W,1,11,0.9,-2.38,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:7

: AshtechGPS::processRecord -sample time is 1142280487
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200808.00,3636.69106,N,12152.62641,W,1,11,0.9,-2.36,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200808.00,3636.69106,N,12152.62641,W,1,11,0.9,-2.36,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:8

: AshtechGPS::processRecord -sample time is 1142280488
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200809.00,3636.69091,N,12152.62621,W,1,11,0.9,-2.44,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200809.00,3636.69091,N,12152.62621,W,1,11,0.9,-2.44,M,-33.21,M,,*76


: successfully parse sentence at 20:8:9

: AshtechGPS::processRecord -sample time is 1142280489
: Sonardyne - POS response: 
POS V4,1 R270.92

: Sonardyne - parsing R270.92

: Sonardyne - read R = 270.920000 from 270.92

: Sonardyne - got range only (270.920000), tat = 810
: Sonardyne - POSD response: 
POSD S124.3,N22.4,D-29,U4,Q0.003814

: Sonardyne - POSD response: 
POSD S124.3,N22.4,D-29,U4,Q0.003814

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

: AshtechGps::processRecord() - $GPGGA,200810.00,3636.69079,N,12152.62613,W,1,11,0.9,-2.50,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200810.00,3636.69079,N,12152.62613,W,1,11,0.9,-2.50,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:10

: AshtechGPS::processRecord -sample time is 1142280490
: Sonardyne - POS response: 
POS V4,1 R270.50

: Sonardyne - parsing R270.50

: Sonardyne - read R = 270.500000 from 270.50

: Sonardyne - got range only (270.500000), tat = 810
: Sonardyne - POSD response: 
POSD S129.7,N30.2,D-20,U3,Q0.009498

: Sonardyne - POSD response: 
POSD S129.7,N30.2,D-20,U3,Q0.009498

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

: AshtechGps::processRecord() - $GPGGA,200811.00,3636.69069,N,12152.62606,W,1,11,0.9,-2.39,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200811.00,3636.69069,N,12152.62606,W,1,11,0.9,-2.39,M,-33.21,M,,*77


: successfully parse sentence at 20:8:11

: AshtechGPS::processRecord -sample time is 1142280491
: Sonardyne - POS response: 
POS V4,1 R270.15

: Sonardyne - parsing R270.15

: Sonardyne - read R = 270.150000 from 270.15

: Sonardyne - got range only (270.150000), tat = 810
: Sonardyne - POSD response: 
POSD S129.7,N30.9,D-25,U2,Q0.012346

: BluefinBatt Reply: $aaq0 d- 32.39  2.39 16.79 4.03 4.07 0   273.05 02:39:20 m

: Sonardyne - POSD response: 
POSD S129.7,N30.9,D-25,U2,Q0.012346

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

: AshtechGps::processRecord() - $GPGGA,200812.00,3636.69054,N,12152.62591,W,1,11,0.9,-2.55,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200812.00,3636.69054,N,12152.62591,W,1,11,0.9,-2.55,M,-33.21,M,,*7D


: successfully parse sentence at 20:8:12

: AshtechGPS::processRecord -sample time is 1142280492
: Sonardyne - POS response: 
POS V4,1 R268.82

: Sonardyne - parsing R268.82

: Sonardyne - read R = 268.820000 from 268.82

: Sonardyne - got range only (268.820000), tat = 810
: Sonardyne - POSD response: 
POSD S116.1,N22.5,D68,U1,Q0.011843

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POSD response: 
POSD S116.1,N22.5,D68,U1,Q0.011843

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

: AshtechGps::processRecord() - $GPGGA,200813.00,3636.69049,N,12152.62578,W,1,11,0.9,-2.74,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200813.00,3636.69049,N,12152.62578,W,1,11,0.9,-2.74,M,-33.21,M,,*74


: successfully parse sentence at 20:8:13

: AshtechGPS::processRecord -sample time is 1142280493
: Sonardyne - POS response: 
POS V4,1 R269.46,X156.06,Y33.87,Z-217.04

: Sonardyne - parsing R269.46,X156.06,Y33.87,Z-217.04

: Sonardyne - read R = 269.460000 from 269.46,X156.06,Y33.87,Z-217.04

: Sonardyne - got all data, Vehicle coordinates,
    r=269.460000, x=217.040000, y=156.060000, z=-33.870000 tat = 840
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200814.00,3636.69045,N,12152.62574,W,1,11,0.9,-2.79,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200814.00,3636.69045,N,12152.62574,W,1,11,0.9,-2.79,M,-33.21,M,,*7E


: successfully parse sentence at 20:8:14

: AshtechGPS::processRecord -sample time is 1142280494
: Sonardyne - POS response: 
POS V4,1 R269.58

: Sonardyne - parsing R269.58

: Sonardyne - read R = 269.580000 from 269.58

: Sonardyne - got range only (269.580000), tat = 810
: Sonardyne - POSD response: 
POSD S126.9,N22.5,D-78,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.9,N22.5,D-78,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,200815.00,3636.69046,N,12152.62569,W,1,11,0.9,-2.79,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200815.00,3636.69046,N,12152.62569,W,1,11,0.9,-2.79,M,-33.21,M,,*70


: successfully parse sentence at 20:8:15

: AshtechGPS::processRecord -sample time is 1142280495
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200816.00,3636.69044,N,12152.62567,W,1,11,0.9,-2.94,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200816.00,3636.69044,N,12152.62567,W,1,11,0.9,-2.94,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:16

: AshtechGPS::processRecord -sample time is 1142280496
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200817.00,3636.69045,N,12152.62564,W,1,11,0.9,-2.85,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200817.00,3636.69045,N,12152.62564,W,1,11,0.9,-2.85,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:17

: AshtechGPS::processRecord -sample time is 1142280497
:  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,N7.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200818.00,3636.69037,N,12152.62558,W,1,11,0.9,-2.57,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200818.00,3636.69037,N,12152.62558,W,1,11,0.9,-2.57,M,-33.21,M,,*75


: successfully parse sentence at 20:8:18

: AshtechGPS::processRecord -sample time is 1142280498
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200819.00,3636.69022,N,12152.62542,W,1,11,0.9,-2.43,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200819.00,3636.69022,N,12152.62542,W,1,11,0.9,-2.43,M,-33.21,M,,*7E


: successfully parse sentence at 20:8:19

: AshtechGPS::processRecord -sample time is 1142280499
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200820.00,3636.69010,N,12152.62527,W,1,11,0.9,-2.58,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200820.00,3636.69010,N,12152.62527,W,1,11,0.9,-2.58,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:20

: AshtechGPS::processRecord -sample time is 1142280500
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200821.00,3636.68999,N,12152.62517,W,1,11,0.9,-2.54,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200821.00,3636.68999,N,12152.62517,W,1,11,0.9,-2.54,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:21

: AshtechGPS::processRecord -sample time is 1142280501
: 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

: BluefinBatt Reply: $aaq0 d- 32.39  2.39 16.79 4.04 4.07 0   272.84 02:39:30 m

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

: AshtechGps::processRecord() - $GPGGA,200822.00,3636.68988,N,12152.62501,W,1,11,0.9,-2.61,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200822.00,3636.68988,N,12152.62501,W,1,11,0.9,-2.61,M,-33.21,M,,*79


: successfully parse sentence at 20:8:22

: AshtechGPS::processRecord -sample time is 1142280502
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,200823.00,3636.68983,N,12152.62487,W,1,11,0.9,-2.76,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200823.00,3636.68983,N,12152.62487,W,1,11,0.9,-2.76,M,-33.21,M,,*7A


: successfully parse sentence at 20:8:23

: AshtechGPS::processRecord -sample time is 1142280503
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200824.00,3636.68978,N,12152.62481,W,1,11,0.9,-2.82,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200824.00,3636.68978,N,12152.62481,W,1,11,0.9,-2.82,M,-33.21,M,,*74


: successfully parse sentence at 20:8:24

: AshtechGPS::processRecord -sample time is 1142280504
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200825.00,3636.68982,N,12152.62474,W,1,11,0.9,-2.81,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200825.00,3636.68982,N,12152.62474,W,1,11,0.9,-2.81,M,-33.21,M,,*79


: successfully parse sentence at 20:8:25

: AshtechGPS::processRecord -sample time is 1142280505
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R270.62

: Sonardyne - parsing R270.62

: Sonardyne - read R = 270.620000 from 270.62

: Sonardyne - got range only (270.620000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200826.00,3636.68977,N,12152.62472,W,1,11,0.9,-2.75,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200826.00,3636.68977,N,12152.62472,W,1,11,0.9,-2.75,M,-33.21,M,,*7D


: successfully parse sentence at 20:8:26

: AshtechGPS::processRecord -sample time is 1142280506
: Sonardyne - POSD response: 
POSD S121.2,N23.1,D-56,U3,Q0.000196

: Sonardyne - POSD response: 
POSD S121.2,N23.1,D-56,U3,Q0.000196

:  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 R267.95

: Sonardyne - parsing R267.95

: Sonardyne - read R = 267.950000 from 267.95

: Sonardyne - got range only (267.950000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200827.00,3636.68974,N,12152.62465,W,1,11,0.9,-2.70,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200827.00,3636.68974,N,12152.62465,W,1,11,0.9,-2.70,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:27

: Sonardyne - POSD response: 
POSD S124.4,N20.0,D-124,U2,Q0.002345

: AshtechGPS::processRecord -sample time is 1142280507
: Sonardyne - POSD response: 
POSD S124.4,N20.0,D-124,U2,Q0.002345

:  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 R268.16

: Sonardyne - parsing R268.16

: Sonardyne - read R = 268.160000 from 268.16

: Sonardyne - got range only (268.160000), tat = 810
: Sonardyne - POSD response: 
POSD S115.7,N19.2,D58,U2,Q0.006022

