Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigationServer
Supervisor::crea: WorkSite::WorkSite -- Finished loading parameters
te: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
Tas: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
k(): 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
 - l: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
aye: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
red: WorkSite server: 0x22eec
Co: New Navigation component constructor
ntrolServer
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


Su: SerialDevice: done...

pervisor::createTask() - seabirdServer
S: SerialDevice: done...

upervisor::c: SerialDevice: done...

reateTask() - bluefinBattDriver
: Gps: initializing

Sup: SerialDevice: done...

: SerialDevice: done...

ervisor::: SerialDevice: done...

cr: SerialDevice: done...

e: Gps: done initializing...

at: **** EventTriggers::add() - attaching proxy
e: Crossbow.cc: Setting polled mode
Task() - dv: Crossbow.cc: Setting polled mode
lS: SerialDevice: done...

er: Crossbow.cc: In getSerialNumber()
ver
S: Crossbow.cc: _device->read failed with error
up: SerialDevice: done...

e: seabirdDriver RUNNING...

r: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
visor:: BluefineBatt::init() - 1 batteries on 10 second interval
:creat: SerialDevice: done...

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

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


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

anS: **** EventTriggers::add() - attaching proxy
er: BluefinBatt.cc - Looking for Parosci server
ver
S: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

u: SerialDevice: done...

pervi: BluefinBatt::init() - querying for batt ids
sor::createTask: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

dropWeightServer
Supervisor::: SerialDevice: done...

createTas: SerialDevice: done...

k() - sonardyn: Navigation - Using only the Dvl to compute altitude.
: ahrs if is Ahrs

eServer
: 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...

: SerialDevice: done...

: SerialDevice: done...

: AshtechGps::processRecord() - $GPGGA,201302.00,3636.68191,N,12152.61929,W,1,11,0.9,-2.65,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201302.00,3636.68191,N,12152.61929,W,1,11,0.9,-2.65,M,-33.21,M,,*70


: successfully parse sentence at 20:13:2

: AshtechGPS::processRecord -sample time is 1142280782
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

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

:  default

: SerialDevice: done...

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

: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 3 Modules found
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V4,1

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: Sonardyne - PG response: 
PG1 PAN TDR GAIN: LOW

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

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

: AshtechGps::processRecord() - $GPGGA,201303.00,3636.68187,N,12152.61933,W,1,11,0.9,-2.85,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,201303.00,3636.68187,N,12152.61933,W,1,11,0.9,-2.85,M,-33.21,M,,*73


: successfully parse sentence at 20:13:3

: AshtechGPS::processRecord -sample time is 1142280783
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138840
: Parosci.cc -- Parosci initial temp period = 5.842243
: Parosci.cc -- Paroscientific configured.
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: **** EventTriggers::add() - attaching proxy
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R250.14,X-144.73,Y31.65,Z-201.55

: Sonardyne - parsing R250.14,X-144.73,Y31.65,Z-201.55

: Sonardyne - read R = 250.140000 from 250.14,X-144.73,Y31.65,Z-201.55

: Sonardyne - got all data, Vehicle coordinates,
    r=250.140000, x=201.550000, y=-144.730000, z=-31.650000 tat = 810
: Sonardyne - POSD response: 
POSD S131.0,N32.1,D-3,U8,Q0.000500

: AshtechGps::processRecord() - $GPGGA,201304.00,3636.68187,N,12152.61929,W,1,11,0.9,-2.90,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201304.00,3636.68187,N,12152.61929,W,1,11,0.9,-2.90,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:4

: AshtechGPS::processRecord -sample time is 1142280784
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

:  Dvl record header not found.  Resynchronize.

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R250.21,X-142.79,Y7.87,Z-205.32

: Sonardyne - parsing R250.21,X-142.79,Y7.87,Z-205.32

: Sonardyne - read R = 250.210000 from 250.21,X-142.79,Y7.87,Z-205.32

: Sonardyne - got all data, Vehicle coordinates,
    r=250.210000, x=205.320000, y=-142.790000, z=-7.870000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201305.00,3636.68191,N,12152.61942,W,1,11,0.9,-2.76,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201305.00,3636.68191,N,12152.61942,W,1,11,0.9,-2.76,M,-33.21,M,,*78


: successfully parse sentence at 20:13:5

: AshtechGPS::processRecord -sample time is 1142280785
:  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 R250.24,X-147.39,Y31.21,Z-199.80

: Sonardyne - parsing R250.24,X-147.39,Y31.21,Z-199.80

: Sonardyne - read R = 250.240000 from 250.24,X-147.39,Y31.21,Z-199.80

: Sonardyne - got all data, Vehicle coordinates,
    r=250.240000, x=199.800000, y=-147.390000, z=-31.210000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201306.00,3636.68186,N,12152.61942,W,1,11,0.9,-2.61,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201306.00,3636.68186,N,12152.61942,W,1,11,0.9,-2.61,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:6

: AshtechGPS::processRecord -sample time is 1142280786
:  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
: Sonardyne - POS response: 
POS V4,1 R250.12,X-147.10,Y22.22,Z-201.06

: Sonardyne - parsing R250.12,X-147.10,Y22.22,Z-201.06

: Sonardyne - read R = 250.120000 from 250.12,X-147.10,Y22.22,Z-201.06

: Sonardyne - got all data, Vehicle coordinates,
    r=250.120000, x=201.060000, y=-147.100000, z=-22.220000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201307.00,3636.68178,N,12152.61932,W,1,11,0.9,-2.46,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,201307.00,3636.68178,N,12152.61932,W,1,11,0.9,-2.46,M,-33.21,M,,*79


: successfully parse sentence at 20:13:7

: AshtechGPS::processRecord -sample time is 1142280787
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
: Sonardyne - POS response: 
POS V4,1 R249.84,X-145.78,Y-3.81,Z-202.86

: Sonardyne - parsing R249.84,X-145.78,Y-3.81,Z-202.86

: Sonardyne - read R = 249.840000 from 249.84,X-145.78,Y-3.81,Z-202.86

: Sonardyne - got all data, Vehicle coordinates,
    r=249.840000, x=202.860000, y=-145.780000, z=3.810000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201308.00,3636.68170,N,12152.61931,W,1,11,0.9,-2.63,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,201308.00,3636.68170,N,12152.61931,W,1,11,0.9,-2.63,M,-33.21,M,,*7A


: successfully parse sentence at 20:13:8

: AshtechGPS::processRecord -sample time is 1142280788
:  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 R249.68,X-142.80,Y20.02,Z-203.83

: Sonardyne - parsing R249.68,X-142.80,Y20.02,Z-203.83

: Sonardyne - read R = 249.680000 from 249.68,X-142.80,Y20.02,Z-203.83

: Sonardyne - got all data, Vehicle coordinates,
    r=249.680000, x=203.830000, y=-142.800000, z=-20.020000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201309.00,3636.68167,N,12152.61929,W,1,11,0.9,-2.88,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201309.00,3636.68167,N,12152.61929,W,1,11,0.9,-2.88,M,-33.21,M,,*71


: successfully parse sentence at 20:13:9

: AshtechGPS::processRecord -sample time is 1142280789
:  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 R249.93,X-142.62,Y19.79,Z-204.28

: Sonardyne - parsing R249.93,X-142.62,Y19.79,Z-204.28

: Sonardyne - read R = 249.930000 from 249.93,X-142.62,Y19.79,Z-204.28

: Sonardyne - got all data, Vehicle coordinates,
    r=249.930000, x=204.280000, y=-142.620000, z=-19.790000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201310.00,3636.68177,N,12152.61943,W,1,11,0.9,-2.96,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201310.00,3636.68177,N,12152.61943,W,1,11,0.9,-2.96,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:10

: AshtechGPS::processRecord -sample time is 1142280790
:  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 R250.36,X-144.64,Y18.02,Z-203.56

: Sonardyne - parsing R250.36,X-144.64,Y18.02,Z-203.56

: Sonardyne - read R = 250.360000 from 250.36,X-144.64,Y18.02,Z-203.56

: Sonardyne - got all data, Vehicle coordinates,
    r=250.360000, x=203.560000, y=-144.640000, z=-18.020000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201311.00,3636.68185,N,12152.61945,W,1,11,0.9,-2.86,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201311.00,3636.68185,N,12152.61945,W,1,11,0.9,-2.86,M,-33.21,M,,*70


: successfully parse sentence at 20:13:11

: AshtechGPS::processRecord -sample time is 1142280791
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Seabird/ctdDriver: sending configure commands...(1710)

: Seabird/ctdDriver: setting scans...

: Sonardyne - POS response: 
POS V4,1 R250.54,X-147.84,Y21.84,Z-201.09

: Sonardyne - parsing R250.54,X-147.84,Y21.84,Z-201.09

: Sonardyne - read R = 250.540000 from 250.54,X-147.84,Y21.84,Z-201.09

: Sonardyne - got all data, Vehicle coordinates,
    r=250.540000, x=201.090000, y=-147.840000, z=-21.840000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201312.00,3636.68185,N,12152.61939,W,1,11,0.9,-2.75,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,201312.00,3636.68185,N,12152.61939,W,1,11,0.9,-2.75,M,-33.21,M,,*74


: successfully parse sentence at 20:13:12

: AshtechGPS::processRecord -sample time is 1142280792
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POS response: 
POS V4,1 R253.37

: Sonardyne - parsing R253.37

: Sonardyne - read R = 253.370000 from 253.37

: Sonardyne - got range only (253.370000), tat = 790
: Sonardyne - POSD response: 
POSD S121.6,N22.1,D-39,U2,Q0.003697

: AshtechGps::processRecord() - $GPGGA,201313.00,3636.68186,N,12152.61946,W,1,11,0.9,-2.70,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201313.00,3636.68186,N,12152.61946,W,1,11,0.9,-2.70,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:13

: AshtechGPS::processRecord -sample time is 1142280793
: Sonardyne - POSD response: 
POSD S121.6,N22.1,D-39,U2,Q0.003697

:  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 R250.26,X-147.87,Y28.26,Z-199.91

: Sonardyne - parsing R250.26,X-147.87,Y28.26,Z-199.91

: Sonardyne - read R = 250.260000 from 250.26,X-147.87,Y28.26,Z-199.91

: Sonardyne - got all data, Vehicle coordinates,
    r=250.260000, x=199.910000, y=-147.870000, z=-28.260000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201314.00,3636.68185,N,12152.61939,W,1,11,0.9,-2.75,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201314.00,3636.68185,N,12152.61939,W,1,11,0.9,-2.75,M,-33.21,M,,*72


: successfully parse sentence at 20:13:14

: AshtechGPS::processRecord -sample time is 1142280794
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R252.51

: Sonardyne - parsing R252.51

: Sonardyne - read R = 252.510000 from 252.51

: Sonardyne - got range only (252.510000), tat = 790
: Sonardyne - POSD response: 
POSD S131.7,N19.2,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201315.00,3636.68190,N,12152.61948,W,1,11,0.9,-2.68,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,201315.00,3636.68190,N,12152.61948,W,1,11,0.9,-2.68,M,-33.21,M,,*7D


: successfully parse sentence at 20:13:15

: AshtechGPS::processRecord -sample time is 1142280795
: Sonardyne - POSD response: 
POSD S131.7,N19.2,D-13,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
: SerialDevice::confirm() - Timed Out
: Sonardyne - POS response: 
POS V4,1 R251.60,X-142.63,Y-48.68,Z-201.47

: Sonardyne - parsing R251.60,X-142.63,Y-48.68,Z-201.47

: Sonardyne - read R = 251.600000 from 251.60,X-142.63,Y-48.68,Z-201.47

: Sonardyne - got all data, Vehicle coordinates,
    r=251.600000, x=201.470000, y=-142.630000, z=48.680000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201316.00,3636.68183,N,12152.61934,W,1,11,0.9,-2.67,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201316.00,3636.68183,N,12152.61934,W,1,11,0.9,-2.67,M,-33.21,M,,*78


: successfully parse sentence at 20:13:16

: AshtechGPS::processRecord -sample time is 1142280796
:  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 R250.12,X-144.53,Y6.82,Z-204.02

: Sonardyne - parsing R250.12,X-144.53,Y6.82,Z-204.02

: Sonardyne - read R = 250.120000 from 250.12,X-144.53,Y6.82,Z-204.02

: Sonardyne - got all data, Vehicle coordinates,
    r=250.120000, x=204.020000, y=-144.530000, z=-6.820000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201317.00,3636.68180,N,12152.61936,W,1,11,0.9,-2.63,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201317.00,3636.68180,N,12152.61936,W,1,11,0.9,-2.63,M,-33.21,M,,*7C


: successfully parse sentence at 20:13:17

: AshtechGPS::processRecord -sample time is 1142280797
:  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 R250.05,X-146.91,Y15.52,Z-201.75