: AshtechGps::processRecord() - $GPGGA,200828.00,3636.68969,N,12152.62451,W,1,11,0.9,-2.64,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200828.00,3636.68969,N,12152.62451,W,1,11,0.9,-2.64,M,-33.21,M,,*7D


: successfully parse sentence at 20:8:28

: AshtechGPS::processRecord -sample time is 1142280508
: Sonardyne - POSD response: 
POSD S115.7,N19.2,D58,U2,Q0.006022

:  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 R267.97

: Sonardyne - parsing R267.97

: Sonardyne - read R = 267.970000 from 267.97

: Sonardyne - got range only (267.970000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200829.00,3636.68960,N,12152.62439,W,1,11,0.9,-2.60,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200829.00,3636.68960,N,12152.62439,W,1,11,0.9,-2.60,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:29

: Sonardyne - POSD response: 
POSD S126.4,N21.8,D-29,U1,Q0.006089

: AshtechGPS::processRecord -sample time is 1142280509
: Sonardyne - POSD response: 
POSD S126.4,N21.8,D-29,U1,Q0.006089

:  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 R266.93

: Sonardyne - parsing R266.93

: Sonardyne - read R = 266.930000 from 266.93

: Sonardyne - got range only (266.930000), tat = 810
: Sonardyne - POSD response: 
POSD S125.2,N23.3,D-13,U2,Q0.000540

: AshtechGps::processRecord() - $GPGGA,200830.00,3636.68953,N,12152.62426,W,1,11,0.9,-2.55,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200830.00,3636.68953,N,12152.62426,W,1,11,0.9,-2.55,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:30

: AshtechGPS::processRecord -sample time is 1142280510
: Sonardyne - POSD response: 
POSD S125.2,N23.3,D-13,U2,Q0.000540

:  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 R266.99

: Sonardyne - parsing R266.99

: Sonardyne - read R = 266.990000 from 266.99

: Sonardyne - got range only (266.990000), tat = 809
: AshtechGps::processRecord() - $GPGGA,200831.00,3636.68943,N,12152.62410,W,1,11,0.9,-2.60,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200831.00,3636.68943,N,12152.62410,W,1,11,0.9,-2.60,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:31

: Sonardyne - POSD response: 
POSD S129.9,N23.4,D115,U4,Q0.014031

: AshtechGPS::processRecord -sample time is 1142280511
: Sonardyne - POSD response: 
POSD S129.9,N23.4,D115,U4,Q0.014031

: BluefinBatt Reply: $aaq0 d- 32.39  2.52 16.69 4.04 4.07 0   272.57 02:39:40 m

:  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 R266.07

: Sonardyne - parsing R266.07

: Sonardyne - read R = 266.070000 from 266.07

: Sonardyne - got range only (266.070000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200832.00,3636.68940,N,12152.62396,W,1,11,0.9,-2.83,M,-33.21,M,,*78

: Sonardyne - POSD response: 
POSD S117.0,N28.4,D25,U2,Q0.006036

: GpsUtils::parseFix() - $GPGGA,200832.00,3636.68940,N,12152.62396,W,1,11,0.9,-2.83,M,-33.21,M,,*78


: successfully parse sentence at 20:8:32

: AshtechGPS::processRecord -sample time is 1142280512
: Sonardyne - POSD response: 
POSD S117.0,N28.4,D25,U2,Q0.006036

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: Sonardyne - POS response: 
POS V4,1 R266.04

: Sonardyne - parsing R266.04

: Sonardyne - read R = 266.040000 from 266.04

: Sonardyne - got range only (266.040000), tat = 810
: Sonardyne - POSD response: 
POSD S102.0,N16.2,D10,U1,Q0.010669

: AshtechGps::processRecord() - $GPGGA,200833.00,3636.68940,N,12152.62391,W,1,11,0.9,-2.84,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200833.00,3636.68940,N,12152.62391,W,1,11,0.9,-2.84,M,-33.21,M,,*79


: successfully parse sentence at 20:8:33

: AshtechGPS::processRecord -sample time is 1142280513
: Sonardyne - POSD response: 
POSD S102.0,N16.2,D10,U1,Q0.010669

:  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 R267.75

: Sonardyne - parsing R267.75

: Sonardyne - read R = 267.750000 from 267.75

: Sonardyne - got range only (267.750000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200834.00,3636.68942,N,12152.62382,W,1,11,0.9,-2.79,M,-33.21,M,,*7C

: Sonardyne - POSD response: 
POSD S121.4,N20.0,D13,U2,Q0.006451

: GpsUtils::parseFix() - $GPGGA,200834.00,3636.68942,N,12152.62382,W,1,11,0.9,-2.79,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:34

: AshtechGPS::processRecord -sample time is 1142280514
: Sonardyne - POSD response: 
POSD S121.4,N20.0,D13,U2,Q0.006451

:  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 R267.85,X171.01,Y29.83,Z-203.98

: Sonardyne - parsing R267.85,X171.01,Y29.83,Z-203.98

: Sonardyne - read R = 267.850000 from 267.85,X171.01,Y29.83,Z-203.98

: Sonardyne - got all data, Vehicle coordinates,
    r=267.850000, x=203.980000, y=171.010000, z=-29.830000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200835.00,3636.68938,N,12152.62380,W,1,11,0.9,-2.74,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200835.00,3636.68938,N,12152.62380,W,1,11,0.9,-2.74,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:35

: AshtechGPS::processRecord -sample time is 1142280515
:  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 R272.78

: Sonardyne - parsing R272.78

: Sonardyne - read R = 272.780000 from 272.78

: Sonardyne - got range only (272.780000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200836.00,3636.68934,N,12152.62370,W,1,11,0.9,-2.63,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200836.00,3636.68934,N,12152.62370,W,1,11,0.9,-2.63,M,-33.21,M,,*79


: successfully parse sentence at 20:8:36

: Sonardyne - POSD response: 
POSD S114.9,N23.8,D33,U1,Q0.002010

: AshtechGPS::processRecord -sample time is 1142280516
: Sonardyne - POSD response: 
POSD S114.9,N23.8,D33,U1,Q0.002010

:  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 R267.19

: Sonardyne - parsing R267.19

: Sonardyne - read R = 267.190000 from 267.19

: Sonardyne - got range only (267.190000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200837.00,3636.68926,N,12152.62351,W,1,11,0.9,-2.60,M,-33.21,M,,*7B

: Sonardyne - POSD response: 
POSD S127.1,N23.6,D-49,U2,Q0.006606

: GpsUtils::parseFix() - $GPGGA,200837.00,3636.68926,N,12152.62351,W,1,11,0.9,-2.60,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:37

: AshtechGPS::processRecord -sample time is 1142280517
: Sonardyne - POSD response: 
POSD S127.1,N23.6,D-49,U2,Q0.006606

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

: AshtechGps::processRecord() - $GPGGA,200838.00,3636.68918,N,12152.62333,W,1,11,0.9,-2.63,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200838.00,3636.68918,N,12152.62333,W,1,11,0.9,-2.63,M,-33.21,M,,*7E


: successfully parse sentence at 20:8:38

: AshtechGPS::processRecord -sample time is 1142280518
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200839.00,3636.68917,N,12152.62325,W,1,11,0.9,-2.81,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200839.00,3636.68917,N,12152.62325,W,1,11,0.9,-2.81,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:39

: AshtechGPS::processRecord -sample time is 1142280519
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200840.00,3636.68921,N,12152.62320,W,1,11,0.9,-2.93,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200840.00,3636.68921,N,12152.62320,W,1,11,0.9,-2.93,M,-33.21,M,,*76


: successfully parse sentence at 20:8:40

: AshtechGPS::processRecord -sample time is 1142280520
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200841.00,3636.68925,N,12152.62317,W,1,11,0.9,-2.91,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200841.00,3636.68925,N,12152.62317,W,1,11,0.9,-2.91,M,-33.21,M,,*75


: successfully parse sentence at 20:8:41

: AshtechGPS::processRecord -sample time is 1142280521
: BluefinBatt Reply: $aaq0 d- 32.39  2.52 16.69 4.04 4.07 0   272.36 02:39:50 m

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

: AshtechGps::processRecord() - $GPGGA,200842.00,3636.68929,N,12152.62312,W,1,11,0.9,-2.90,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200842.00,3636.68929,N,12152.62312,W,1,11,0.9,-2.90,M,-33.21,M,,*7E


: successfully parse sentence at 20:8:42

: AshtechGPS::processRecord -sample time is 1142280522
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,200843.00,3636.68932,N,12152.62304,W,1,11,0.9,-2.75,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200843.00,3636.68932,N,12152.62304,W,1,11,0.9,-2.75,M,-33.21,M,,*79


: successfully parse sentence at 20:8:43

: AshtechGPS::processRecord -sample time is 1142280523
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,200844.00,3636.68921,N,12152.62295,W,1,11,0.9,-2.51,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200844.00,3636.68921,N,12152.62295,W,1,11,0.9,-2.51,M,-33.21,M,,*73


: successfully parse sentence at 20:8:44

: AshtechGPS::processRecord -sample time is 1142280524
:  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 R266.65

: Sonardyne - parsing R266.65

: Sonardyne - read R = 266.650000 from 266.65

: Sonardyne - got range only (266.650000), tat = 810
: Sonardyne - POSD response: 
POSD S132.1,N28.9,D21,U1,Q0.008222

: AshtechGps::processRecord() - $GPGGA,200845.00,3636.68912,N,12152.62275,W,1,11,0.9,-2.32,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,200845.00,3636.68912,N,12152.62275,W,1,11,0.9,-2.32,M,-33.21,M,,*79


: successfully parse sentence at 20:8:45

: AshtechGPS::processRecord -sample time is 1142280525
: Sonardyne - POSD response: 
POSD S132.1,N28.9,D21,U1,Q0.008222

:  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 R266.44

: Sonardyne - parsing R266.44

: Sonardyne - read R = 266.440000 from 266.44

: Sonardyne - got range only (266.440000), tat = 860
: AshtechGps::processRecord() - $GPGGA,200846.00,3636.68892,N,12152.62257,W,1,11,0.9,-2.33,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200846.00,3636.68892,N,12152.62257,W,1,11,0.9,-2.33,M,-33.21,M,,*72


: successfully parse sentence at 20:8:46

: AshtechGPS::processRecord -sample time is 1142280526
: Sonardyne - POSD response: 
POSD S129.3,N25.3,D-110,U3,Q0.010135

: Sonardyne - POSD response: 
POSD S129.3,N25.3,D-110,U3,Q0.010135

:  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 R267.58

: Sonardyne - parsing R267.58

: Sonardyne - read R = 267.580000 from 267.58

: Sonardyne - got range only (267.580000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200847.00,3636.68878,N,12152.62243,W,1,11,0.9,-2.57,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200847.00,3636.68878,N,12152.62243,W,1,11,0.9,-2.57,M,-33.21,M,,*70


: successfully parse sentence at 20:8:47

: AshtechGPS::processRecord -sample time is 1142280527
: Sonardyne - POSD response: 
POSD S127.3,N24.0,D91,U3,Q0.007775

: Sonardyne - POSD response: 
POSD S127.3,N24.0,D91,U3,Q0.007775

:  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 R266.90

: Sonardyne - parsing R266.90

: Sonardyne - read R = 266.900000 from 266.90

: Sonardyne - got range only (266.900000), tat = 810
: Sonardyne - POSD response: 
POSD S132.2,N33.3,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200848.00,3636.68877,N,12152.62233,W,1,11,0.9,-2.79,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200848.00,3636.68877,N,12152.62233,W,1,11,0.9,-2.79,M,-33.21,M,,*7B


: successfully parse sentence at 20:8:48

: AshtechGPS::processRecord -sample time is 1142280528
: Sonardyne - POSD response: 
POSD S132.2,N33.3,D-13,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R266.52

: Sonardyne - parsing R266.52

: Sonardyne - read R = 266.520000 from 266.52

: Sonardyne - got range only (266.520000), tat = 810
: Sonardyne - POSD response: 
POSD S124.2,N26.1,D23,U2,Q0.014719

: AshtechGps::processRecord() - $GPGGA,200849.00,3636.68878,N,12152.62231,W,1,11,0.9,-3.00,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200849.00,3636.68878,N,12152.62231,W,1,11,0.9,-3.00,M,-33.21,M,,*78


: successfully parse sentence at 20:8:49

: AshtechGPS::processRecord -sample time is 1142280529
: Sonardyne - POSD response: 
POSD S124.2,N26.1,D23,U2,Q0.014719

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

: Sonardyne - POS response: 
POS V4,1 R265.51

: Sonardyne - parsing R265.51

: Sonardyne - read R = 265.510000 from 265.51

: Sonardyne - got range only (265.510000), tat = 800
: AshtechGps::processRecord() - $GPGGA,200850.00,3636.68887,N,12152.62229,W,1,11,0.9,-2.97,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200850.00,3636.68887,N,12152.62229,W,1,11,0.9,-2.97,M,-33.21,M,,*76


: Sonardyne - POSD response: 
POSD S129.1,N32.4,D-15,U2,Q0.006079

: successfully parse sentence at 20:8:50

: AshtechGPS::processRecord -sample time is 1142280530
: Sonardyne - POSD response: 
POSD S129.1,N32.4,D-15,U2,Q0.006079

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

: Sonardyne - POS response: 
POS V4,1 R265.25,X128.95,Y-26.95,Z-230.22

: Sonardyne - parsing R265.25,X128.95,Y-26.95,Z-230.22

: Sonardyne - read R = 265.250000 from 265.25,X128.95,Y-26.95,Z-230.22

: Sonardyne - got all data, Vehicle coordinates,
    r=265.250000, x=230.220000, y=128.950000, z=26.950000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200851.00,3636.68887,N,12152.62222,W,1,11,0.9,-2.85,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200851.00,3636.68887,N,12152.62222,W,1,11,0.9,-2.85,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:51

: AshtechGPS::processRecord -sample time is 1142280531
: BluefinBatt Reply: $aaq0 d- 32.43  2.42 16.69 4.04 4.07 0   272.09 02:40:00 m

:  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 R265.74

: Sonardyne - parsing R265.74

: Sonardyne - read R = 265.740000 from 265.74

: Sonardyne - got range only (265.740000), tat = 810
: Sonardyne - POSD response: 
POSD S125.1,N24.4,D-24,U3,Q0.000095

: AshtechGps::processRecord() - $GPGGA,200852.00,3636.68886,N,12152.62206,W,1,11,0.9,-2.90,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200852.00,3636.68886,N,12152.62206,W,1,11,0.9,-2.90,M,-33.21,M,,*7F


: successfully parse sentence at 20:8:52

: AshtechGPS::processRecord -sample time is 1142280532
: Sonardyne - POSD response: 
POSD S125.1,N24.4,D-24,U3,Q0.000095

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: Sonardyne - POS response: 
POS V4,1 R265.75

: Sonardyne - parsing R265.75

: Sonardyne - read R = 265.750000 from 265.75

: Sonardyne - got range only (265.750000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200853.00,3636.68886,N,12152.62199,W,1,11,0.9,-2.98,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200853.00,3636.68886,N,12152.62199,W,1,11,0.9,-2.98,M,-33.21,M,,*73


: successfully parse sentence at 20:8:53

: Sonardyne - POSD response: 
POSD S114.7,N18.4,D4,U1,Q0.003966

: AshtechGPS::processRecord -sample time is 1142280533
: Sonardyne - POSD response: 
POSD S114.7,N18.4,D4,U1,Q0.003966

:  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 R266.93

: Sonardyne - parsing R266.93

: Sonardyne - read R = 266.930000 from 266.93

: Sonardyne - got range only (266.930000), tat = 810
: Sonardyne - POSD response: 
POSD S120.3,N20.9,D-26,U1,Q0.005341

: AshtechGps::processRecord() - $GPGGA,200854.00,3636.68889,N,12152.62193,W,1,11,0.9,-2.84,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200854.00,3636.68889,N,12152.62193,W,1,11,0.9,-2.84,M,-33.21,M,,*7C


: successfully parse sentence at 20:8:54

: AshtechGPS::processRecord -sample time is 1142280534
: Sonardyne - POSD response: 
POSD S120.3,N20.9,D-26,U1,Q0.005341

:  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 R265.78

: Sonardyne - parsing R265.78

: Sonardyne - read R = 265.780000 from 265.78

: Sonardyne - got range only (265.780000), tat = 800
: Sonardyne - POSD response: 
POSD S128.6,N30.2,D-1,U2,Q0.010323

: AshtechGps::processRecord() - $GPGGA,200855.00,3636.68887,N,12152.62182,W,1,11,0.9,-2.64,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200855.00,3636.68887,N,12152.62182,W,1,11,0.9,-2.64,M,-33.21,M,,*7D


: successfully parse sentence at 20:8:55

: AshtechGPS::processRecord -sample time is 1142280535
: Sonardyne - POSD response: 
POSD S128.6,N30.2,D-1,U2,Q0.010323

:  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 R265.40

: Sonardyne - parsing R265.40

: Sonardyne - read R = 265.400000 from 265.40

: Sonardyne - got range only (265.400000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200856.00,3636.68878,N,12152.62175,W,1,11,0.9,-2.52,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200856.00,3636.68878,N,12152.62175,W,1,11,0.9,-2.52,M,-33.21,M,,*73


: successfully parse sentence at 20:8:56

: AshtechGPS::processRecord -sample time is 1142280536
: Sonardyne - POSD response: 
POSD S121.4,N17.1,D-77,U4,Q0.000603

: Sonardyne - POSD response: 
POSD S121.4,N17.1,D-77,U4,Q0.000603

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

: Sonardyne - POS response: 
POS V4,1 R269.43

: Sonardyne - parsing R269.43

: Sonardyne - read R = 269.430000 from 269.43

: Sonardyne - got range only (269.430000), tat = 810
: Sonardyne - POSD response: 
POSD S119.6,N25.0,D-98,U2,Q0.005752

: AshtechGps::processRecord() - $GPGGA,200857.00,3636.68870,N,12152.62163,W,1,11,0.9,-2.48,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200857.00,3636.68870,N,12152.62163,W,1,11,0.9,-2.48,M,-33.21,M,,*76


: successfully parse sentence at 20:8:57

: AshtechGPS::processRecord -sample time is 1142280537
: Sonardyne - POSD response: 
POSD S119.6,N25.0,D-98,U2,Q0.005752

:  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 R264.79

: Sonardyne - parsing R264.79

: Sonardyne - read R = 264.790000 from 264.79

: Sonardyne - got range only (264.790000), tat = 810
: Sonardyne - POSD response: 
POSD S121.0,N17.6,D7,U1,Q0.006268

: AshtechGps::processRecord() - $GPGGA,200858.00,3636.68855,N,12152.62151,W,1,11,0.9,-2.47,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200858.00,3636.68855,N,12152.62151,W,1,11,0.9,-2.47,M,-33.21,M,,*70


: successfully parse sentence at 20:8:58

: AshtechGPS::processRecord -sample time is 1142280538
: Sonardyne - POSD response: 
POSD S121.0,N17.6,D7,U1,Q0.006268

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

: AshtechGps::processRecord() - $GPGGA,200859.00,3636.68848,N,12152.62136,W,1,11,0.9,-2.61,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200859.00,3636.68848,N,12152.62136,W,1,11,0.9,-2.61,M,-33.21,M,,*78