: Sonardyne - parsing R250.05,X-146.91,Y15.52,Z-201.75

: Sonardyne - read R = 250.050000 from 250.05,X-146.91,Y15.52,Z-201.75

: Sonardyne - got all data, Vehicle coordinates,
    r=250.050000, x=201.750000, y=-146.910000, z=-15.520000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201318.00,3636.68178,N,12152.61933,W,1,11,0.9,-2.61,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,201318.00,3636.68178,N,12152.61933,W,1,11,0.9,-2.61,M,-33.21,M,,*73


: successfully parse sentence at 20:13:18

: AshtechGPS::processRecord -sample time is 1142280798
:  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 R249.88,X-141.69,Y32.15,Z-203.30

: Sonardyne - parsing R249.88,X-141.69,Y32.15,Z-203.30

: Sonardyne - read R = 249.880000 from 249.88,X-141.69,Y32.15,Z-203.30

: Sonardyne - got all data, Vehicle coordinates,
    r=249.880000, x=203.300000, y=-141.690000, z=-32.150000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201319.00,3636.68174,N,12152.61932,W,1,11,0.9,-2.59,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,201319.00,3636.68174,N,12152.61932,W,1,11,0.9,-2.59,M,-33.21,M,,*74


: successfully parse sentence at 20:13:19

: AshtechGPS::processRecord -sample time is 1142280799
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Sonardyne - POS response: 
POS V4,1 R249.71,X-144.70,Y1.47,Z-203.50

: Sonardyne - parsing R249.71,X-144.70,Y1.47,Z-203.50

: Sonardyne - read R = 249.710000 from 249.71,X-144.70,Y1.47,Z-203.50

: Sonardyne - got all data, Vehicle coordinates,
    r=249.710000, x=203.500000, y=-144.700000, z=-1.470000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201320.00,3636.68172,N,12152.61936,W,1,11,0.9,-2.61,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,201320.00,3636.68172,N,12152.61936,W,1,11,0.9,-2.61,M,-33.21,M,,*77


: successfully parse sentence at 20:13:20

: AshtechGPS::processRecord -sample time is 1142280800
: Seabird/ctdDriver: setting external voltages to 6...(1710)

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

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

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

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

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

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

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

: Sonardyne - POS response: 
POS V4,1 R249.55,X-144.90,Y29.06,Z-201.09

: Sonardyne - parsing R249.55,X-144.90,Y29.06,Z-201.09

: Sonardyne - read R = 249.550000 from 249.55,X-144.90,Y29.06,Z-201.09

: Sonardyne - got all data, Vehicle coordinates,
    r=249.550000, x=201.090000, y=-144.900000, z=-29.060000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201321.00,3636.68166,N,12152.61924,W,1,11,0.9,-2.77,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,201321.00,3636.68166,N,12152.61924,W,1,11,0.9,-2.77,M,-33.21,M,,*77


: successfully parse sentence at 20:13:21

: AshtechGPS::processRecord -sample time is 1142280801
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

: Sonardyne - POS response: 
POS V4,1 R249.64,X-144.07,Y11.36,Z-203.56

: Sonardyne - parsing R249.64,X-144.07,Y11.36,Z-203.56

: Sonardyne - read R = 249.640000 from 249.64,X-144.07,Y11.36,Z-203.56

: Sonardyne - got all data, Vehicle coordinates,
    r=249.640000, x=203.560000, y=-144.070000, z=-11.360000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201322.00,3636.68170,N,12152.61934,W,1,11,0.9,-2.73,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201322.00,3636.68170,N,12152.61934,W,1,11,0.9,-2.73,M,-33.21,M,,*76


: successfully parse sentence at 20:13:22

: AshtechGPS::processRecord -sample time is 1142280802
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R249.78,X-145.45,Y29.47,Z-200.91

: Sonardyne - parsing R249.78,X-145.45,Y29.47,Z-200.91

: Sonardyne - read R = 249.780000 from 249.78,X-145.45,Y29.47,Z-200.91

: Sonardyne - got all data, Vehicle coordinates,
    r=249.780000, x=200.910000, y=-145.450000, z=-29.470000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201323.00,3636.68168,N,12152.61929,W,1,11,0.9,-2.62,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201323.00,3636.68168,N,12152.61929,W,1,11,0.9,-2.62,M,-33.21,M,,*72


: successfully parse sentence at 20:13:23

: AshtechGPS::processRecord -sample time is 1142280803
:  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 R249.94,X-144.87,Y19.35,Z-202.75

: Sonardyne - parsing R249.94,X-144.87,Y19.35,Z-202.75

: Sonardyne - read R = 249.940000 from 249.94,X-144.87,Y19.35,Z-202.75

: Sonardyne - got all data, Vehicle coordinates,
    r=249.940000, x=202.750000, y=-144.870000, z=-19.350000 tat = 810
: BluefinBatt Reply: $aaq0 d- 32.47  2.39 16.50 4.04 4.07 0   266.48 02:44:32 m

: AshtechGps::processRecord() - $GPGGA,201324.00,3636.68166,N,12152.61933,W,1,11,0.9,-2.69,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201324.00,3636.68166,N,12152.61933,W,1,11,0.9,-2.69,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:24

: AshtechGPS::processRecord -sample time is 1142280804
:  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 R250.03,X-148.73,Y16.18,Z-200.33

: Sonardyne - parsing R250.03,X-148.73,Y16.18,Z-200.33

: Sonardyne - read R = 250.030000 from 250.03,X-148.73,Y16.18,Z-200.33

: Sonardyne - got all data, Vehicle coordinates,
    r=250.030000, x=200.330000, y=-148.730000, z=-16.180000 tat = 810
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,201325.00,3636.68164,N,12152.61931,W,1,11,0.9,-2.79,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201325.00,3636.68164,N,12152.61931,W,1,11,0.9,-2.79,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:25

: AshtechGPS::processRecord -sample time is 1142280805
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

:  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...

: Sonardyne - POS response: 
POS V4,1 R250.06,X-143.98,Y11.96,Z-204.10

: Sonardyne - parsing R250.06,X-143.98,Y11.96,Z-204.10

: Sonardyne - read R = 250.060000 from 250.06,X-143.98,Y11.96,Z-204.10

: Sonardyne - got all data, Vehicle coordinates,
    r=250.060000, x=204.100000, y=-143.980000, z=-11.960000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201326.00,3636.68168,N,12152.61934,W,1,11,0.9,-2.98,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201326.00,3636.68168,N,12152.61934,W,1,11,0.9,-2.98,M,-33.21,M,,*7E


: successfully parse sentence at 20:13:26

: AshtechGPS::processRecord -sample time is 1142280806
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
:  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 R250.09,X-146.28,Y26.34,Z-201.13

: Sonardyne - parsing R250.09,X-146.28,Y26.34,Z-201.13

: Sonardyne - read R = 250.090000 from 250.09,X-146.28,Y26.34,Z-201.13

: Sonardyne - got all data, Vehicle coordinates,
    r=250.090000, x=201.130000, y=-146.280000, z=-26.340000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201327.00,3636.68182,N,12152.61949,W,1,11,0.9,-3.03,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201327.00,3636.68182,N,12152.61949,W,1,11,0.9,-3.03,M,-33.21,M,,*72


: successfully parse sentence at 20:13:27

: AshtechGPS::processRecord -sample time is 1142280807
: GetGPS::execute() -- Got a new GPS hit: 3 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 R249.96,X-147.95,Y29.70,Z-199.28

: Sonardyne - parsing R249.96,X-147.95,Y29.70,Z-199.28

: Sonardyne - read R = 249.960000 from 249.96,X-147.95,Y29.70,Z-199.28

: Sonardyne - got all data, Vehicle coordinates,
    r=249.960000, x=199.280000, y=-147.950000, z=-29.700000 tat = 860
: AshtechGps::processRecord() - $GPGGA,201328.00,3636.68188,N,12152.61948,W,1,11,0.9,-2.76,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,201328.00,3636.68188,N,12152.61948,W,1,11,0.9,-2.76,M,-33.21,M,,*75


: successfully parse sentence at 20:13:28

: AshtechGPS::processRecord -sample time is 1142280808
: GetGPS::execute() -- Got a new GPS hit: 4 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 R250.00,X-147.07,Y3.49,Z-202.13

: Sonardyne - parsing R250.00,X-147.07,Y3.49,Z-202.13

: Sonardyne - read R = 250.000000 from 250.00,X-147.07,Y3.49,Z-202.13

: Sonardyne - got all data, Vehicle coordinates,
    r=250.000000, x=202.130000, y=-147.070000, z=-3.490000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201329.00,3636.68183,N,12152.61948,W,1,11,0.9,-2.45,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,201329.00,3636.68183,N,12152.61948,W,1,11,0.9,-2.45,M,-33.21,M,,*7F


: successfully parse sentence at 20:13:29

: AshtechGPS::processRecord -sample time is 1142280809
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201330.00,3636.68171,N,12152.61935,W,1,11,0.9,-2.28,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201330.00,3636.68171,N,12152.61935,W,1,11,0.9,-2.28,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:30

: AshtechGPS::processRecord -sample time is 1142280810
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201331.00,3636.68154,N,12152.61917,W,1,11,0.9,-2.48,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201331.00,3636.68154,N,12152.61917,W,1,11,0.9,-2.48,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:31

: AshtechGPS::processRecord -sample time is 1142280811
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201332.00,3636.68148,N,12152.61916,W,1,11,0.9,-2.56,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201332.00,3636.68148,N,12152.61916,W,1,11,0.9,-2.56,M,-33.21,M,,*7B


: successfully parse sentence at 20:13:32

: AshtechGPS::processRecord -sample time is 1142280812
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201333.00,3636.68140,N,12152.61898,W,1,11,0.9,-2.70,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201333.00,3636.68140,N,12152.61898,W,1,11,0.9,-2.70,M,-33.21,M,,*71


: successfully parse sentence at 20:13:33

: AshtechGPS::processRecord -sample time is 1142280813
: GetGPS::execute() -- Got a new GPS hit: 9 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 R249.21,X-144.46,Y28.26,Z-201.10

: Sonardyne - parsing R249.21,X-144.46,Y28.26,Z-201.10

: Sonardyne - read R = 249.210000 from 249.21,X-144.46,Y28.26,Z-201.10

: Sonardyne - got all data, Vehicle coordinates,
    r=249.210000, x=201.100000, y=-144.460000, z=-28.260000 tat = 810
: BluefinBatt Reply: $aaq0 d- 32.39  3.60 16.50 4.04 4.07 0   266.26 02:44:42 m

: AshtechGps::processRecord() - $GPGGA,201334.00,3636.68145,N,12152.61916,W,1,11,0.9,-2.84,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,201334.00,3636.68145,N,12152.61916,W,1,11,0.9,-2.84,M,-33.21,M,,*7F


: successfully parse sentence at 20:13:34

: AshtechGPS::processRecord -sample time is 1142280814
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.399425) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.399425) Behavior setpoint has changed to state Active

:  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 R249.17,X-145.08,Y6.07,Z-202.49

: Sonardyne - parsing R249.17,X-145.08,Y6.07,Z-202.49

: Sonardyne - read R = 249.170000 from 249.17,X-145.08,Y6.07,Z-202.49

: Sonardyne - got all data, Vehicle coordinates,
    r=249.170000, x=202.490000, y=-145.080000, z=-6.070000 tat = 810
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,201335.00,3636.68151,N,12152.61915,W,1,11,0.9,-2.85,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,201335.00,3636.68151,N,12152.61915,W,1,11,0.9,-2.85,M,-33.21,M,,*79


: successfully parse sentence at 20:13:35

: AshtechGPS::processRecord -sample time is 1142280815
:  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 R249.20,X-140.66,Y31.75,Z-203.24

: Sonardyne - parsing R249.20,X-140.66,Y31.75,Z-203.24

: Sonardyne - read R = 249.200000 from 249.20,X-140.66,Y31.75,Z-203.24

: Sonardyne - got all data, Vehicle coordinates,
    r=249.200000, x=203.240000, y=-140.660000, z=-31.750000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201336.00,3636.68157,N,12152.61920,W,1,11,0.9,-2.83,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201336.00,3636.68157,N,12152.61920,W,1,11,0.9,-2.83,M,-33.21,M,,*7C


: successfully parse sentence at 20:13:36

: AshtechGPS::processRecord -sample time is 1142280816
:  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 R254.48

: Sonardyne - parsing R254.48

: Sonardyne - read R = 254.480000 from 254.48

: Sonardyne - got range only (254.480000), tat = 790
: Sonardyne - POSD response: 
POSD S124.9,N27.0,D-59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.9,N27.0,D-59,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201337.00,3636.68155,N,12152.61918,W,1,11,0.9,-2.81,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201337.00,3636.68155,N,12152.61918,W,1,11,0.9,-2.81,M,-33.21,M,,*76


: successfully parse sentence at 20:13:37

: AshtechGPS::processRecord -sample time is 1142280817
:  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 R249.71,X-154.66,Y25.09,Z-194.44