: successfully parse sentence at 20:8:59

: AshtechGPS::processRecord -sample time is 1142280539
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200900.00,3636.68839,N,12152.62120,W,1,11,0.9,-2.63,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200900.00,3636.68839,N,12152.62120,W,1,11,0.9,-2.63,M,-33.21,M,,*76


: successfully parse sentence at 20:9:0

: AshtechGPS::processRecord -sample time is 1142280540
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200901.00,3636.68829,N,12152.62112,W,1,11,0.9,-3.00,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200901.00,3636.68829,N,12152.62112,W,1,11,0.9,-3.00,M,-33.21,M,,*73


: successfully parse sentence at 20:9:1

: AshtechGPS::processRecord -sample time is 1142280541
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.39  2.42 16.69 4.04 4.07 0   271.90 02:40:10 m

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

: AshtechGps::processRecord() - $GPGGA,200902.00,3636.68839,N,12152.62113,W,1,11,0.9,-3.05,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200902.00,3636.68839,N,12152.62113,W,1,11,0.9,-3.05,M,-33.21,M,,*75


: successfully parse sentence at 20:9:2

: AshtechGPS::processRecord -sample time is 1142280542
: Sonardyne - POS response: 
POS V4,1 R264.22,X104.61,Y-38.08,Z-239.62

: Sonardyne - parsing R264.22,X104.61,Y-38.08,Z-239.62

: Sonardyne - read R = 264.220000 from 264.22,X104.61,Y-38.08,Z-239.62

: Sonardyne - got all data, Vehicle coordinates,
    r=264.220000, x=239.620000, y=104.610000, z=38.080000 tat = 830
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

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

: AshtechGps::processRecord() - $GPGGA,200903.00,3636.68841,N,12152.62110,W,1,11,0.9,-2.95,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200903.00,3636.68841,N,12152.62110,W,1,11,0.9,-2.95,M,-33.21,M,,*70


: successfully parse sentence at 20:9:3

: AshtechGPS::processRecord -sample time is 1142280543
: Sonardyne - POS response: 
POS V4,1 R264.48

: Sonardyne - parsing R264.48

: Sonardyne - read R = 264.480000 from 264.48

: Sonardyne - got range only (264.480000), tat = 800
: Sonardyne - POSD response: 
POSD S135.7,N29.6,D-78,U1,Q0.001943

: Sonardyne - POSD response: 
POSD S135.7,N29.6,D-78,U1,Q0.001943

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

: AshtechGps::processRecord() - $GPGGA,200904.00,3636.68840,N,12152.62103,W,1,11,0.9,-2.91,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,200904.00,3636.68840,N,12152.62103,W,1,11,0.9,-2.91,M,-33.21,M,,*70


: successfully parse sentence at 20:9:4

: AshtechGPS::processRecord -sample time is 1142280544
: Sonardyne - POS response: 
POS V4,1 R263.77,X93.88,Y-26.96,Z-245.02

: Sonardyne - parsing R263.77,X93.88,Y-26.96,Z-245.02

: Sonardyne - read R = 263.770000 from 263.77,X93.88,Y-26.96,Z-245.02

: Sonardyne - got all data, Vehicle coordinates,
    r=263.770000, x=245.020000, y=93.880000, z=26.960000 tat = 830
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200905.00,3636.68843,N,12152.62096,W,1,11,0.9,-2.83,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200905.00,3636.68843,N,12152.62096,W,1,11,0.9,-2.83,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:5

: AshtechGPS::processRecord -sample time is 1142280545
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200906.00,3636.68840,N,12152.62093,W,1,11,0.9,-2.72,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200906.00,3636.68840,N,12152.62093,W,1,11,0.9,-2.72,M,-33.21,M,,*77


: successfully parse sentence at 20:9:6

: AshtechGPS::processRecord -sample time is 1142280546
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200907.00,3636.68841,N,12152.62086,W,1,11,0.9,-2.82,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200907.00,3636.68841,N,12152.62086,W,1,11,0.9,-2.82,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:7

: AshtechGPS::processRecord -sample time is 1142280547
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200908.00,3636.68838,N,12152.62088,W,1,11,0.9,-2.74,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200908.00,3636.68838,N,12152.62088,W,1,11,0.9,-2.74,M,-33.21,M,,*7A


: successfully parse sentence at 20:9:8

: AshtechGPS::processRecord -sample time is 1142280548
: Sonardyne - POS response: 
POS V4,1 R265.35

: Sonardyne - parsing R265.35

: Sonardyne - read R = 265.350000 from 265.35

: Sonardyne - got range only (265.350000), tat = 800
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S133.1,N28.1,D32,U1,Q0.017227

: AshtechGps::processRecord() - $GPGGA,200909.00,3636.68839,N,12152.62074,W,1,11,0.9,-2.68,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200909.00,3636.68839,N,12152.62074,W,1,11,0.9,-2.68,M,-33.21,M,,*74


: successfully parse sentence at 20:9:9

: AshtechGPS::processRecord -sample time is 1142280549
: Sonardyne - POSD response: 
POSD S133.1,N28.1,D32,U1,Q0.017227

: Sonardyne - POS response: 
POS V4,1 R264.63

: Sonardyne - parsing R264.63

: Sonardyne - read R = 264.630000 from 264.63

: Sonardyne - got range only (264.630000), tat = 810
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.5,N32.0,D23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200910.00,3636.68827,N,12152.62072,W,1,11,0.9,-2.50,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200910.00,3636.68827,N,12152.62072,W,1,11,0.9,-2.50,M,-33.21,M,,*7E


: successfully parse sentence at 20:9:10

: AshtechGPS::processRecord -sample time is 1142280550
: Sonardyne - POSD response: 
POSD S134.5,N32.0,D23,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R266.06

: Sonardyne - parsing R266.06

: Sonardyne - read R = 266.060000 from 266.06

: Sonardyne - got range only (266.060000), tat = 810
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200911.00,3636.68817,N,12152.62056,W,1,11,0.9,-2.40,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,200911.00,3636.68817,N,12152.62056,W,1,11,0.9,-2.40,M,-33.21,M,,*7B


: successfully parse sentence at 20:9:11

: Sonardyne - POSD response: 
POSD S120.9,N22.5,D-17,U3,Q0.002930

: AshtechGPS::processRecord -sample time is 1142280551
: Sonardyne - POSD response: 
POSD S120.9,N22.5,D-17,U3,Q0.002930

: BluefinBatt Reply: $aaq0 d- 32.39  2.45 16.69 4.04 4.07 0   271.63 02:40:20 m

: Sonardyne - POS response: 
POS V4,1 R264.04

: Sonardyne - parsing R264.04

: Sonardyne - read R = 264.040000 from 264.04

: Sonardyne - got range only (264.040000), tat = 800
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S133.7,N31.0,D15,U5,Q0.008223

: AshtechGps::processRecord() - $GPGGA,200912.00,3636.68804,N,12152.62046,W,1,11,0.9,-2.41,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200912.00,3636.68804,N,12152.62046,W,1,11,0.9,-2.41,M,-33.21,M,,*7A


: successfully parse sentence at 20:9:12

: AshtechGPS::processRecord -sample time is 1142280552
: Sonardyne - POSD response: 
POSD S133.7,N31.0,D15,U5,Q0.008223

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: Sonardyne - POS response: 
POS V4,1 R263.25

: Sonardyne - parsing R263.25

: Sonardyne - read R = 263.250000 from 263.25

: Sonardyne - got range only (263.250000), tat = 800
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.4,N32.2,D10,U2,Q0.001277

: AshtechGps::processRecord() - $GPGGA,200913.00,3636.68796,N,12152.62034,W,1,11,0.9,-2.63,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200913.00,3636.68796,N,12152.62034,W,1,11,0.9,-2.63,M,-33.21,M,,*7A


: successfully parse sentence at 20:9:13

: AshtechGPS::processRecord -sample time is 1142280553
: Sonardyne - POSD response: 
POSD S132.4,N32.2,D10,U2,Q0.001277

: Sonardyne - POS response: 
POS V4,1 R264.11

: Sonardyne - parsing R264.11

: Sonardyne - read R = 264.110000 from 264.11

: Sonardyne - got range only (264.110000), tat = 800
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.9,N23.9,D-10,U5,Q0.000384

: AshtechGps::processRecord() - $GPGGA,200914.00,3636.68795,N,12152.62029,W,1,11,0.9,-2.82,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200914.00,3636.68795,N,12152.62029,W,1,11,0.9,-2.82,M,-33.21,M,,*7D


: successfully parse sentence at 20:9:14

: AshtechGPS::processRecord -sample time is 1142280554
: Sonardyne - POSD response: 
POSD S126.9,N23.9,D-10,U5,Q0.000384

: Sonardyne - POS response: 
POS V4,1 R263.31

: Sonardyne - parsing R263.31

: Sonardyne - read R = 263.310000 from 263.31

: Sonardyne - got range only (263.310000), tat = 799
: Sonardyne - POSD response: 
POSD S129.0,N25.2,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200915.00,3636.68797,N,12152.62032,W,1,11,0.9,-2.92,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200915.00,3636.68797,N,12152.62032,W,1,11,0.9,-2.92,M,-33.21,M,,*75


: successfully parse sentence at 20:9:15

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

: AshtechGPS::processRecord -sample time is 1142280555
: Sonardyne - POSD response: 
POSD S129.0,N25.2,D-2,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R262.98

: Sonardyne - parsing R262.98

: Sonardyne - read R = 262.980000 from 262.98

: Sonardyne - got range only (262.980000), tat = 800
: AshtechGps::processRecord() - $GPGGA,200916.00,3636.68804,N,12152.62037,W,1,11,0.9,-2.93,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200916.00,3636.68804,N,12152.62037,W,1,11,0.9,-2.93,M,-33.21,M,,*77


: Sonardyne - POSD response: 
POSD S133.1,N27.5,D-52,U1,Q0.017183

: successfully parse sentence at 20:9:16

: AshtechGPS::processRecord -sample time is 1142280556
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S133.1,N27.5,D-52,U1,Q0.017183

: Sonardyne - POS response: 
POS V4,1 R265.55

: Sonardyne - parsing R265.55

: Sonardyne - read R = 265.550000 from 265.55

: Sonardyne - got range only (265.550000), tat = 810
: AshtechGps::processRecord() - $GPGGA,200917.00,3636.68807,N,12152.62039,W,1,11,0.9,-2.82,M,-33.21,M,,*7B

: Sonardyne - POSD response: 
POSD S123.9,N26.4,D53,U4,Q0.010400

: GpsUtils::parseFix() - $GPGGA,200917.00,3636.68807,N,12152.62039,W,1,11,0.9,-2.82,M,-33.21,M,,*7B


: successfully parse sentence at 20:9:17

: AshtechGPS::processRecord -sample time is 1142280557
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.9,N26.4,D53,U4,Q0.010400

: AshtechGps::processRecord() - $GPGGA,200918.00,3636.68803,N,12152.62035,W,1,11,0.9,-2.63,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200918.00,3636.68803,N,12152.62035,W,1,11,0.9,-2.63,M,-33.21,M,,*73


: successfully parse sentence at 20:9:18

: AshtechGPS::processRecord -sample time is 1142280558
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200919.00,3636.68796,N,12152.62025,W,1,11,0.9,-2.57,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200919.00,3636.68796,N,12152.62025,W,1,11,0.9,-2.57,M,-33.21,M,,*77


: successfully parse sentence at 20:9:19

: AshtechGPS::processRecord -sample time is 1142280559
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200920.00,3636.68791,N,12152.62014,W,1,11,0.9,-2.71,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200920.00,3636.68791,N,12152.62014,W,1,11,0.9,-2.71,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:20

: AshtechGPS::processRecord -sample time is 1142280560
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200921.00,3636.68791,N,12152.62019,W,1,11,0.9,-2.90,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200921.00,3636.68791,N,12152.62019,W,1,11,0.9,-2.90,M,-33.21,M,,*7F


: successfully parse sentence at 20:9:21

: AshtechGPS::processRecord -sample time is 1142280561
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.39  2.39 16.69 4.04 4.07 0   271.46 02:40:30 m

: AshtechGps::processRecord() - $GPGGA,200922.00,3636.68798,N,12152.62018,W,1,11,0.9,-2.72,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200922.00,3636.68798,N,12152.62018,W,1,11,0.9,-2.72,M,-33.21,M,,*78


: successfully parse sentence at 20:9:22

: AshtechGPS::processRecord -sample time is 1142280562
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,200923.00,3636.68793,N,12152.62014,W,1,11,0.9,-2.56,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200923.00,3636.68793,N,12152.62014,W,1,11,0.9,-2.56,M,-33.21,M,,*78


: successfully parse sentence at 20:9:23

: AshtechGPS::processRecord -sample time is 1142280563
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,200924.00,3636.68781,N,12152.62011,W,1,11,0.9,-2.49,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200924.00,3636.68781,N,12152.62011,W,1,11,0.9,-2.49,M,-33.21,M,,*77


: successfully parse sentence at 20:9:24

: AshtechGPS::processRecord -sample time is 1142280564
:  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 R263.86

: Sonardyne - parsing R263.86

: Sonardyne - read R = 263.860000 from 263.86

: Sonardyne - got range only (263.860000), tat = 800
: Sonardyne - POSD response: 
POSD S135.4,N31.1,D11,U3,Q0.001754

: AshtechGps::processRecord() - $GPGGA,200925.00,3636.68774,N,12152.61988,W,1,11,0.9,-2.52,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200925.00,3636.68774,N,12152.61988,W,1,11,0.9,-2.52,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:25

: AshtechGPS::processRecord -sample time is 1142280565
: Sonardyne - POSD response: 
POSD S135.4,N31.1,D11,U3,Q0.001754

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

: AshtechGps::processRecord() - $GPGGA,200926.00,3636.68764,N,12152.61987,W,1,11,0.9,-2.65,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200926.00,3636.68764,N,12152.61987,W,1,11,0.9,-2.65,M,-33.21,M,,*75


: successfully parse sentence at 20:9:26

: AshtechGPS::processRecord -sample time is 1142280566
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200927.00,3636.68761,N,12152.61977,W,1,11,0.9,-2.72,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200927.00,3636.68761,N,12152.61977,W,1,11,0.9,-2.72,M,-33.21,M,,*78


: successfully parse sentence at 20:9:27

: AshtechGPS::processRecord -sample time is 1142280567
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,200928.00,3636.68755,N,12152.61974,W,1,11,0.9,-2.67,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,200928.00,3636.68755,N,12152.61974,W,1,11,0.9,-2.67,M,-33.21,M,,*77


: successfully parse sentence at 20:9:28

: AshtechGPS::processRecord -sample time is 1142280568
:  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,N6.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,200929.00,3636.68751,N,12152.61972,W,1,11,0.9,-2.76,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200929.00,3636.68751,N,12152.61972,W,1,11,0.9,-2.76,M,-33.21,M,,*74


: successfully parse sentence at 20:9:29

: AshtechGPS::processRecord -sample time is 1142280569
:  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 R262.44

: Sonardyne - parsing R262.44

: Sonardyne - read R = 262.440000 from 262.44

: Sonardyne - got range only (262.440000), tat = 799
: Sonardyne - POSD response: 
POSD S136.1,N21.8,D51,U3,Q0.000614

: Sonardyne - POSD response: 
POSD S136.1,N21.8,D51,U3,Q0.000614

: AshtechGps::processRecord() - $GPGGA,200930.00,3636.68756,N,12152.61968,W,1,11,0.9,-2.78,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,200930.00,3636.68756,N,12152.61968,W,1,11,0.9,-2.78,M,-33.21,M,,*7E


: successfully parse sentence at 20:9:30

: AshtechGPS::processRecord -sample time is 1142280570
:  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 R261.41

: Sonardyne - parsing R261.41

: Sonardyne - read R = 261.410000 from 261.41

: Sonardyne - got range only (261.410000), tat = 800
: Sonardyne - POSD response: 
POSD S133.9,N31.2,D-27,U3,Q0.014793

: Sonardyne - POSD response: 
POSD S133.9,N31.2,D-27,U3,Q0.014793

: AshtechGps::processRecord() - $GPGGA,200931.00,3636.68757,N,12152.61957,W,1,11,0.9,-2.86,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200931.00,3636.68757,N,12152.61957,W,1,11,0.9,-2.86,M,-33.21,M,,*73


: successfully parse sentence at 20:9:31

: AshtechGPS::processRecord -sample time is 1142280571
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R261.96

: Sonardyne - parsing R261.96

: Sonardyne - read R = 261.960000 from 261.96

: Sonardyne - got range only (261.960000), tat = 800
: Sonardyne - POSD response: 
POSD S123.2,N23.3,D57,U5,Q0.006808

: BluefinBatt Reply: $aaq0 d- 32.39  3.19 16.69 4.04 4.07 0   271.13 02:40:40 m

: Sonardyne - POSD response: 
POSD S123.2,N23.3,D57,U5,Q0.006808

: AshtechGps::processRecord() - $GPGGA,200932.00,3636.68759,N,12152.61967,W,1,11,0.9,-2.84,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200932.00,3636.68759,N,12152.61967,W,1,11,0.9,-2.84,M,-33.21,M,,*7F


: successfully parse sentence at 20:9:32

: AshtechGPS::processRecord -sample time is 1142280572
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R262.35,X-31.28,Y-42.36,Z-257.01

: Sonardyne - parsing R262.35,X-31.28,Y-42.36,Z-257.01

: Sonardyne - read R = 262.350000 from 262.35,X-31.28,Y-42.36,Z-257.01

: Sonardyne - got all data, Vehicle coordinates,
    r=262.350000, x=257.010000, y=-31.280000, z=42.360000 tat = 830
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,200933.00,3636.68764,N,12152.61963,W,1,11,0.9,-2.66,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200933.00,3636.68764,N,12152.61963,W,1,11,0.9,-2.66,M,-33.21,M,,*78


: successfully parse sentence at 20:9:33

: AshtechGPS::processRecord -sample time is 1142280573
:  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 R262.28,X-32.20,Y-1.97,Z-260.29

: Sonardyne - parsing R262.28,X-32.20,Y-1.97,Z-260.29

: Sonardyne - read R = 262.280000 from 262.28,X-32.20,Y-1.97,Z-260.29

: Sonardyne - got all data, Vehicle coordinates,
    r=262.280000, x=260.290000, y=-32.200000, z=1.970000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200934.00,3636.68760,N,12152.61958,W,1,11,0.9,-2.69,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200934.00,3636.68760,N,12152.61958,W,1,11,0.9,-2.69,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:34

: AshtechGPS::processRecord -sample time is 1142280574
:  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 R262.06

: Sonardyne - parsing R262.06

: Sonardyne - read R = 262.060000 from 262.06

: Sonardyne - got range only (262.060000), tat = 820
: Sonardyne - POSD response: 
POSD S132.7,N24.5,D3,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S132.7,N24.5,D3,U1,Q0.007526

: AshtechGps::processRecord() - $GPGGA,200935.00,3636.68761,N,12152.61963,W,1,11,0.9,-2.81,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,200935.00,3636.68761,N,12152.61963,W,1,11,0.9,-2.81,M,-33.21,M,,*72