: Sonardyne - parsing R249.71,X-154.66,Y25.09,Z-194.44

: Sonardyne - read R = 249.710000 from 249.71,X-154.66,Y25.09,Z-194.44

: Sonardyne - got all data, Vehicle coordinates,
    r=249.710000, x=194.440000, y=-154.660000, z=-25.090000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201338.00,3636.68147,N,12152.61921,W,1,11,0.9,-2.76,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201338.00,3636.68147,N,12152.61921,W,1,11,0.9,-2.76,M,-33.21,M,,*78


: successfully parse sentence at 20:13:38

: AshtechGPS::processRecord -sample time is 1142280818
:  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 R249.79,X-162.83,Y24.07,Z-187.90

: Sonardyne - parsing R249.79,X-162.83,Y24.07,Z-187.90

: Sonardyne - read R = 249.790000 from 249.79,X-162.83,Y24.07,Z-187.90

: Sonardyne - got all data, Vehicle coordinates,
    r=249.790000, x=187.900000, y=-162.830000, z=-24.070000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201339.00,3636.68133,N,12152.61927,W,1,11,0.9,-2.89,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201339.00,3636.68133,N,12152.61927,W,1,11,0.9,-2.89,M,-33.21,M,,*7C


: successfully parse sentence at 20:13:39

: AshtechGPS::processRecord -sample time is 1142280819
:  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 R249.68,X-171.21,Y18.13,Z-180.83

: Sonardyne - parsing R249.68,X-171.21,Y18.13,Z-180.83

: Sonardyne - read R = 249.680000 from 249.68,X-171.21,Y18.13,Z-180.83

: Sonardyne - got all data, Vehicle coordinates,
    r=249.680000, x=180.830000, y=-171.210000, z=-18.130000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201340.00,3636.68116,N,12152.61934,W,1,11,0.9,-2.86,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201340.00,3636.68116,N,12152.61934,W,1,11,0.9,-2.86,M,-33.21,M,,*78


: successfully parse sentence at 20:13:40

: AshtechGPS::processRecord -sample time is 1142280820
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R251.08

: Sonardyne - parsing R251.08

: Sonardyne - read R = 251.080000 from 251.08

: Sonardyne - got range only (251.080000), tat = 790
: Sonardyne - POSD response: 
POSD S129.6,N22.2,D-19,U2,Q0.001720

: Sonardyne - POSD response: 
POSD S129.6,N22.2,D-19,U2,Q0.001720

: AshtechGps::processRecord() - $GPGGA,201341.00,3636.68087,N,12152.61939,W,1,11,0.9,-2.72,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201341.00,3636.68087,N,12152.61939,W,1,11,0.9,-2.72,M,-33.21,M,,*76


: successfully parse sentence at 20:13:41

: AshtechGPS::processRecord -sample time is 1142280821
:  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 R251.26,X-204.55,Y10.53,Z-145.53

: Sonardyne - parsing R251.26,X-204.55,Y10.53,Z-145.53

: Sonardyne - read R = 251.260000 from 251.26,X-204.55,Y10.53,Z-145.53

: Sonardyne - got all data, Vehicle coordinates,
    r=251.260000, x=145.530000, y=-204.550000, z=-10.530000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201342.00,3636.68052,N,12152.61956,W,1,11,0.9,-2.62,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,201342.00,3636.68052,N,12152.61956,W,1,11,0.9,-2.62,M,-33.21,M,,*75


: successfully parse sentence at 20:13:42

: AshtechGPS::processRecord -sample time is 1142280822
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R249.80,X-216.00,Y30.94,Z-121.60

: Sonardyne - parsing R249.80,X-216.00,Y30.94,Z-121.60

: Sonardyne - read R = 249.800000 from 249.80,X-216.00,Y30.94,Z-121.60

: Sonardyne - got all data, Vehicle coordinates,
    r=249.800000, x=121.600000, y=-216.000000, z=-30.940000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201343.00,3636.68005,N,12152.61979,W,1,11,0.9,-2.49,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201343.00,3636.68005,N,12152.61979,W,1,11,0.9,-2.49,M,-33.21,M,,*72


: successfully parse sentence at 20:13:43

: AshtechGPS::processRecord -sample time is 1142280823
:  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 R249.29

: Sonardyne - parsing R249.29

: Sonardyne - read R = 249.290000 from 249.29

: Sonardyne - got range only (249.290000), tat = 780
: Sonardyne - POSD response: 
POSD S117.1,N20.8,D-48,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S117.1,N20.8,D-48,U1,Q0.019270

: BluefinBatt Reply: $aaq0 d- 32.13 10.64 16.50 4.04 4.07 0   265.43 02:44:52 m

: AshtechGps::processRecord() - $GPGGA,201344.00,3636.67950,N,12152.62002,W,1,11,0.9,-2.68,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201344.00,3636.67950,N,12152.62002,W,1,11,0.9,-2.68,M,-33.21,M,,*76


: successfully parse sentence at 20:13:44

: AshtechGPS::processRecord -sample time is 1142280824
:  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 R247.55,X200.14,Y142.90,Z-28.42

: Sonardyne - parsing R247.55,X200.14,Y142.90,Z-28.42

: Sonardyne - read R = 247.550000 from 247.55,X200.14,Y142.90,Z-28.42

: Sonardyne - got all data, Vehicle coordinates,
    r=247.550000, x=28.420000, y=200.140000, z=-142.900000 tat = 810
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,201345.00,3636.67918,N,12152.62053,W,1,11,0.9,-2.74,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201345.00,3636.67918,N,12152.62053,W,1,11,0.9,-2.74,M,-33.21,M,,*72


: successfully parse sentence at 20:13:45

: AshtechGPS::processRecord -sample time is 1142280825
:  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 R247.11,X-223.46,Y56.47,Z-89.10

: Sonardyne - parsing R247.11,X-223.46,Y56.47,Z-89.10

: Sonardyne - read R = 247.110000 from 247.11,X-223.46,Y56.47,Z-89.10

: Sonardyne - got all data, Vehicle coordinates,
    r=247.110000, x=89.100000, y=-223.460000, z=-56.470000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201346.00,3636.67880,N,12152.62104,W,1,11,0.9,-2.78,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201346.00,3636.67880,N,12152.62104,W,1,11,0.9,-2.78,M,-33.21,M,,*7E


: successfully parse sentence at 20:13:46

: AshtechGPS::processRecord -sample time is 1142280826
:  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 R247.02,X189.17,Y158.85,Z0.00

: Sonardyne - parsing R247.02,X189.17,Y158.85,Z0.00

: Sonardyne - read R = 247.020000 from 247.02,X189.17,Y158.85,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=247.020000, x=0.000000, y=189.170000, z=-158.850000 tat = 799
: AshtechGps::processRecord() - $GPGGA,201347.00,3636.67856,N,12152.62169,W,1,11,0.9,-2.86,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201347.00,3636.67856,N,12152.62169,W,1,11,0.9,-2.86,M,-33.21,M,,*7E


: successfully parse sentence at 20:13:47

: AshtechGPS::processRecord -sample time is 1142280827
:  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 R247.94

: Sonardyne - parsing R247.94

: Sonardyne - read R = 247.940000 from 247.94

: Sonardyne - got range only (247.940000), tat = 780
: Sonardyne - POSD response: 
POSD S114.8,N22.9,D108,U1,Q0.009853

: Sonardyne - POSD response: 
POSD S114.8,N22.9,D108,U1,Q0.009853

: AshtechGps::processRecord() - $GPGGA,201348.00,3636.67821,N,12152.62229,W,1,11,0.9,-2.79,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201348.00,3636.67821,N,12152.62229,W,1,11,0.9,-2.79,M,-33.21,M,,*76


: successfully parse sentence at 20:13:48

: AshtechGPS::processRecord -sample time is 1142280828
:  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 R248.26

: Sonardyne - parsing R248.26

: Sonardyne - read R = 248.260000 from 248.26

: Sonardyne - got range only (248.260000), tat = 780
: Sonardyne - POSD response: 
POSD S111.0,N17.8,D-66,U1,Q0.009853

: Sonardyne - POSD response: 
POSD S111.0,N17.8,D-66,U1,Q0.009853

: AshtechGps::processRecord() - $GPGGA,201349.00,3636.67797,N,12152.62296,W,1,11,0.9,-2.80,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,201349.00,3636.67797,N,12152.62296,W,1,11,0.9,-2.80,M,-33.21,M,,*77


: successfully parse sentence at 20:13:49

: AshtechGPS::processRecord -sample time is 1142280829
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201350.00,3636.67771,N,12152.62373,W,1,11,0.9,-2.89,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,201350.00,3636.67771,N,12152.62373,W,1,11,0.9,-2.89,M,-33.21,M,,*74


: successfully parse sentence at 20:13:50

: AshtechGPS::processRecord -sample time is 1142280830
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201351.00,3636.67743,N,12152.62449,W,1,11,0.9,-2.79,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,201351.00,3636.67743,N,12152.62449,W,1,11,0.9,-2.79,M,-33.21,M,,*75


: successfully parse sentence at 20:13:51

: AshtechGPS::processRecord -sample time is 1142280831
:  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,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,201352.00,3636.67724,N,12152.62530,W,1,11,0.9,-2.87,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,201352.00,3636.67724,N,12152.62530,W,1,11,0.9,-2.87,M,-33.21,M,,*79


: successfully parse sentence at 20:13:52

: AshtechGPS::processRecord -sample time is 1142280832
:  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 R252.29

: Sonardyne - parsing R252.29

: Sonardyne - read R = 252.290000 from 252.29

: Sonardyne - got range only (252.290000), tat = 790
: Sonardyne - POSD response: 
POSD S105.5,N17.8,D-27,U1,Q0.000840

: AshtechGps::processRecord() - $GPGGA,201353.00,3636.67702,N,12152.62613,W,1,11,0.9,-3.14,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,201353.00,3636.67702,N,12152.62613,W,1,11,0.9,-3.14,M,-33.21,M,,*75


: successfully parse sentence at 20:13:53

: AshtechGPS::processRecord -sample time is 1142280833
: Sonardyne - POSD response: 
POSD S105.5,N17.8,D-27,U1,Q0.000840

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

: Sonardyne - POS response: 
POS V4,1 R248.59,X188.76,Y125.72,Z-101.78

: Sonardyne - parsing R248.59,X188.76,Y125.72,Z-101.78

: Sonardyne - read R = 248.590000 from 248.59,X188.76,Y125.72,Z-101.78

: Sonardyne - got all data, Vehicle coordinates,
    r=248.590000, x=101.780000, y=188.760000, z=-125.720000 tat = 810
: BluefinBatt Reply: $aaq0 d- 32.21  8.52 16.50 4.04 4.07 0   264.77 02:45:02 m

: AshtechGps::processRecord() - $GPGGA,201354.00,3636.67676,N,12152.62689,W,1,11,0.9,-2.81,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201354.00,3636.67676,N,12152.62689,W,1,11,0.9,-2.81,M,-33.21,M,,*7E


: successfully parse sentence at 20:13:54

: AshtechGPS::processRecord -sample time is 1142280834
:  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 R249.47,X194.50,Y135.43,Z-77.88

: Sonardyne - parsing R249.47,X194.50,Y135.43,Z-77.88

: Sonardyne - read R = 249.470000 from 249.47,X194.50,Y135.43,Z-77.88

: Sonardyne - got all data, Vehicle coordinates,
    r=249.470000, x=77.880000, y=194.500000, z=-135.430000 tat = 810
: batts online 1, min cell voltage 4.040000, mean min cell voltage 4.040000

: AshtechGps::processRecord() - $GPGGA,201355.00,3636.67645,N,12152.62761,W,1,11,0.9,-2.61,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201355.00,3636.67645,N,12152.62761,W,1,11,0.9,-2.61,M,-33.21,M,,*76


: successfully parse sentence at 20:13:55

: AshtechGPS::processRecord -sample time is 1142280835
:  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 R249.75

: Sonardyne - parsing R249.75

: Sonardyne - read R = 249.750000 from 249.75

: Sonardyne - got range only (249.750000), tat = 780
: Sonardyne - POSD response: 
POSD S117.0,N27.6,D9,U1,Q0.015625

: AshtechGps::processRecord() - $GPGGA,201356.00,3636.67606,N,12152.62828,W,1,11,0.9,-2.55,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,201356.00,3636.67606,N,12152.62828,W,1,11,0.9,-2.55,M,-33.21,M,,*77


: successfully parse sentence at 20:13:56

: AshtechGPS::processRecord -sample time is 1142280836
: Sonardyne - POSD response: 
POSD S117.0,N27.6,D9,U1,Q0.015625

:  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 R245.97,X185.80,Y136.63,Z-85.52

: Sonardyne - parsing R245.97,X185.80,Y136.63,Z-85.52

: Sonardyne - read R = 245.970000 from 245.97,X185.80,Y136.63,Z-85.52

: Sonardyne - got all data, Vehicle coordinates,
    r=245.970000, x=85.520000, y=185.800000, z=-136.630000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201357.00,3636.67577,N,12152.62905,W,1,11,0.9,-2.74,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201357.00,3636.67577,N,12152.62905,W,1,11,0.9,-2.74,M,-33.21,M,,*7E


: successfully parse sentence at 20:13:57

: AshtechGPS::processRecord -sample time is 1142280837
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R248.17

: Sonardyne - parsing R248.17

: Sonardyne - read R = 248.170000 from 248.17

: Sonardyne - got range only (248.170000), tat = 780
: Sonardyne - POSD response: 
POSD S112.9,N25.7,D-20,U1,Q0.009402

: AshtechGps::processRecord() - $GPGGA,201358.00,3636.67548,N,12152.62984,W,1,11,0.9,-2.91,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,201358.00,3636.67548,N,12152.62984,W,1,11,0.9,-2.91,M,-33.21,M,,*7F


: successfully parse sentence at 20:13:58

: AshtechGPS::processRecord -sample time is 1142280838
: Sonardyne - POSD response: 
POSD S112.9,N25.7,D-20,U1,Q0.009402

:  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 R247.89

: Sonardyne - parsing R247.89

: Sonardyne - read R = 247.890000 from 247.89

: Sonardyne - got range only (247.890000), tat = 780
: Sonardyne - POSD response: 
POSD S112.8,N24.3,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201359.00,3636.67521,N,12152.63063,W,1,11,0.9,-2.75,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,201359.00,3636.67521,N,12152.63063,W,1,11,0.9,-2.75,M,-33.21,M,,*7A


: successfully parse sentence at 20:13:59

: AshtechGPS::processRecord -sample time is 1142280839
: Sonardyne - POSD response: 
POSD S112.8,N24.3,D-30,U0,Q0.000000

:  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 R245.58,X185.53,Y134.20,Z-88.78

: Sonardyne - parsing R245.58,X185.53,Y134.20,Z-88.78

: Sonardyne - read R = 245.580000 from 245.58,X185.53,Y134.20,Z-88.78

: Sonardyne - got all data, Vehicle coordinates,
    r=245.580000, x=88.780000, y=185.530000, z=-134.200000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201400.00,3636.67496,N,12152.63150,W,1,11,0.9,-2.97,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201400.00,3636.67496,N,12152.63150,W,1,11,0.9,-2.97,M,-33.21,M,,*71


: successfully parse sentence at 20:14:0

: AshtechGPS::processRecord -sample time is 1142280840
:  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 R247.11

: Sonardyne - parsing R247.11

: Sonardyne - read R = 247.110000 from 247.11

: Sonardyne - got range only (247.110000), tat = 780
: Sonardyne - POSD response: 
POSD S119.6,N27.6,D-55,U4,Q0.008412

: AshtechGps::processRecord() - $GPGGA,201401.00,3636.67466,N,12152.63222,W,1,11,0.9,-2.97,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,201401.00,3636.67466,N,12152.63222,W,1,11,0.9,-2.97,M,-33.21,M,,*79


: successfully parse sentence at 20:14:1

: AshtechGPS::processRecord -sample time is 1142280841
: Sonardyne - POSD response: 
POSD S119.6,N27.6,D-55,U4,Q0.008412

:  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 R247.11

: Sonardyne - parsing R247.11

: Sonardyne - read R = 247.110000 from 247.11

: Sonardyne - got range only (247.110000), tat = 780
: Sonardyne - POSD response: 
POSD S114.6,N26.6,D-43,U5,Q0.003064

: AshtechGps::processRecord() - $GPGGA,201402.00,3636.67445,N,12152.63306,W,1,11,0.9,-2.73,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,201402.00,3636.67445,N,12152.63306,W,1,11,0.9,-2.73,M,-33.21,M,,*76


: successfully parse sentence at 20:14:2

: Sonardyne - POSD response: 
POSD S114.6,N26.6,D-43,U5,Q0.003064

: AshtechGPS::processRecord -sample time is 1142280842
:  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 R248.55

: Sonardyne - parsing R248.55

: Sonardyne - read R = 248.550000 from 248.55

: Sonardyne - got range only (248.550000), tat = 780
: Sonardyne - POSD response: 
POSD S109.7,N17.8,D22,U1,Q0.009926

: AshtechGps::processRecord() - $GPGGA,201403.00,3636.67412,N,12152.63390,W,1,11,0.9,-2.39,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,201403.00,3636.67412,N,12152.63390,W,1,11,0.9,-2.39,M,-33.21,M,,*74


: successfully parse sentence at 20:14:3

: AshtechGPS::processRecord -sample time is 1142280843
: Sonardyne - POSD response: 
POSD S109.7,N17.8,D22,U1,Q0.009926

:  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 R249.21

: Sonardyne - parsing R249.21

: Sonardyne - read R = 249.210000 from 249.21

: Sonardyne - got range only (249.210000), tat = 780
: BluefinBatt Reply: $aaq0 d- 32.17  8.86 16.60 4.01 4.04 0   263.78 02:45:12 m

: Sonardyne - POSD response: 
POSD S113.2,N24.3,D39,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,201404.00,3636.67371,N,12152.63466,W,1,11,0.9,-2.32,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,201404.00,3636.67371,N,12152.63466,W,1,11,0.9,-2.32,M,-33.21,M,,*74


: successfully parse sentence at 20:14:4

: AshtechGPS::processRecord -sample time is 1142280844
: Sonardyne - POSD response: 
POSD S113.2,N24.3,D39,U1,Q0.016633

: LayeredControl::execute() -- (t = 38.597356) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.597356) Behavior descend has changed to state Active

:  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 R246.34,X186.72,Y126.01,Z-99.71

: Sonardyne - parsing R246.34,X186.72,Y126.01,Z-99.71

: Sonardyne - read R = 246.340000 from 246.34,X186.72,Y126.01,Z-99.71

: Sonardyne - got all data, Vehicle coordinates,
    r=246.340000, x=99.710000, y=186.720000, z=-126.010000 tat = 800
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,201405.00,3636.67346,N,12152.63565,W,1,11,0.9,-2.95,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,201405.00,3636.67346,N,12152.63565,W,1,11,0.9,-2.95,M,-33.21,M,,*7E


: successfully parse sentence at 20:14:5

: AshtechGPS::processRecord -sample time is 1142280845
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R245.82,X193.49,Y-59.81,Z-139.32

: Sonardyne - parsing R245.82,X193.49,Y-59.81,Z-139.32

: Sonardyne - read R = 245.820000 from 245.82,X193.49,Y-59.81,Z-139.32

: Sonardyne - got all data, Vehicle coordinates,
    r=245.820000, x=139.320000, y=193.490000, z=59.810000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201406.00,3636.67305,N,12152.63636,W,1,11,0.9,-2.74,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201406.00,3636.67305,N,12152.63636,W,1,11,0.9,-2.74,M,-33.21,M,,*70


: successfully parse sentence at 20:14:6

: AshtechGPS::processRecord -sample time is 1142280846
:  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 R247.18

: Sonardyne - parsing R247.18

: Sonardyne - read R = 247.180000 from 247.18

: Sonardyne - got range only (247.180000), tat = 780
: Sonardyne - POSD response: 
POSD S116.8,N22.3,D52,U1,Q0.001137

: AshtechGps::processRecord() - $GPGGA,201407.00,3636.67284,N,12152.63730,W,1,11,0.9,-2.95,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201407.00,3636.67284,N,12152.63730,W,1,11,0.9,-2.95,M,-33.21,M,,*71


: successfully parse sentence at 20:14:7

: Sonardyne - POSD response: 
POSD S116.8,N22.3,D52,U1,Q0.001137

: AshtechGPS::processRecord -sample time is 1142280847
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R248.37

: Sonardyne - parsing R248.37

: Sonardyne - read R = 248.370000 from 248.37

: Sonardyne - got range only (248.370000), tat = 780
: Sonardyne - POSD response: 
POSD S116.7,N25.7,D6,U1,Q0.009706

: AshtechGps::processRecord() - $GPGGA,201408.00,3636.67262,N,12152.63823,W,1,11,0.9,-2.83,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201408.00,3636.67262,N,12152.63823,W,1,11,0.9,-2.83,M,-33.21,M,,*7C


: successfully parse sentence at 20:14:8

: Sonardyne - POSD response: 
POSD S116.7,N25.7,D6,U1,Q0.009706

: AshtechGPS::processRecord -sample time is 1142280848
:  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 R253.17

: Sonardyne - parsing R253.17

: Sonardyne - read R = 253.170000 from 253.17

: Sonardyne - got range only (253.170000), tat = 790
: Sonardyne - POSD response: 
POSD S115.2,N24.0,D7,U1,Q0.015155

: AshtechGps::processRecord() - $GPGGA,201409.00,3636.67226,N,12152.63906,W,1,11,0.9,-2.59,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201409.00,3636.67226,N,12152.63906,W,1,11,0.9,-2.59,M,-33.21,M,,*7C


: successfully parse sentence at 20:14:9

: AshtechGPS::processRecord -sample time is 1142280849
: Sonardyne - POSD response: 
POSD S115.2,N24.0,D7,U1,Q0.015155

:  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 R247.14

: Sonardyne - parsing R247.14

: Sonardyne - read R = 247.140000 from 247.14

: Sonardyne - got range only (247.140000), tat = 780
: Sonardyne - POSD response: 
POSD S115.3,N16.4,D84,U1,Q0.008140

: AshtechGps::processRecord() - $GPGGA,201410.00,3636.67198,N,12152.63994,W,1,11,0.9,-2.52,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,201410.00,3636.67198,N,12152.63994,W,1,11,0.9,-2.52,M,-33.21,M,,*72


: Sonardyne - POSD response: 
POSD S115.3,N16.4,D84,U1,Q0.008140

: successfully parse sentence at 20:14:10

: AshtechGPS::processRecord -sample time is 1142280850
:  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 R245.89,X186.08,Y-73.39,Z-143.00

: Sonardyne - parsing R245.89,X186.08,Y-73.39,Z-143.00

: Sonardyne - read R = 245.890000 from 245.89,X186.08,Y-73.39,Z-143.00

: Sonardyne - got all data, Vehicle coordinates,
    r=245.890000, x=143.000000, y=186.080000, z=73.390000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201411.00,3636.67158,N,12152.64078,W,1,11,0.9,-2.63,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201411.00,3636.67158,N,12152.64078,W,1,11,0.9,-2.63,M,-33.21,M,,*71


: successfully parse sentence at 20:14:11

: AshtechGPS::processRecord -sample time is 1142280851
:  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 R246.77

: Sonardyne - parsing R246.77

: Sonardyne - read R = 246.770000 from 246.77

: Sonardyne - got range only (246.770000), tat = 780
: Sonardyne - POSD response: 
POSD S121.5,N23.0,D-57,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201412.00,3636.67129,N,12152.64169,W,1,11,0.9,-2.77,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,201412.00,3636.67129,N,12152.64169,W,1,11,0.9,-2.77,M,-33.21,M,,*70


: successfully parse sentence at 20:14:12

: AshtechGPS::processRecord -sample time is 1142280852
: Sonardyne - POSD response: 
POSD S121.5,N23.0,D-57,U0,Q0.000000

:  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 R246.48

: Sonardyne - parsing R246.48

: Sonardyne - read R = 246.480000 from 246.48

: Sonardyne - got range only (246.480000), tat = 780
: Sonardyne - POSD response: 
POSD S116.1,N19.6,D110,U2,Q0.001346

: AshtechGps::processRecord() - $GPGGA,201413.00,3636.67096,N,12152.64259,W,1,11,0.9,-2.69,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,201413.00,3636.67096,N,12152.64259,W,1,11,0.9,-2.69,M,-33.21,M,,*7B


: successfully parse sentence at 20:14:13

: Sonardyne - POSD response: 
POSD S116.1,N19.6,D110,U2,Q0.001346

: AshtechGPS::processRecord -sample time is 1142280853
:  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 R245.76

: Sonardyne - parsing R245.76

: Sonardyne - read R = 245.760000 from 245.76

: Sonardyne - got range only (245.760000), tat = 780
: BluefinBatt Reply: $aaq0 d- 32.17  9.57 16.60 4.01 4.04 0   263.20 02:45:22 m

: Sonardyne - POSD response: 
POSD S104.3,N14.4,D64,U1,Q0.010000

: AshtechGps::processRecord() - $GPGGA,201414.00,3636.67062,N,12152.64346,W,1,11,0.9,-2.71,M,-33.21,M,,*71

: Sonardyne - POSD response: 
POSD S104.3,N14.4,D64,U1,Q0.010000

: GpsUtils::parseFix() - $GPGGA,201414.00,3636.67062,N,12152.64346,W,1,11,0.9,-2.71,M,-33.21,M,,*71


: successfully parse sentence at 20:14:14

: AshtechGPS::processRecord -sample time is 1142280854
:  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 R245.89

: Sonardyne - parsing R245.89

: Sonardyne - read R = 245.890000 from 245.89

: Sonardyne - got range only (245.890000), tat = 780
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: Sonardyne - POSD response: 
POSD S110.9,N20.7,D-65,U2,Q0.000106