: successfully parse sentence at 20:9:35

: AshtechGPS::processRecord -sample time is 1142280575
:  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 R263.40,X-33.08,Y4.80,Z-261.27

: Sonardyne - parsing R263.40,X-33.08,Y4.80,Z-261.27

: Sonardyne - read R = 263.400000 from 263.40,X-33.08,Y4.80,Z-261.27

: Sonardyne - got all data, Vehicle coordinates,
    r=263.400000, x=261.270000, y=-33.080000, z=-4.800000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200936.00,3636.68773,N,12152.61955,W,1,11,0.9,-2.51,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200936.00,3636.68773,N,12152.61955,W,1,11,0.9,-2.51,M,-33.21,M,,*7A


: successfully parse sentence at 20:9:36

: AshtechGPS::processRecord -sample time is 1142280576
:  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 R263.28,X-26.06,Y15.74,Z-261.52

: Sonardyne - parsing R263.28,X-26.06,Y15.74,Z-261.52

: Sonardyne - read R = 263.280000 from 263.28,X-26.06,Y15.74,Z-261.52

: Sonardyne - got all data, Vehicle coordinates,
    r=263.280000, x=261.520000, y=-26.060000, z=-15.740000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200937.00,3636.68759,N,12152.61975,W,1,11,0.9,-2.76,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200937.00,3636.68759,N,12152.61975,W,1,11,0.9,-2.76,M,-33.21,M,,*74


: successfully parse sentence at 20:9:37

: AshtechGPS::processRecord -sample time is 1142280577
:  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 R261.51,X-42.34,Y4.94,Z-258.01

: Sonardyne - parsing R261.51,X-42.34,Y4.94,Z-258.01

: Sonardyne - read R = 261.510000 from 261.51,X-42.34,Y4.94,Z-258.01

: Sonardyne - got all data, Vehicle coordinates,
    r=261.510000, x=258.010000, y=-42.340000, z=-4.940000 tat = 820
: AshtechGps::processRecord() - $GPGGA,200938.00,3636.68754,N,12152.61965,W,1,11,0.9,-2.52,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,200938.00,3636.68754,N,12152.61965,W,1,11,0.9,-2.52,M,-33.21,M,,*71


: successfully parse sentence at 20:9:38

: AshtechGPS::processRecord -sample time is 1142280578
:  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 R261.44

: Sonardyne - parsing R261.44

: Sonardyne - read R = 261.440000 from 261.44

: Sonardyne - got range only (261.440000), tat = 800
: Sonardyne - POSD response: 
POSD S126.0,N20.7,D92,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200939.00,3636.68720,N,12152.61965,W,1,11,0.9,-3.22,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200939.00,3636.68720,N,12152.61965,W,1,11,0.9,-3.22,M,-33.21,M,,*75


: successfully parse sentence at 20:9:39

: AshtechGPS::processRecord -sample time is 1142280579
: Sonardyne - POSD response: 
POSD S126.0,N20.7,D92,U0,Q0.000000

:  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 R261.35

: Sonardyne - parsing R261.35

: Sonardyne - read R = 261.350000 from 261.35

: Sonardyne - got range only (261.350000), tat = 800
: Sonardyne - POSD response: 
POSD S134.9,N22.7,D-93,U2,Q0.017585

: AshtechGps::processRecord() - $GPGGA,200940.00,3636.68710,N,12152.61966,W,1,11,0.9,-2.97,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200940.00,3636.68710,N,12152.61966,W,1,11,0.9,-2.97,M,-33.21,M,,*74


: successfully parse sentence at 20:9:40

: AshtechGPS::processRecord -sample time is 1142280580
: Sonardyne - POSD response: 
POSD S134.9,N22.7,D-93,U2,Q0.017585

:  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 R261.22,X-48.96,Y19.12,Z-255.88

: Sonardyne - parsing R261.22,X-48.96,Y19.12,Z-255.88

: Sonardyne - read R = 261.220000 from 261.22,X-48.96,Y19.12,Z-255.88

: AshtechGps::processRecord() - $GPGGA,200941.00,3636.68708,N,12152.61942,W,1,11,0.9,-2.64,M,-33.21,M,,*76

: Sonardyne - got all data, Vehicle coordinates,
    r=261.220000, x=255.880000, y=-48.960000, z=-19.120000 tat = 870
: GpsUtils::parseFix() - $GPGGA,200941.00,3636.68708,N,12152.61942,W,1,11,0.9,-2.64,M,-33.21,M,,*76


: successfully parse sentence at 20:9:41

: AshtechGPS::processRecord -sample time is 1142280581
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.39  2.92 16.69 4.04 4.07 0   270.91 02:40:50 m

: Sonardyne - POS response: 
POS V4,1 R261.05,X-48.66,Y10.92,Z-256.24

: Sonardyne - parsing R261.05,X-48.66,Y10.92,Z-256.24

: Sonardyne - read R = 261.050000 from 261.05,X-48.66,Y10.92,Z-256.24

: Sonardyne - got all data, Vehicle coordinates,
    r=261.050000, x=256.240000, y=-48.660000, z=-10.920000 tat = 820
: AshtechGps::processRecord() - $GPGGA,200942.00,3636.68697,N,12152.61941,W,1,11,0.9,-2.78,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200942.00,3636.68697,N,12152.61941,W,1,11,0.9,-2.78,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:42

: AshtechGPS::processRecord -sample time is 1142280582
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: Sonardyne - POS response: 
POS V4,1 R261.70

: Sonardyne - parsing R261.70

: Sonardyne - read R = 261.700000 from 261.70

: Sonardyne - got range only (261.700000), tat = 800
: Sonardyne - POSD response: 
POSD S129.4,N22.6,D-133,U1,Q0.011042

: AshtechGps::processRecord() - $GPGGA,200943.00,3636.68697,N,12152.61941,W,1,11,0.9,-2.97,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200943.00,3636.68697,N,12152.61941,W,1,11,0.9,-2.97,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:43

: AshtechGPS::processRecord -sample time is 1142280583
: Sonardyne - POSD response: 
POSD S129.4,N22.6,D-133,U1,Q0.011042

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

: Sonardyne - POS response: 
POS V4,1 R261.36,X-46.12,Y15.76,Z-256.77

: Sonardyne - parsing R261.36,X-46.12,Y15.76,Z-256.77

: Sonardyne - read R = 261.360000 from 261.36,X-46.12,Y15.76,Z-256.77

: Sonardyne - got all data, Vehicle coordinates,
    r=261.360000, x=256.770000, y=-46.120000, z=-15.760000 tat = 829
: AshtechGps::processRecord() - $GPGGA,200944.00,3636.68704,N,12152.61943,W,1,11,0.9,-3.18,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200944.00,3636.68704,N,12152.61943,W,1,11,0.9,-3.18,M,-33.21,M,,*74


: successfully parse sentence at 20:9:44

: AshtechGPS::processRecord -sample time is 1142280584
:  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 R260.96

: Sonardyne - parsing R260.96

: Sonardyne - read R = 260.960000 from 260.96

: Sonardyne - got range only (260.960000), tat = 800
: Sonardyne - POSD response: 
POSD S133.3,N26.2,D-96,U1,Q0.010851

: AshtechGps::processRecord() - $GPGGA,200945.00,3636.68713,N,12152.61956,W,1,11,0.9,-3.10,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200945.00,3636.68713,N,12152.61956,W,1,11,0.9,-3.10,M,-33.21,M,,*7F


: successfully parse sentence at 20:9:45

: AshtechGPS::processRecord -sample time is 1142280585
: Sonardyne - POSD response: 
POSD S133.3,N26.2,D-96,U1,Q0.010851

:  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 R261.73,X-61.65,Y-11.55,Z-254.11

: Sonardyne - parsing R261.73,X-61.65,Y-11.55,Z-254.11

: Sonardyne - read R = 261.730000 from 261.73,X-61.65,Y-11.55,Z-254.11

: Sonardyne - got all data, Vehicle coordinates,
    r=261.730000, x=254.110000, y=-61.650000, z=11.550000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200946.00,3636.68720,N,12152.61961,W,1,11,0.9,-2.92,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200946.00,3636.68720,N,12152.61961,W,1,11,0.9,-2.92,M,-33.21,M,,*73


: successfully parse sentence at 20:9:46

: AshtechGPS::processRecord -sample time is 1142280586
:  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 R261.73,X-62.33,Y13.98,Z-253.81

: Sonardyne - parsing R261.73,X-62.33,Y13.98,Z-253.81

: Sonardyne - read R = 261.730000 from 261.73,X-62.33,Y13.98,Z-253.81

: Sonardyne - got all data, Vehicle coordinates,
    r=261.730000, x=253.810000, y=-62.330000, z=-13.980000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200947.00,3636.68717,N,12152.61958,W,1,11,0.9,-2.89,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200947.00,3636.68717,N,12152.61958,W,1,11,0.9,-2.89,M,-33.21,M,,*76


: successfully parse sentence at 20:9:47

: AshtechGPS::processRecord -sample time is 1142280587
:  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 R262.51

: Sonardyne - parsing R262.51

: Sonardyne - read R = 262.510000 from 262.51

: Sonardyne - got range only (262.510000), tat = 800
: Sonardyne - POSD response: 
POSD S132.9,N33.3,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,200948.00,3636.68709,N,12152.61956,W,1,11,0.9,-2.87,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,200948.00,3636.68709,N,12152.61956,W,1,11,0.9,-2.87,M,-33.21,M,,*76


: successfully parse sentence at 20:9:48

: AshtechGPS::processRecord -sample time is 1142280588
: Sonardyne - POSD response: 
POSD S132.9,N33.3,D-28,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 R261.28

: Sonardyne - parsing R261.28

: Sonardyne - read R = 261.280000 from 261.28

: Sonardyne - got range only (261.280000), tat = 800
: Sonardyne - POSD response: 
POSD S128.5,N24.5,D-58,U5,Q0.002904