: AshtechGps::processRecord() - $GPGGA,201415.00,3636.67039,N,12152.64432,W,1,11,0.9,-2.88,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,201415.00,3636.67039,N,12152.64432,W,1,11,0.9,-2.88,M,-33.21,M,,*7C


: successfully parse sentence at 20:14:15

: AshtechGPS::processRecord -sample time is 1142280855
: Sonardyne - POSD response: 
POSD S110.9,N20.7,D-65,U2,Q0.000106

:  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 R249.77

: Sonardyne - parsing R249.77

: Sonardyne - read R = 249.770000 from 249.77

: Sonardyne - got range only (249.770000), tat = 779
: Sonardyne - POSD response: 
POSD S114.0,N21.5,D-122,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201416.00,3636.67001,N,12152.64507,W,1,11,0.9,-3.03,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,201416.00,3636.67001,N,12152.64507,W,1,11,0.9,-3.03,M,-33.21,M,,*71


: successfully parse sentence at 20:14:16

: AshtechGPS::processRecord -sample time is 1142280856
: Sonardyne - POSD response: 
POSD S114.0,N21.5,D-122,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 R252.95

: Sonardyne - parsing R252.95

: Sonardyne - read R = 252.950000 from 252.95

: Sonardyne - got range only (252.950000), tat = 790
: Sonardyne - POSD response: 
POSD S109.9,N17.8,D146,U2,Q0.014931

: AshtechGps::processRecord() - $GPGGA,201417.00,3636.66976,N,12152.64588,W,1,11,0.9,-3.26,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,201417.00,3636.66976,N,12152.64588,W,1,11,0.9,-3.26,M,-33.21,M,,*78


: successfully parse sentence at 20:14:17

: AshtechGPS::processRecord -sample time is 1142280857
: Sonardyne - POSD response: 
POSD S109.9,N17.8,D146,U2,Q0.014931

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

: Sonardyne - POS response: 
POS V4,1 R253.17

: Sonardyne - parsing R253.17

: Sonardyne - read R = 253.170000 from 253.17

: Sonardyne - got range only (253.170000), tat = 790
: Sonardyne - POSD response: 
POSD S116.6,N21.2,D54,U2,Q0.001408

: AshtechGps::processRecord() - $GPGGA,201418.00,3636.66946,N,12152.64663,W,1,03,1.5,-1.05,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,201418.00,3636.66946,N,12152.64663,W,1,03,1.5,-1.05,M,-33.21,M,,*7F


: successfully parse sentence at 20:14:18

: AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid)
: AshtechGPS::processRecord -sample time is 1142280858
: Sonardyne - POSD response: 
POSD S116.6,N21.2,D54,U2,Q0.001408

:  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 R245.91,X-211.83,Y98.09,Z-77.30

: Sonardyne - parsing R245.91,X-211.83,Y98.09,Z-77.30

: Sonardyne - read R = 245.910000 from 245.91,X-211.83,Y98.09,Z-77.30

: Sonardyne - got all data, Vehicle coordinates,
    r=245.910000, x=77.300000, y=-211.830000, z=-98.090000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201419.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201419.00,,,,,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 R246.68

: Sonardyne - parsing R246.68

: Sonardyne - read R = 246.680000 from 246.68

: Sonardyne - got range only (246.680000), tat = 830
: AshtechGps::processRecord() - $GPGGA,201420.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201420.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S109.9,N19.3,D-64,U2,Q0.006328

: Sonardyne - POSD response: 
POSD S109.9,N19.3,D-64,U2,Q0.006328

:  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 R245.31,X186.19,Y148.85,Z-57.89

: Sonardyne - parsing R245.31,X186.19,Y148.85,Z-57.89

: Sonardyne - read R = 245.310000 from 245.31,X186.19,Y148.85,Z-57.89

: Sonardyne - got all data, Vehicle coordinates,
    r=245.310000, x=57.890000, y=186.190000, z=-148.850000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201421.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201421.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Seabird/ctdDriver: error reading voltages

: Seabird/ctdDriver: error reading voltages

:  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 R245.32,X185.52,Y160.51,Z0.00

: Sonardyne - parsing R245.32,X185.52,Y160.51,Z0.00

: Sonardyne - read R = 245.320000 from 245.32,X185.52,Y160.51,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=245.320000, x=0.000000, y=185.520000, z=-160.510000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201422.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201422.00,,,,,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 R246.88

: Sonardyne - parsing R246.88

: Sonardyne - read R = 246.880000 from 246.88

: Sonardyne - got range only (246.880000), tat = 780
: Sonardyne - POSD response: 
POSD S117.4,N24.4,D60,U1,Q0.011963

: AshtechGps::processRecord() - $GPGGA,201423.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201423.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.4,N24.4,D60,U1,Q0.011963

:  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 R246.94

: Sonardyne - parsing R246.94

: Sonardyne - read R = 246.940000 from 246.94

: Sonardyne - got range only (246.940000), tat = 780
: BluefinBatt Reply: $aaq0 d- 32.13 10.34 16.60 4.01 4.04 0   262.33 02:45:32 m

: Sonardyne - POSD response: 
POSD S114.8,N27.0,D54,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201424.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201424.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S114.8,N27.0,D54,U0,Q0.000000

:  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 R247.17

: Sonardyne - parsing R247.17

: Sonardyne - read R = 247.170000 from 247.17

: Sonardyne - got range only (247.170000), tat = 780
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: Sonardyne - POSD response: 
POSD S119.7,N26.1,D65,U2,Q0.013494

: AshtechGps::processRecord() - $GPGGA,201425.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201425.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.7,N26.1,D65,U2,Q0.013494

:  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 R246.13

: Sonardyne - parsing R246.13

: Sonardyne - read R = 246.130000 from 246.13

: Sonardyne - got range only (246.130000), tat = 780
: Sonardyne - POSD response: 
POSD S111.4,N27.1,D-73,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201426.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201426.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.4,N27.1,D-73,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 R246.19

: Sonardyne - parsing R246.19

: Sonardyne - read R = 246.190000 from 246.19

: Sonardyne - got range only (246.190000), tat = 780
: Sonardyne - POSD response: 
POSD S114.1,N27.9,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201427.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201427.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S114.1,N27.9,D-5,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 R246.27

: Sonardyne - parsing R246.27

: Sonardyne - read R = 246.270000 from 246.27

: Sonardyne - got range only (246.270000), tat = 780
: Sonardyne - POSD response: 
POSD S111.8,N26.3,D-64,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201428.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201428.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.8,N26.3,D-64,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 R247.83

: Sonardyne - parsing R247.83

: Sonardyne - read R = 247.830000 from 247.83

: Sonardyne - got range only (247.830000), tat = 780
: Sonardyne - POSD response: 
POSD S108.7,N19.9,D5,U3,Q0.000093

: AshtechGps::processRecord() - $GPGGA,201429.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201429.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.7,N19.9,D5,U3,Q0.000093

: Descend::execute() - Descend terminating on depth 4.028869 > 4.000000 at time 63.595644

: LayeredControl::execute() -- (t = 63.595644) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 63.60                             (wplog)
  The current location (N,E) = 4052319.7      , 600378.6         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 2.8 Degrees.

: LayeredControl::execute() -- (t = 63.595644) 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 R248.00

: Sonardyne - parsing R248.00

: Sonardyne - read R = 248.000000 from 248.00

: Sonardyne - got range only (248.000000), tat = 780
: Sonardyne - POSD response: 
POSD S115.1,N24.3,D59,U3,Q0.005944

: AshtechGps::processRecord() - $GPGGA,201430.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201430.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.1,N24.3,D59,U3,Q0.005944

:  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 R247.69

: Sonardyne - parsing R247.69

: Sonardyne - read R = 247.690000 from 247.69

: Sonardyne - got range only (247.690000), tat = 780
: Sonardyne - POSD response: 
POSD S110.2,N22.7,D20,U1,Q0.000093

: AshtechGps::processRecord() - $GPGGA,201431.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201431.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S110.2,N22.7,D20,U1,Q0.000093

:  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 R246.87,X-81.07,Y233.18,Z0.00

: Sonardyne - parsing R246.87,X-81.07,Y233.18,Z0.00

: Sonardyne - read R = 246.870000 from 246.87,X-81.07,Y233.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=246.870000, x=0.000000, y=-81.070000, z=-233.180000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201432.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201432.00,,,,,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,201433.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201433.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 32.17  8.96 16.60 4.01 4.04 0   261.62 02:45:42 m

: AshtechGps::processRecord() - $GPGGA,201434.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201434.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,201435.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201435.00,,,,,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,N5.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,201436.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201436.00,,,,,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,201437.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201437.00,,,,,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,201438.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201438.00,,,,,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,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,201439.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201439.00,,,,,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,201440.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201440.00,,,,,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,201441.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201441.00,,,,,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,201442.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201442.00,,,,,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,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,201443.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201443.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 32.13  9.09 16.60 4.01 4.04 0   260.64 02:45:52 m

: AshtechGps::processRecord() - $GPGGA,201444.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201444.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,201445.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201445.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201446.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201446.00,,,,,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 R261.36

: Sonardyne - parsing R261.36

: Sonardyne - read R = 261.360000 from 261.36

: Sonardyne - got range only (261.360000), tat = 800
: AshtechGps::processRecord() - $GPGGA,201447.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201447.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.0,N18.9,D-14,U4,Q0.007637

: Sonardyne - POSD response: 
POSD S112.0,N18.9,D-14,U4,Q0.007637

:  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 R262.92

: Sonardyne - parsing R262.92

: Sonardyne - read R = 262.920000 from 262.92

: Sonardyne - got range only (262.920000), tat = 800
: AshtechGps::processRecord() - $GPGGA,201448.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201448.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.9,N30.1,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.9,N30.1,D-32,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 R261.23,X-196.14,Y131.58,Z-111.59

: Sonardyne - parsing R261.23,X-196.14,Y131.58,Z-111.59

: Sonardyne - read R = 261.230000 from 261.23,X-196.14,Y131.58,Z-111.59

: Sonardyne - got all data, Vehicle coordinates,
    r=261.230000, x=111.590000, y=-196.140000, z=-131.580000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201449.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201449.00,,,,,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,201450.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201450.00,,,,,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,201451.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201451.00,,,,,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,201452.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201452.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,201453.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201453.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.66,X255.94,Y-54.39,Z0.00

: Sonardyne - parsing R261.66,X255.94,Y-54.39,Z0.00

: Sonardyne - read R = 261.660000 from 261.66,X255.94,Y-54.39,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=261.660000, x=0.000000, y=255.940000, z=54.390000 tat = 820
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 32.09  9.63 16.69 4.01 4.04 0   259.92 02:46:02 m

: AshtechGps::processRecord() - $GPGGA,201454.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201454.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.06,X257.01,Y-45.79,Z0.00

: Sonardyne - parsing R261.06,X257.01,Y-45.79,Z0.00

: Sonardyne - read R = 261.060000 from 261.06,X257.01,Y-45.79,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=261.060000, x=0.000000, y=257.010000, z=45.790000 tat = 820
:  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 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,201455.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201455.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.50

: Sonardyne - parsing R261.50

: Sonardyne - read R = 261.500000 from 261.50

: Sonardyne - got range only (261.500000), tat = 800
: Sonardyne - POSD response: 
POSD S116.6,N24.5,D-46,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S116.6,N24.5,D-46,U1,Q0.007526

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

: AshtechGps::processRecord() - $GPGGA,201456.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201456.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.40,X260.08,Y-26.28,Z0.00

: Sonardyne - parsing R261.40,X260.08,Y-26.28,Z0.00

: Sonardyne - read R = 261.400000 from 261.40,X260.08,Y-26.28,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=261.400000, x=0.000000, y=260.080000, z=26.280000 tat = 820
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201457.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201457.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.92,X258.41,Y-42.69,Z0.00

: Sonardyne - parsing R261.92,X258.41,Y-42.69,Z0.00

: Sonardyne - read R = 261.920000 from 261.92,X258.41,Y-42.69,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=261.920000, x=0.000000, y=258.410000, z=42.690000 tat = 820
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201458.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201458.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.38,X262.18,Y-25.08,Z0.00

: Sonardyne - parsing R263.38,X262.18,Y-25.08,Z0.00

: Sonardyne - read R = 263.380000 from 263.38,X262.18,Y-25.08,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=263.380000, x=0.000000, y=262.180000, z=25.080000 tat = 830
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201459.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201459.00,,,,,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,201500.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201500.00,,,,,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,201501.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201501.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201502.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201502.00,,,,,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,201503.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201503.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 32.13  8.76 16.69 4.00 4.03 0   258.92 02:46:12 m

: AshtechGps::processRecord() - $GPGGA,201504.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201504.00,,,,,0,00,,,M,,M,,*4A


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

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201505.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201505.00,,,,,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,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,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,201506.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201506.00,,,,,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,201507.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201507.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,201508.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201508.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201509.00,,,,,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,201510.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201510.00,,,,,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,201511.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201511.00,,,,,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,201512.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201512.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 32.13  8.86 16.69 4.00 4.03 0   258.29 02:46:22 m

: AshtechGps::processRecord() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201515.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201516.00,,,,,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,201517.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201517.00,,,,,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,201518.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201518.00,,,,,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,201519.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201519.00,,,,,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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201520.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201520.00,,,,,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,201521.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201522.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,201523.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201523.00,,,,,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,201524.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201524.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.13  8.35 16.69 4.01 4.04 0   257.35 02:46:32 m

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

: AshtechGps::processRecord() - $GPGGA,201525.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201525.00,,,,,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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201526.00,,,,,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
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 120.59                                          (wplog)

: Vehicle Position is error is (-0.1, -1.0)

: LayeredControl::execute() -- (t = 120.591739) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 120.60                            (wplog)
  The current location (N,E) = 4052381.5      , 600382.7         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.8 Degrees.

: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: LayeredControl::execute() -- (t = 120.601738) Behavior waypoint has changed to state Active

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,201527.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201527.00,,,,,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,201528.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201528.00,,,,,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,201529.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201529.00,,,,,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,N5.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201530.00,,,,,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,201531.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201531.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,201532.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201532.00,,,,,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,201533.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201533.00,,,,,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,N6.0,D0,U0,Q0.000000

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

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

: BluefinBatt Reply: $aaq0 d- 32.17  8.28 16.69 4.01 4.04 0   256.75 02:46:42 m

: AshtechGps::processRecord() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.51,X-228.62,Y170.34,Z-106.98

: Sonardyne - parsing R304.51,X-228.62,Y170.34,Z-106.98

: Sonardyne - read R = 304.510000 from 304.51,X-228.62,Y170.34,Z-106.98

: Sonardyne - got all data, Vehicle coordinates,
    r=304.510000, x=106.980000, y=-228.620000, z=-170.340000 tat = 890
:  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 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.20,X-238.12,Y174.57,Z-73.24

: Sonardyne - parsing R304.20,X-238.12,Y174.57,Z-73.24

: Sonardyne - read R = 304.200000 from 304.20,X-238.12,Y174.57,Z-73.24

: Sonardyne - got all data, Vehicle coordinates,
    r=304.200000, x=73.240000, y=-238.120000, z=-174.570000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R303.81

: Sonardyne - parsing R303.81

: Sonardyne - read R = 303.810000 from 303.81

: Sonardyne - got range only (303.810000), tat = 860
: Sonardyne - POSD response: 
POSD S120.9,N26.2,D22,U5,Q0.016759

: Sonardyne - POSD response: 
POSD S120.9,N26.2,D22,U5,Q0.016759

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

: AshtechGps::processRecord() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R303.08,X248.13,Y-3.01,Z-174.02

: Sonardyne - parsing R303.08,X248.13,Y-3.01,Z-174.02

: Sonardyne - read R = 303.080000 from 303.08,X248.13,Y-3.01,Z-174.02

: Sonardyne - got all data, Vehicle coordinates,
    r=303.080000, x=174.020000, y=248.130000, z=3.010000 tat = 880
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R302.28

: Sonardyne - parsing R302.28

: Sonardyne - read R = 302.280000 from 302.28

: Sonardyne - got range only (302.280000), tat = 860
: Sonardyne - POSD response: 
POSD S127.7,N31.2,D1,U1,Q0.010851

: Sonardyne - POSD response: 
POSD S127.7,N31.2,D1,U1,Q0.010851

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

: AshtechGps::processRecord() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R301.49

: Sonardyne - parsing R301.49

: Sonardyne - read R = 301.490000 from 301.49

: Sonardyne - got range only (301.490000), tat = 860
: Sonardyne - POSD response: 
POSD S125.0,N29.7,D-14,U5,Q0.011534

: Sonardyne - POSD response: 
POSD S125.0,N29.7,D-14,U5,Q0.011534

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

: AshtechGps::processRecord() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R300.64,X136.87,Y-0.25,Z-267.67

: Sonardyne - parsing R300.64,X136.87,Y-0.25,Z-267.67

: Sonardyne - read R = 300.640000 from 300.64,X136.87,Y-0.25,Z-267.67

: Sonardyne - got all data, Vehicle coordinates,
    r=300.640000, x=267.670000, y=136.870000, z=0.250000 tat = 880
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.89,X93.79,Y11.35,Z-284.62

: Sonardyne - parsing R299.89,X93.79,Y11.35,Z-284.62

: Sonardyne - read R = 299.890000 from 299.89,X93.79,Y11.35,Z-284.62

: Sonardyne - got all data, Vehicle coordinates,
    r=299.890000, x=284.620000, y=93.790000, z=-11.350000 tat = 880
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.96,X41.34,Y19.62,Z-295.43

: Sonardyne - parsing R298.96,X41.34,Y19.62,Z-295.43

: Sonardyne - read R = 298.960000 from 298.96,X41.34,Y19.62,Z-295.43

: Sonardyne - got all data, Vehicle coordinates,
    r=298.960000, x=295.430000, y=41.340000, z=-19.620000 tat = 880
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.76,X-11.00,Y17.65,Z-297.04

: Sonardyne - parsing R297.76,X-11.00,Y17.65,Z-297.04

: Sonardyne - read R = 297.760000 from 297.76,X-11.00,Y17.65,Z-297.04

: Sonardyne - got all data, Vehicle coordinates,
    r=297.760000, x=297.040000, y=-11.000000, z=-17.650000 tat = 879
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  9.46 16.69 4.01 4.04 0   255.76 02:46:52 m

: Sonardyne - POS response: 
POS V4,1 R296.31,X-55.14,Y15.02,Z-290.75

: Sonardyne - parsing R296.31,X-55.14,Y15.02,Z-290.75

: Sonardyne - read R = 296.310000 from 296.31,X-55.14,Y15.02,Z-290.75

: Sonardyne - got all data, Vehicle coordinates,
    r=296.310000, x=290.750000, y=-55.140000, z=-15.020000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201545.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R294.90

: Sonardyne - parsing R294.90

: Sonardyne - read R = 294.900000 from 294.90

: Sonardyne - got range only (294.900000), tat = 850
: Sonardyne - POSD response: 
POSD S127.5,N22.9,D-75,U2,Q0.016129

: Sonardyne - POSD response: 
POSD S127.5,N22.9,D-75,U2,Q0.016129

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

: AshtechGps::processRecord() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.65,X-116.43,Y27.42,Z-268.18

: Sonardyne - parsing R293.65,X-116.43,Y27.42,Z-268.18

: Sonardyne - read R = 293.650000 from 293.65,X-116.43,Y27.42,Z-268.18

: Sonardyne - got all data, Vehicle coordinates,
    r=293.650000, x=268.180000, y=-116.430000, z=-27.420000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.48,X-132.34,Y32.81,Z-258.75

: Sonardyne - parsing R292.48,X-132.34,Y32.81,Z-258.75

: Sonardyne - read R = 292.480000 from 292.48,X-132.34,Y32.81,Z-258.75

: Sonardyne - got all data, Vehicle coordinates,
    r=292.480000, x=258.750000, y=-132.340000, z=-32.810000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R291.43,X-139.74,Y33.93,Z-253.48

: Sonardyne - parsing R291.43,X-139.74,Y33.93,Z-253.48

: Sonardyne - read R = 291.430000 from 291.43,X-139.74,Y33.93,Z-253.48

: Sonardyne - got all data, Vehicle coordinates,
    r=291.430000, x=253.480000, y=-139.740000, z=-33.930000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201549.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201549.00,,,,,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 R290.54,X-142.40,Y53.97,Z-247.43

: Sonardyne - parsing R290.54,X-142.40,Y53.97,Z-247.43

: Sonardyne - read R = 290.540000 from 290.54,X-142.40,Y53.97,Z-247.43

: Sonardyne - got all data, Vehicle coordinates,
    r=290.540000, x=247.430000, y=-142.400000, z=-53.970000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R289.51,X-137.80,Y66.36,Z-245.81

: Sonardyne - parsing R289.51,X-137.80,Y66.36,Z-245.81

: Sonardyne - read R = 289.510000 from 289.51,X-137.80,Y66.36,Z-245.81

: Sonardyne - got all data, Vehicle coordinates,
    r=289.510000, x=245.810000, y=-137.800000, z=-66.360000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201551.00,,,,,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 R288.48,X-133.97,Y74.20,Z-244.47

: Sonardyne - parsing R288.48,X-133.97,Y74.20,Z-244.47

: Sonardyne - read R = 288.480000 from 288.48,X-133.97,Y74.20,Z-244.47

: Sonardyne - got all data, Vehicle coordinates,
    r=288.480000, x=244.470000, y=-133.970000, z=-74.200000 tat = 870
: AshtechGps::processRecord() - $GPGGA,201552.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201552.00,,,,,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 R287.29,X-127.88,Y69.21,Z-247.77

: Sonardyne - parsing R287.29,X-127.88,Y69.21,Z-247.77

: Sonardyne - read R = 287.290000 from 287.29,X-127.88,Y69.21,Z-247.77

: Sonardyne - got all data, Vehicle coordinates,
    r=287.290000, x=247.770000, y=-127.880000, z=-69.210000 tat = 860
: AshtechGps::processRecord() - $GPGGA,201553.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201553.00,,,,,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 R286.08,X-117.32,Y64.32,Z-252.87

: Sonardyne - parsing R286.08,X-117.32,Y64.32,Z-252.87

: Sonardyne - read R = 286.080000 from 286.08,X-117.32,Y64.32,Z-252.87

: Sonardyne - got all data, Vehicle coordinates,
    r=286.080000, x=252.870000, y=-117.320000, z=-64.320000 tat = 860
: AshtechGps::processRecord() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  9.13 16.69 4.01 4.04 0   255.11 02:47:02 m

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

: Sonardyne - POS response: 
POS V4,1 R284.86,X-103.97,Y65.04,Z-257.11

: Sonardyne - parsing R284.86,X-103.97,Y65.04,Z-257.11

: Sonardyne - read R = 284.860000 from 284.86,X-103.97,Y65.04,Z-257.11

: Sonardyne - got all data, Vehicle coordinates,
    r=284.860000, x=257.110000, y=-103.970000, z=-65.040000 tat = 860
: AshtechGps::processRecord() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201555.00,,,,,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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R283.63,X-88.62,Y65.50,Z-261.34

: Sonardyne - parsing R283.63,X-88.62,Y65.50,Z-261.34

: Sonardyne - read R = 283.630000 from 283.63,X-88.62,Y65.50,Z-261.34

: Sonardyne - got all data, Vehicle coordinates,
    r=283.630000, x=261.340000, y=-88.620000, z=-65.500000 tat = 850
: AshtechGps::processRecord() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201556.00,,,,,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 R282.05,X-78.12,Y54.91,Z-265.40

: Sonardyne - parsing R282.05,X-78.12,Y54.91,Z-265.40

: Sonardyne - read R = 282.050000 from 282.05,X-78.12,Y54.91,Z-265.40

: Sonardyne - got all data, Vehicle coordinates,
    r=282.050000, x=265.400000, y=-78.120000, z=-54.910000 tat = 850
: AshtechGps::processRecord() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201557.00,,,,,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 R280.28,X-67.42,Y41.37,Z-268.88

: Sonardyne - parsing R280.28,X-67.42,Y41.37,Z-268.88

: Sonardyne - read R = 280.280000 from 280.28,X-67.42,Y41.37,Z-268.88

: Sonardyne - got all data, Vehicle coordinates,
    r=280.280000, x=268.880000, y=-67.420000, z=-41.370000 tat = 850
: AshtechGps::processRecord() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R278.51,X-54.14,Y37.07,Z-270.67

: Sonardyne - parsing R278.51,X-54.14,Y37.07,Z-270.67

: Sonardyne - read R = 278.510000 from 278.51,X-54.14,Y37.07,Z-270.67

: Sonardyne - got all data, Vehicle coordinates,
    r=278.510000, x=270.670000, y=-54.140000, z=-37.070000 tat = 849
: AshtechGps::processRecord() - $GPGGA,201559.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201559.00,,,,,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 R276.81,X-39.36,Y22.64,Z-273.06

: Sonardyne - parsing R276.81,X-39.36,Y22.64,Z-273.06

: Sonardyne - read R = 276.810000 from 276.81,X-39.36,Y22.64,Z-273.06

: Sonardyne - got all data, Vehicle coordinates,
    r=276.810000, x=273.060000, y=-39.360000, z=-22.640000 tat = 850
: AshtechGps::processRecord() - $GPGGA,201600.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201600.00,,,,,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 R275.38,X-24.10,Y24.73,Z-273.20

: Sonardyne - parsing R275.38,X-24.10,Y24.73,Z-273.20

: Sonardyne - read R = 275.380000 from 275.38,X-24.10,Y24.73,Z-273.20

: Sonardyne - got all data, Vehicle coordinates,
    r=275.380000, x=273.200000, y=-24.100000, z=-24.730000 tat = 840
: AshtechGps::processRecord() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201601.00,,,,,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 R274.12,X-13.42,Y17.91,Z-273.21