: AshtechGps::processRecord() - $GPGGA,200949.00,3636.68705,N,12152.61938,W,1,11,0.9,-3.05,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,200949.00,3636.68705,N,12152.61938,W,1,11,0.9,-3.05,M,-33.21,M,,*78


: successfully parse sentence at 20:9:49

: AshtechGPS::processRecord -sample time is 1142280589
: Sonardyne - POSD response: 
POSD S128.5,N24.5,D-58,U5,Q0.002904

:  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 R262.26

: Sonardyne - parsing R262.26

: Sonardyne - read R = 262.260000 from 262.26

: Sonardyne - got range only (262.260000), tat = 800
: Sonardyne - POSD response: 
POSD S130.7,N27.1,D4,U1,Q0.005811

: AshtechGps::processRecord() - $GPGGA,200950.00,3636.68709,N,12152.61961,W,1,11,0.9,-3.18,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,200950.00,3636.68709,N,12152.61961,W,1,11,0.9,-3.18,M,-33.21,M,,*7C


: successfully parse sentence at 20:9:50

: AshtechGPS::processRecord -sample time is 1142280590
: Sonardyne - POSD response: 
POSD S130.7,N27.1,D4,U1,Q0.005811

:  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 R261.38,X-72.09,Y7.26,Z-251.14

: Sonardyne - parsing R261.38,X-72.09,Y7.26,Z-251.14

: Sonardyne - read R = 261.380000 from 261.38,X-72.09,Y7.26,Z-251.14

: Sonardyne - got all data, Vehicle coordinates,
    r=261.380000, x=251.140000, y=-72.090000, z=-7.260000 tat = 820
: AshtechGps::processRecord() - $GPGGA,200951.00,3636.68717,N,12152.61953,W,1,11,0.9,-2.79,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200951.00,3636.68717,N,12152.61953,W,1,11,0.9,-2.79,M,-33.21,M,,*75


: successfully parse sentence at 20:9:51

: AshtechGPS::processRecord -sample time is 1142280591
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.36  3.77 16.69 4.04 4.07 0   270.56 02:41:00 m

: Sonardyne - POS response: 
POS V4,1 R261.15,X-71.39,Y-41.05,Z-247.82

: Sonardyne - parsing R261.15,X-71.39,Y-41.05,Z-247.82

: Sonardyne - read R = 261.150000 from 261.15,X-71.39,Y-41.05,Z-247.82

: Sonardyne - got all data, Vehicle coordinates,
    r=261.150000, x=247.820000, y=-71.390000, z=41.050000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200952.00,3636.68711,N,12152.61955,W,1,11,0.9,-2.34,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200952.00,3636.68711,N,12152.61955,W,1,11,0.9,-2.34,M,-33.21,M,,*7F


: successfully parse sentence at 20:9:52

: AshtechGPS::processRecord -sample time is 1142280592
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: Sonardyne - POS response: 
POS V4,1 R260.83,X-86.80,Y-21.16,Z-245.05

: Sonardyne - parsing R260.83,X-86.80,Y-21.16,Z-245.05

: Sonardyne - read R = 260.830000 from 260.83,X-86.80,Y-21.16,Z-245.05

: Sonardyne - got all data, Vehicle coordinates,
    r=260.830000, x=245.050000, y=-86.800000, z=21.160000 tat = 830
: AshtechGps::processRecord() - $GPGGA,200953.00,3636.68696,N,12152.61938,W,1,11,0.9,-1.88,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,200953.00,3636.68696,N,12152.61938,W,1,11,0.9,-1.88,M,-33.21,M,,*7F


: successfully parse sentence at 20:9:53

: AshtechGPS::processRecord -sample time is 1142280593
:  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 R260.39

: Sonardyne - parsing R260.39

: Sonardyne - read R = 260.390000 from 260.39

: Sonardyne - got range only (260.390000), tat = 800
: Sonardyne - POSD response: 
POSD S132.0,N22.6,D-66,U1,Q0.002098

: AshtechGps::processRecord() - $GPGGA,200954.00,3636.68677,N,12152.61911,W,1,11,0.9,-1.87,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,200954.00,3636.68677,N,12152.61911,W,1,11,0.9,-1.87,M,-33.21,M,,*73


: successfully parse sentence at 20:9:54

: AshtechGPS::processRecord -sample time is 1142280594
: Sonardyne - POSD response: 
POSD S132.0,N22.6,D-66,U1,Q0.002098

:  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 R259.73,X-73.69,Y27.39,Z-247.54

: Sonardyne - parsing R259.73,X-73.69,Y27.39,Z-247.54

: Sonardyne - read R = 259.730000 from 259.73,X-73.69,Y27.39,Z-247.54

: Sonardyne - got all data, Vehicle coordinates,
    r=259.730000, x=247.540000, y=-73.690000, z=-27.390000 tat = 820
: AshtechGps::processRecord() - $GPGGA,200955.00,3636.68656,N,12152.61912,W,1,11,0.9,-2.56,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,200955.00,3636.68656,N,12152.61912,W,1,11,0.9,-2.56,M,-33.21,M,,*7D


: successfully parse sentence at 20:9:55

: AshtechGPS::processRecord -sample time is 1142280595
:  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 R260.52,X-81.11,Y7.04,Z-247.47

: Sonardyne - parsing R260.52,X-81.11,Y7.04,Z-247.47

: Sonardyne - read R = 260.520000 from 260.52,X-81.11,Y7.04,Z-247.47

: Sonardyne - got all data, Vehicle coordinates,
    r=260.520000, x=247.470000, y=-81.110000, z=-7.040000 tat = 820
: AshtechGps::processRecord() - $GPGGA,200956.00,3636.68653,N,12152.61918,W,1,11,0.9,-2.91,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,200956.00,3636.68653,N,12152.61918,W,1,11,0.9,-2.91,M,-33.21,M,,*7A


: successfully parse sentence at 20:9:56

: AshtechGPS::processRecord -sample time is 1142280596
:  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 R260.90

: Sonardyne - parsing R260.90

: Sonardyne - read R = 260.900000 from 260.90

: Sonardyne - got range only (260.900000), tat = 800
: Sonardyne - POSD response: 
POSD S130.6,N29.5,D13,U2,Q0.000880

: AshtechGps::processRecord() - $GPGGA,200957.00,3636.68658,N,12152.61918,W,1,11,0.9,-2.95,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,200957.00,3636.68658,N,12152.61918,W,1,11,0.9,-2.95,M,-33.21,M,,*74


: successfully parse sentence at 20:9:57

: AshtechGPS::processRecord -sample time is 1142280597
: Sonardyne - POSD response: 
POSD S130.6,N29.5,D13,U2,Q0.000880

:  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 R261.24

: Sonardyne - parsing R261.24

: Sonardyne - read R = 261.240000 from 261.24

: Sonardyne - got range only (261.240000), tat = 800
: Sonardyne - POSD response: 
POSD S132.3,N23.0,D-24,U3,Q0.009377

: AshtechGps::processRecord() - $GPGGA,200958.00,3636.68667,N,12152.61943,W,1,11,0.9,-2.88,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,200958.00,3636.68667,N,12152.61943,W,1,11,0.9,-2.88,M,-33.21,M,,*75


: successfully parse sentence at 20:9:58

: AshtechGPS::processRecord -sample time is 1142280598
: Sonardyne - POSD response: 
POSD S132.3,N23.0,D-24,U3,Q0.009377

:  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 R260.68

: Sonardyne - parsing R260.68

: Sonardyne - read R = 260.680000 from 260.68

: Sonardyne - got range only (260.680000), tat = 800
: Sonardyne - POSD response: 
POSD S127.6,N19.2,D60,U5,Q0.006644

: AshtechGps::processRecord() - $GPGGA,200959.00,3636.68678,N,12152.61931,W,1,11,0.9,-2.68,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,200959.00,3636.68678,N,12152.61931,W,1,11,0.9,-2.68,M,-33.21,M,,*71


: successfully parse sentence at 20:9:59

: AshtechGPS::processRecord -sample time is 1142280599
: Sonardyne - POSD response: 
POSD S127.6,N19.2,D60,U5,Q0.006644

:  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 R260.56

: Sonardyne - parsing R260.56

: Sonardyne - read R = 260.560000 from 260.56

: Sonardyne - got range only (260.560000), tat = 800
: Sonardyne - POSD response: 
POSD S122.7,N22.5,D-33,U2,Q0.000895

: AshtechGps::processRecord() - $GPGGA,201000.00,3636.68678,N,12152.61940,W,1,11,0.9,-2.52,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,201000.00,3636.68678,N,12152.61940,W,1,11,0.9,-2.52,M,-33.21,M,,*7A


: successfully parse sentence at 20:10:0

: AshtechGPS::processRecord -sample time is 1142280600
: Sonardyne - POSD response: 
POSD S122.7,N22.5,D-33,U2,Q0.000895

:  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 R261.66

: Sonardyne - parsing R261.66

: Sonardyne - read R = 261.660000 from 261.66

: Sonardyne - got range only (261.660000), tat = 800
: Sonardyne - POSD response: 
POSD S135.7,N29.2,D-16,U2,Q0.016810

: AshtechGps::processRecord() - $GPGGA,201001.00,3636.68675,N,12152.61944,W,1,11,0.9,-2.63,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201001.00,3636.68675,N,12152.61944,W,1,11,0.9,-2.63,M,-33.21,M,,*70


: successfully parse sentence at 20:10:1

: AshtechGPS::processRecord -sample time is 1142280601
: Sonardyne - POSD response: 
POSD S135.7,N29.2,D-16,U2,Q0.016810

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

: BluefinBatt Reply: $aaq0 d- 32.39  2.52 16.69 4.03 4.07 0   270.34 02:41:10 m

: Sonardyne - POS response: 
POS V4,1 R261.15

: Sonardyne - parsing R261.15

: Sonardyne - read R = 261.150000 from 261.15

: Sonardyne - got range only (261.150000), tat = 800
: Sonardyne - POSD response: 
POSD S138.2,N31.6,D-17,U2,Q0.003630

: AshtechGps::processRecord() - $GPGGA,201002.00,3636.68673,N,12152.61929,W,1,11,0.9,-2.66,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201002.00,3636.68673,N,12152.61929,W,1,11,0.9,-2.66,M,-33.21,M,,*7B


: successfully parse sentence at 20:10:2

: AshtechGPS::processRecord -sample time is 1142280602
: Sonardyne - POSD response: 
POSD S138.2,N31.6,D-17,U2,Q0.003630

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

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POS response: 
POS V4,1 R262.77

: Sonardyne - parsing R262.77

: Sonardyne - read R = 262.770000 from 262.77

: Sonardyne - got range only (262.770000), tat = 800
: Sonardyne - POSD response: 
POSD S137.0,N28.7,D31,U5,Q0.002192

: AshtechGps::processRecord() - $GPGGA,201003.00,3636.68670,N,12152.61952,W,1,11,0.9,-2.49,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201003.00,3636.68670,N,12152.61952,W,1,11,0.9,-2.49,M,-33.21,M,,*78


: successfully parse sentence at 20:10:3

: AshtechGPS::processRecord -sample time is 1142280603
: Sonardyne - POSD response: 
POSD S137.0,N28.7,D31,U5,Q0.002192

:  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 R260.63,X-105.66,Y12.28,Z-237.94

: Sonardyne - parsing R260.63,X-105.66,Y12.28,Z-237.94

: Sonardyne - read R = 260.630000 from 260.63,X-105.66,Y12.28,Z-237.94

: Sonardyne - got all data, Vehicle coordinates,
    r=260.630000, x=237.940000, y=-105.660000, z=-12.280000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201004.00,3636.68653,N,12152.61917,W,1,11,0.9,-2.41,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,201004.00,3636.68653,N,12152.61917,W,1,11,0.9,-2.41,M,-33.21,M,,*77


: successfully parse sentence at 20:10:4

: AshtechGPS::processRecord -sample time is 1142280604
:  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 R260.80

: Sonardyne - parsing R260.80

: Sonardyne - read R = 260.800000 from 260.80

: Sonardyne - got range only (260.800000), tat = 800
: Sonardyne - POSD response: 
POSD S130.8,N23.4,D101,U3,Q0.000905

: AshtechGps::processRecord() - $GPGGA,201005.00,3636.68640,N,12152.61922,W,1,11,0.9,-2.53,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201005.00,3636.68640,N,12152.61922,W,1,11,0.9,-2.53,M,-33.21,M,,*71


: successfully parse sentence at 20:10:5

: AshtechGPS::processRecord -sample time is 1142280605
: Sonardyne - POSD response: 
POSD S130.8,N23.4,D101,U3,Q0.000905

:  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 R260.62

: Sonardyne - parsing R260.62

: Sonardyne - read R = 260.620000 from 260.62

: Sonardyne - got range only (260.620000), tat = 800
: Sonardyne - POSD response: 
POSD S131.8,N29.7,D21,U4,Q0.004396

: AshtechGps::processRecord() - $GPGGA,201006.00,3636.68633,N,12152.61916,W,1,11,0.9,-2.60,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201006.00,3636.68633,N,12152.61916,W,1,11,0.9,-2.60,M,-33.21,M,,*71


: successfully parse sentence at 20:10:6

: AshtechGPS::processRecord -sample time is 1142280606
: Sonardyne - POSD response: 
POSD S131.8,N29.7,D21,U4,Q0.004396

:  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 R259.74

: Sonardyne - parsing R259.74

: Sonardyne - read R = 259.740000 from 259.74

: Sonardyne - got range only (259.740000), tat = 800
: Sonardyne - POSD response: 
POSD S132.3,N23.6,D-36,U1,Q0.010581

: AshtechGps::processRecord() - $GPGGA,201007.00,3636.68632,N,12152.61906,W,1,11,0.9,-2.81,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,201007.00,3636.68632,N,12152.61906,W,1,11,0.9,-2.81,M,-33.21,M,,*7F


: successfully parse sentence at 20:10:7

: AshtechGPS::processRecord -sample time is 1142280607
: Sonardyne - POSD response: 
POSD S132.3,N23.6,D-36,U1,Q0.010581

:  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 R258.77

: Sonardyne - parsing R258.77

: Sonardyne - read R = 258.770000 from 258.77

: Sonardyne - got range only (258.770000), tat = 800
: Sonardyne - POSD response: 
POSD S130.7,N22.7,D36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201008.00,3636.68636,N,12152.61929,W,1,11,0.9,-2.83,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201008.00,3636.68636,N,12152.61929,W,1,11,0.9,-2.83,M,-33.21,M,,*7B


: successfully parse sentence at 20:10:8

: AshtechGPS::processRecord -sample time is 1142280608
: Sonardyne - POSD response: 
POSD S130.7,N22.7,D36,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 R259.08,X-103.81,Y33.14,Z-235.05

: Sonardyne - parsing R259.08,X-103.81,Y33.14,Z-235.05

: Sonardyne - read R = 259.080000 from 259.08,X-103.81,Y33.14,Z-235.05

: Sonardyne - got all data, Vehicle coordinates,
    r=259.080000, x=235.050000, y=-103.810000, z=-33.140000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201009.00,3636.68637,N,12152.61915,W,1,11,0.9,-2.79,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201009.00,3636.68637,N,12152.61915,W,1,11,0.9,-2.79,M,-33.21,M,,*71


: successfully parse sentence at 20:10:9

: AshtechGPS::processRecord -sample time is 1142280609
:  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 R259.57

: Sonardyne - parsing R259.57

: Sonardyne - read R = 259.570000 from 259.57

: Sonardyne - got range only (259.570000), tat = 800
: Sonardyne - POSD response: 
POSD S127.1,N25.7,D36,U1,Q0.007137

: AshtechGps::processRecord() - $GPGGA,201010.00,3636.68637,N,12152.61922,W,1,11,0.9,-2.65,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201010.00,3636.68637,N,12152.61922,W,1,11,0.9,-2.65,M,-33.21,M,,*70


: successfully parse sentence at 20:10:10

: AshtechGPS::processRecord -sample time is 1142280610
: Sonardyne - POSD response: 
POSD S127.1,N25.7,D36,U1,Q0.007137

:  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 R261.04

: Sonardyne - parsing R261.04

: Sonardyne - read R = 261.040000 from 261.04

: Sonardyne - got range only (261.040000), tat = 800
: Sonardyne - POSD response: 
POSD S129.7,N24.6,D-86,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201011.00,3636.68633,N,12152.61923,W,1,11,0.9,-2.52,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201011.00,3636.68633,N,12152.61923,W,1,11,0.9,-2.52,M,-33.21,M,,*70


: successfully parse sentence at 20:10:11

: AshtechGPS::processRecord -sample time is 1142280611
: Sonardyne - POSD response: 
POSD S129.7,N24.6,D-86,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 32.39  3.43 16.69 4.03 4.07 0   270.05 02:41:20 m

: Sonardyne - POS response: 
POS V4,1 R260.24,X-115.87,Y1.35,Z-233.02

: Sonardyne - parsing R260.24,X-115.87,Y1.35,Z-233.02

: Sonardyne - read R = 260.240000 from 260.24,X-115.87,Y1.35,Z-233.02

: Sonardyne - got all data, Vehicle coordinates,
    r=260.240000, x=233.020000, y=-115.870000, z=-1.350000 tat = 820
: AshtechGps::processRecord() - $GPGGA,201012.00,3636.68622,N,12152.61898,W,1,11,0.9,-2.44,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,201012.00,3636.68622,N,12152.61898,W,1,11,0.9,-2.44,M,-33.21,M,,*75


: successfully parse sentence at 20:10:12

: AshtechGPS::processRecord -sample time is 1142280612
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 4.030000, mean min cell voltage 4.030000

: Sonardyne - POS response: 
POS V4,1 R266.29

: Sonardyne - parsing R266.29

: Sonardyne - read R = 266.290000 from 266.29

: Sonardyne - got range only (266.290000), tat = 809
: Sonardyne - POSD response: 
POSD S121.6,N33.4,D39,U1,Q0.005622

: AshtechGps::processRecord() - $GPGGA,201013.00,3636.68618,N,12152.61921,W,1,11,0.9,-2.48,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201013.00,3636.68618,N,12152.61921,W,1,11,0.9,-2.48,M,-33.21,M,,*72


: successfully parse sentence at 20:10:13

: AshtechGPS::processRecord -sample time is 1142280613
: Sonardyne - POSD response: 
POSD S121.6,N33.4,D39,U1,Q0.005622

:  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 R260.69

: Sonardyne - parsing R260.69

: Sonardyne - read R = 260.690000 from 260.69

: Sonardyne - got range only (260.690000), tat = 820
: AshtechGps::processRecord() - $GPGGA,201014.00,3636.68608,N,12152.61891,W,1,11,0.9,-2.69,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,201014.00,3636.68608,N,12152.61891,W,1,11,0.9,-2.69,M,-33.21,M,,*7D


: successfully parse sentence at 20:10:14

: AshtechGPS::processRecord -sample time is 1142280614
: Sonardyne - POSD response: 
POSD S126.4,N23.1,D-50,U4,Q0.004851

: 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 ]ݿ - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

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

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

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

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

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

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

: **** SharedData destructor for object navigationOutput ****

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

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

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

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

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

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

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

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


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task ]ݿ - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

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

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


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