: Sonardyne - parsing R274.12,X-13.42,Y17.91,Z-273.21

: Sonardyne - read R = 274.120000 from 274.12,X-13.42,Y17.91,Z-273.21

: Sonardyne - got all data, Vehicle coordinates,
    r=274.120000, x=273.210000, y=-13.420000, z=-17.910000 tat = 840
: AshtechGps::processRecord() - $GPGGA,201602.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201602.00,,,,,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 R272.79,X-4.14,Y16.11,Z-272.28

: Sonardyne - parsing R272.79,X-4.14,Y16.11,Z-272.28

: Sonardyne - read R = 272.790000 from 272.79,X-4.14,Y16.11,Z-272.28

: Sonardyne - got all data, Vehicle coordinates,
    r=272.790000, x=272.280000, y=-4.140000, z=-16.110000 tat = 840
: AshtechGps::processRecord() - $GPGGA,201603.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201603.00,,,,,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 R271.47,X6.54,Y6.52,Z-271.31

: Sonardyne - parsing R271.47,X6.54,Y6.52,Z-271.31

: Sonardyne - read R = 271.470000 from 271.47,X6.54,Y6.52,Z-271.31

: Sonardyne - got all data, Vehicle coordinates,
    r=271.470000, x=271.310000, y=6.540000, z=-6.520000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.13  8.69 16.69 4.00 4.03 0   254.10 02:47:12 m

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

: Sonardyne - POS response: 
POS V4,1 R270.28,X17.49,Y19.13,Z-269.04

: Sonardyne - parsing R270.28,X17.49,Y19.13,Z-269.04

: Sonardyne - read R = 270.280000 from 270.28,X17.49,Y19.13,Z-269.04

: Sonardyne - got all data, Vehicle coordinates,
    r=270.280000, x=269.040000, y=17.490000, z=-19.130000 tat = 840
: AshtechGps::processRecord() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

:  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 R268.89,X27.67,Y22.97,Z-266.47

: Sonardyne - parsing R268.89,X27.67,Y22.97,Z-266.47

: Sonardyne - read R = 268.890000 from 268.89,X27.67,Y22.97,Z-266.47

: Sonardyne - got all data, Vehicle coordinates,
    r=268.890000, x=266.470000, y=27.670000, z=-22.970000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201606.00,,,,,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 R267.18,X33.92,Y16.27,Z-264.52

: Sonardyne - parsing R267.18,X33.92,Y16.27,Z-264.52

: Sonardyne - read R = 267.180000 from 267.18,X33.92,Y16.27,Z-264.52

: Sonardyne - got all data, Vehicle coordinates,
    r=267.180000, x=264.520000, y=33.920000, z=-16.270000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201607.00,,,,,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 R265.58,X38.91,Y19.08,Z-262.02

: Sonardyne - parsing R265.58,X38.91,Y19.08,Z-262.02

: Sonardyne - read R = 265.580000 from 265.58,X38.91,Y19.08,Z-262.02

: Sonardyne - got all data, Vehicle coordinates,
    r=265.580000, x=262.020000, y=38.910000, z=-19.080000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R263.75,X44.90,Y24.73,Z-258.72

: Sonardyne - parsing R263.75,X44.90,Y24.73,Z-258.72

: Sonardyne - read R = 263.750000 from 263.75,X44.90,Y24.73,Z-258.72

: Sonardyne - got all data, Vehicle coordinates,
    r=263.750000, x=258.720000, y=44.900000, z=-24.730000 tat = 830
: AshtechGps::processRecord() - $GPGGA,201609.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201609.00,,,,,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 R262.03,X38.85,Y-16.39,Z-258.61

: Sonardyne - parsing R262.03,X38.85,Y-16.39,Z-258.61

: Sonardyne - read R = 262.030000 from 262.03,X38.85,Y-16.39,Z-258.61

: Sonardyne - got all data, Vehicle coordinates,
    r=262.030000, x=258.610000, y=38.850000, z=16.390000 tat = 820
: AshtechGps::processRecord() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R260.46,X51.55,Y11.00,Z-255.07

: Sonardyne - parsing R260.46,X51.55,Y11.00,Z-255.07

: Sonardyne - read R = 260.460000 from 260.46,X51.55,Y11.00,Z-255.07

: Sonardyne - got all data, Vehicle coordinates,
    r=260.460000, x=255.070000, y=51.550000, z=-11.000000 tat = 820
: AshtechGps::processRecord() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201611.00,,,,,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 R258.92,X55.66,Y7.69,Z-252.75

: Sonardyne - parsing R258.92,X55.66,Y7.69,Z-252.75

: Sonardyne - read R = 258.920000 from 258.92,X55.66,Y7.69,Z-252.75

: Sonardyne - got all data, Vehicle coordinates,
    r=258.920000, x=252.750000, y=55.660000, z=-7.690000 tat = 820
: AshtechGps::processRecord() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201612.00,,,,,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 R257.26,X60.70,Y6.62,Z-249.91

: Sonardyne - parsing R257.26,X60.70,Y6.62,Z-249.91

: Sonardyne - read R = 257.260000 from 257.26,X60.70,Y6.62,Z-249.91

: Sonardyne - got all data, Vehicle coordinates,
    r=257.260000, x=249.910000, y=60.700000, z=-6.620000 tat = 819
: AshtechGps::processRecord() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201613.00,,,,,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 R255.60,X68.29,Y12.61,Z-245.99

: Sonardyne - parsing R255.60,X68.29,Y12.61,Z-245.99

: Sonardyne - read R = 255.600000 from 255.60,X68.29,Y12.61,Z-245.99

: Sonardyne - got all data, Vehicle coordinates,
    r=255.600000, x=245.990000, y=68.290000, z=-12.610000 tat = 820
: AshtechGps::processRecord() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.17  8.12 16.69 4.00 4.03 0   253.46 02:47:22 m

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

: Sonardyne - POS response: 
POS V4,1 R253.84,X70.97,Y3.42,Z-243.70

: Sonardyne - parsing R253.84,X70.97,Y3.42,Z-243.70

: Sonardyne - read R = 253.840000 from 253.84,X70.97,Y3.42,Z-243.70

: Sonardyne - got all data, Vehicle coordinates,
    r=253.840000, x=243.700000, y=70.970000, z=-3.420000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

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

: Sonardyne - POS response: 
POS V4,1 R252.13,X72.88,Y-1.12,Z-241.36

: Sonardyne - parsing R252.13,X72.88,Y-1.12,Z-241.36

: Sonardyne - read R = 252.130000 from 252.13,X72.88,Y-1.12,Z-241.36

: Sonardyne - got all data, Vehicle coordinates,
    r=252.130000, x=241.360000, y=72.880000, z=1.120000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201616.00,,,,,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 R250.48,X76.83,Y5.98,Z-238.33

: Sonardyne - parsing R250.48,X76.83,Y5.98,Z-238.33

: Sonardyne - read R = 250.480000 from 250.48,X76.83,Y5.98,Z-238.33

: Sonardyne - got all data, Vehicle coordinates,
    r=250.480000, x=238.330000, y=76.830000, z=-5.980000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201617.00,,,,,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 R248.92,X77.01,Y5.14,Z-236.65

: Sonardyne - parsing R248.92,X77.01,Y5.14,Z-236.65

: Sonardyne - read R = 248.920000 from 248.92,X77.01,Y5.14,Z-236.65

: Sonardyne - got all data, Vehicle coordinates,
    r=248.920000, x=236.650000, y=77.010000, z=-5.140000 tat = 810
: AshtechGps::processRecord() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201618.00,,,,,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 R247.76,X78.18,Y7.80,Z-234.97

: Sonardyne - parsing R247.76,X78.18,Y7.80,Z-234.97

: Sonardyne - read R = 247.760000 from 247.76,X78.18,Y7.80,Z-234.97

: Sonardyne - got all data, Vehicle coordinates,
    r=247.760000, x=234.970000, y=78.180000, z=-7.800000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201619.00,,,,,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 R246.51,X81.57,Y14.33,Z-232.18

: Sonardyne - parsing R246.51,X81.57,Y14.33,Z-232.18

: Sonardyne - read R = 246.510000 from 246.51,X81.57,Y14.33,Z-232.18

: Sonardyne - got all data, Vehicle coordinates,
    r=246.510000, x=232.180000, y=81.570000, z=-14.330000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R245.17,X83.13,Y14.03,Z-230.22

: Sonardyne - parsing R245.17,X83.13,Y14.03,Z-230.22

: Sonardyne - read R = 245.170000 from 245.17,X83.13,Y14.03,Z-230.22

: Sonardyne - got all data, Vehicle coordinates,
    r=245.170000, x=230.220000, y=83.130000, z=-14.030000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201621.00,,,,,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 R247.29

: Sonardyne - parsing R247.29

: Sonardyne - read R = 247.290000 from 247.29

: Sonardyne - got range only (247.290000), tat = 780
: Sonardyne - POSD response: 
POSD S129.9,N27.2,D-38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.9,N27.2,D-38,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201622.00,,,,,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 R242.29,X80.67,Y7.80,Z-228.33

: Sonardyne - parsing R242.29,X80.67,Y7.80,Z-228.33

: Sonardyne - read R = 242.290000 from 242.29,X80.67,Y7.80,Z-228.33

: Sonardyne - got all data, Vehicle coordinates,
    r=242.290000, x=228.330000, y=80.670000, z=-7.800000 tat = 800
: AshtechGps::processRecord() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R240.55,X76.36,Y-3.83,Z-228.07

: Sonardyne - parsing R240.55,X76.36,Y-3.83,Z-228.07

: Sonardyne - read R = 240.550000 from 240.55,X76.36,Y-3.83,Z-228.07

: Sonardyne - got all data, Vehicle coordinates,
    r=240.550000, x=228.070000, y=76.360000, z=3.830000 tat = 800
: BluefinBatt Reply: $aaq0 d- 32.09  8.32 16.69 4.00 4.03 0   252.48 02:47:32 m

: AshtechGps::processRecord() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201624.00,,,,,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 R238.98,X80.54,Y6.79,Z-224.90

: Sonardyne - parsing R238.98,X80.54,Y6.79,Z-224.90

: Sonardyne - read R = 238.980000 from 238.98,X80.54,Y6.79,Z-224.90

: Sonardyne - got all data, Vehicle coordinates,
    r=238.980000, x=224.900000, y=80.540000, z=-6.790000 tat = 790
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201625.00,,,,,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 R237.32,X80.99,Y12.49,Z-222.73

: Sonardyne - parsing R237.32,X80.99,Y12.49,Z-222.73

: Sonardyne - read R = 237.320000 from 237.32,X80.99,Y12.49,Z-222.73

: Sonardyne - got all data, Vehicle coordinates,
    r=237.320000, x=222.730000, y=80.990000, z=-12.490000 tat = 790
: AshtechGps::processRecord() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201626.00,,,,,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 R235.32,X74.52,Y-12.21,Z-222.87

: Sonardyne - parsing R235.32,X74.52,Y-12.21,Z-222.87

: Sonardyne - read R = 235.320000 from 235.32,X74.52,Y-12.21,Z-222.87

: Sonardyne - got all data, Vehicle coordinates,
    r=235.320000, x=222.870000, y=74.520000, z=12.210000 tat = 790
: AshtechGps::processRecord() - $GPGGA,201627.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201627.00,,,,,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,201628.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201628.00,,,,,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,201629.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 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,201630.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201630.00,,,,,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 R228.23,X79.71,Y1.10,Z-213.85

: Sonardyne - parsing R228.23,X79.71,Y1.10,Z-213.85

: Sonardyne - read R = 228.230000 from 228.23,X79.71,Y1.10,Z-213.85

: Sonardyne - got all data, Vehicle coordinates,
    r=228.230000, x=213.850000, y=79.710000, z=-1.100000 tat = 780
: AshtechGps::processRecord() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R227.10,X82.25,Y4.16,Z-211.64

: Sonardyne - parsing R227.10,X82.25,Y4.16,Z-211.64

: Sonardyne - read R = 227.100000 from 227.10,X82.25,Y4.16,Z-211.64

: Sonardyne - got all data, Vehicle coordinates,
    r=227.100000, x=211.640000, y=82.250000, z=-4.160000 tat = 780
: AshtechGps::processRecord() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201632.00,,,,,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 R225.78,X79.93,Y-3.09,Z-211.13

: Sonardyne - parsing R225.78,X79.93,Y-3.09,Z-211.13

: Sonardyne - read R = 225.780000 from 225.78,X79.93,Y-3.09,Z-211.13

: Sonardyne - got all data, Vehicle coordinates,
    r=225.780000, x=211.130000, y=79.930000, z=3.090000 tat = 780
: AshtechGps::processRecord() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201633.00,,,,,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 R224.36,X82.38,Y-4.28,Z-208.64

: Sonardyne - parsing R224.36,X82.38,Y-4.28,Z-208.64

: Sonardyne - read R = 224.360000 from 224.36,X82.38,Y-4.28,Z-208.64

: Sonardyne - got all data, Vehicle coordinates,
    r=224.360000, x=208.640000, y=82.380000, z=4.280000 tat = 770
: AshtechGps::processRecord() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.49 16.69 4.00 4.03 0   251.86 02:47:42 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 R222.87,X84.41,Y8.23,Z-206.11

: Sonardyne - parsing R222.87,X84.41,Y8.23,Z-206.11

: Sonardyne - read R = 222.870000 from 222.87,X84.41,Y8.23,Z-206.11

: Sonardyne - got all data, Vehicle coordinates,
    r=222.870000, x=206.110000, y=84.410000, z=-8.230000 tat = 770
: AshtechGps::processRecord() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

:  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 R221.32,X84.82,Y8.12,Z-204.26

: Sonardyne - parsing R221.32,X84.82,Y8.12,Z-204.26

: Sonardyne - read R = 221.320000 from 221.32,X84.82,Y8.12,Z-204.26

: Sonardyne - got all data, Vehicle coordinates,
    r=221.320000, x=204.260000, y=84.820000, z=-8.120000 tat = 770
: AshtechGps::processRecord() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201636.00,,,,,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,201637.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201637.00,,,,,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,201638.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201638.00,,,,,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,201639.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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,201640.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R213.86,X79.95,Y-4.61,Z-198.30

: Sonardyne - parsing R213.86,X79.95,Y-4.61,Z-198.30

: Sonardyne - read R = 213.860000 from 213.86,X79.95,Y-4.61,Z-198.30

: Sonardyne - got all data, Vehicle coordinates,
    r=213.860000, x=198.300000, y=79.950000, z=4.610000 tat = 760
: AshtechGps::processRecord() - $GPGGA,201641.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201641.00,,,,,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 R212.42,X77.93,Y-11.38,Z-197.29

: Sonardyne - parsing R212.42,X77.93,Y-11.38,Z-197.29

: Sonardyne - read R = 212.420000 from 212.42,X77.93,Y-11.38,Z-197.29

: Sonardyne - got all data, Vehicle coordinates,
    r=212.420000, x=197.290000, y=77.930000, z=11.380000 tat = 760
: AshtechGps::processRecord() - $GPGGA,201642.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201642.00,,,,,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 R211.09,X78.46,Y-2.23,Z-195.95

: Sonardyne - parsing R211.09,X78.46,Y-2.23,Z-195.95

: Sonardyne - read R = 211.090000 from 211.09,X78.46,Y-2.23,Z-195.95

: Sonardyne - got all data, Vehicle coordinates,
    r=211.090000, x=195.950000, y=78.460000, z=2.230000 tat = 760
: AshtechGps::processRecord() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201643.00,,,,,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 R209.56,X80.67,Y6.92,Z-193.28

: Sonardyne - parsing R209.56,X80.67,Y6.92,Z-193.28

: Sonardyne - read R = 209.560000 from 209.56,X80.67,Y6.92,Z-193.28

: Sonardyne - got all data, Vehicle coordinates,
    r=209.560000, x=193.280000, y=80.670000, z=-6.920000 tat = 750
: AshtechGps::processRecord() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  7.81 16.69 4.00 4.03 0   250.88 02:47:52 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 R208.11,X78.88,Y4.11,Z-192.54

: Sonardyne - parsing R208.11,X78.88,Y4.11,Z-192.54

: Sonardyne - read R = 208.110000 from 208.11,X78.88,Y4.11,Z-192.54

: Sonardyne - got all data, Vehicle coordinates,
    r=208.110000, x=192.540000, y=78.880000, z=-4.110000 tat = 750
: AshtechGps::processRecord() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

:  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 R206.57,X81.36,Y14.62,Z-189.31

: Sonardyne - parsing R206.57,X81.36,Y14.62,Z-189.31

: Sonardyne - read R = 206.570000 from 206.57,X81.36,Y14.62,Z-189.31

: Sonardyne - got all data, Vehicle coordinates,
    r=206.570000, x=189.310000, y=81.360000, z=-14.620000 tat = 750
: AshtechGps::processRecord() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201646.00,,,,,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 R205.09,X74.23,Y-15.14,Z-190.58

: Sonardyne - parsing R205.09,X74.23,Y-15.14,Z-190.58

: Sonardyne - read R = 205.090000 from 205.09,X74.23,Y-15.14,Z-190.58

: Sonardyne - got all data, Vehicle coordinates,
    r=205.090000, x=190.580000, y=74.230000, z=15.140000 tat = 750
: AshtechGps::processRecord() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201647.00,,,,,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 R203.86,X78.88,Y0.14,Z-187.98

: Sonardyne - parsing R203.86,X78.88,Y0.14,Z-187.98

: Sonardyne - read R = 203.860000 from 203.86,X78.88,Y0.14,Z-187.98

: Sonardyne - got all data, Vehicle coordinates,
    r=203.860000, x=187.980000, y=78.880000, z=-0.140000 tat = 790
: AshtechGps::processRecord() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201648.00,,,,,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 R202.57,X77.63,Y-4.82,Z-187.04

: Sonardyne - parsing R202.57,X77.63,Y-4.82,Z-187.04

: Sonardyne - read R = 202.570000 from 202.57,X77.63,Y-4.82,Z-187.04

: Sonardyne - got all data, Vehicle coordinates,
    r=202.570000, x=187.040000, y=77.630000, z=4.820000 tat = 740
: AshtechGps::processRecord() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201649.00,,,,,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 R201.11,X80.11,Y6.28,Z-184.36

: Sonardyne - parsing R201.11,X80.11,Y6.28,Z-184.36

: Sonardyne - read R = 201.110000 from 201.11,X80.11,Y6.28,Z-184.36

: Sonardyne - got all data, Vehicle coordinates,
    r=201.110000, x=184.360000, y=80.110000, z=-6.280000 tat = 740
: AshtechGps::processRecord() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R199.59,X80.37,Y10.49,Z-182.39

: Sonardyne - parsing R199.59,X80.37,Y10.49,Z-182.39

: Sonardyne - read R = 199.590000 from 199.59,X80.37,Y10.49,Z-182.39

: Sonardyne - got all data, Vehicle coordinates,
    r=199.590000, x=182.390000, y=80.370000, z=-10.490000 tat = 740
: AshtechGps::processRecord() - $GPGGA,201651.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201651.00,,,,,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 R198.11,X79.14,Y5.08,Z-181.54

: Sonardyne - parsing R198.11,X79.14,Y5.08,Z-181.54

: Sonardyne - read R = 198.110000 from 198.11,X79.14,Y5.08,Z-181.54

: Sonardyne - got all data, Vehicle coordinates,
    r=198.110000, x=181.540000, y=79.140000, z=-5.080000 tat = 740
: AshtechGps::processRecord() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 206.40                                          (wplog)

: Vehicle Position is error is (0.3, 0.5)

: LayeredControl::execute() -- (t = 206.395861) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 206.40                            (wplog)
  The current location (N,E) = 4052291.9      , 600426.2         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.0 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 206.405860) Behavior waypoint_homing has changed to state Active

:  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 R196.09,X77.38,Y-0.35,Z-180.18

: Sonardyne - parsing R196.09,X77.38,Y-0.35,Z-180.18

: Sonardyne - read R = 196.090000 from 196.09,X77.38,Y-0.35,Z-180.18

: Sonardyne - got all data, Vehicle coordinates,
    r=196.090000, x=180.180000, y=77.380000, z=0.350000 tat = 740
: AshtechGps::processRecord() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201653.00,,,,,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 R194.45,X71.86,Y-5.36,Z-180.61

: Sonardyne - parsing R194.45,X71.86,Y-5.36,Z-180.61

: Sonardyne - read R = 194.450000 from 194.45,X71.86,Y-5.36,Z-180.61

: Sonardyne - got all data, Vehicle coordinates,
    r=194.450000, x=180.610000, y=71.860000, z=5.360000 tat = 730
: AshtechGps::processRecord() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.22 16.69 4.00 4.03 0   250.27 02:48:02 m

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

: Sonardyne - POS response: 
POS V4,1 R192.96,X50.42,Y8.29,Z-186.08

: Sonardyne - parsing R192.96,X50.42,Y8.29,Z-186.08

: Sonardyne - read R = 192.960000 from 192.96,X50.42,Y8.29,Z-186.08

: Sonardyne - got all data, Vehicle coordinates,
    r=192.960000, x=186.080000, y=50.420000, z=-8.290000 tat = 730
: AshtechGps::processRecord() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

:  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 R191.65,X24.36,Y21.95,Z-188.83

: Sonardyne - parsing R191.65,X24.36,Y21.95,Z-188.83

: Sonardyne - read R = 191.650000 from 191.65,X24.36,Y21.95,Z-188.83

: Sonardyne - got all data, Vehicle coordinates,
    r=191.650000, x=188.830000, y=24.360000, z=-21.950000 tat = 730
: AshtechGps::processRecord() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R190.18,X11.34,Y8.63,Z-189.64

: Sonardyne - parsing R190.18,X11.34,Y8.63,Z-189.64

: Sonardyne - read R = 190.180000 from 190.18,X11.34,Y8.63,Z-189.64

: Sonardyne - got all data, Vehicle coordinates,
    r=190.180000, x=189.640000, y=11.340000, z=-8.630000 tat = 729
: AshtechGps::processRecord() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201657.00,,,,,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 R188.89,X3.30,Y18.46,Z-187.96

: Sonardyne - parsing R188.89,X3.30,Y18.46,Z-187.96

: Sonardyne - read R = 188.890000 from 188.89,X3.30,Y18.46,Z-187.96

: Sonardyne - got all data, Vehicle coordinates,
    r=188.890000, x=187.960000, y=3.300000, z=-18.460000 tat = 720
: AshtechGps::processRecord() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R187.34,X-2.36,Y22.64,Z-185.95

: Sonardyne - parsing R187.34,X-2.36,Y22.64,Z-185.95

: Sonardyne - read R = 187.340000 from 187.34,X-2.36,Y22.64,Z-185.95

: Sonardyne - got all data, Vehicle coordinates,
    r=187.340000, x=185.950000, y=-2.360000, z=-22.640000 tat = 720
: AshtechGps::processRecord() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201659.00,,,,,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 R185.70,X-3.31,Y24.43,Z-184.05

: Sonardyne - parsing R185.70,X-3.31,Y24.43,Z-184.05

: Sonardyne - read R = 185.700000 from 185.70,X-3.31,Y24.43,Z-184.05

: Sonardyne - got all data, Vehicle coordinates,
    r=185.700000, x=184.050000, y=-3.310000, z=-24.430000 tat = 720
: AshtechGps::processRecord() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R183.93,X-3.95,Y22.11,Z-182.55

: Sonardyne - parsing R183.93,X-3.95,Y22.11,Z-182.55

: Sonardyne - read R = 183.930000 from 183.93,X-3.95,Y22.11,Z-182.55

: Sonardyne - got all data, Vehicle coordinates,
    r=183.930000, x=182.550000, y=-3.950000, z=-22.110000 tat = 720
: AshtechGps::processRecord() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201701.00,,,,,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 R182.33,X-4.05,Y19.99,Z-181.19

: Sonardyne - parsing R182.33,X-4.05,Y19.99,Z-181.19

: Sonardyne - read R = 182.330000 from 182.33,X-4.05,Y19.99,Z-181.19

: Sonardyne - got all data, Vehicle coordinates,
    r=182.330000, x=181.190000, y=-4.050000, z=-19.990000 tat = 720
: AshtechGps::processRecord() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R180.55,X-3.05,Y21.89,Z-179.19

: Sonardyne - parsing R180.55,X-3.05,Y21.89,Z-179.19

: Sonardyne - read R = 180.550000 from 180.55,X-3.05,Y21.89,Z-179.19

: Sonardyne - got all data, Vehicle coordinates,
    r=180.550000, x=179.190000, y=-3.050000, z=-21.890000 tat = 720
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R179.06,X-3.44,Y17.03,Z-178.21

: Sonardyne - parsing R179.06,X-3.44,Y17.03,Z-178.21

: Sonardyne - read R = 179.060000 from 179.06,X-3.44,Y17.03,Z-178.21

: Sonardyne - got all data, Vehicle coordinates,
    r=179.060000, x=178.210000, y=-3.440000, z=-17.030000 tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.62 16.69 4.00 4.03 0   249.31 02:48:12 m

: Sonardyne - POS response: 
POS V4,1 R177.33,X-3.01,Y16.36,Z-176.54

: Sonardyne - parsing R177.33,X-3.01,Y16.36,Z-176.54

: Sonardyne - read R = 177.330000 from 177.33,X-3.01,Y16.36,Z-176.54

: Sonardyne - got all data, Vehicle coordinates,
    r=177.330000, x=176.540000, y=-3.010000, z=-16.360000 tat = 710
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R175.92,X-3.02,Y19.55,Z-174.80

: Sonardyne - parsing R175.92,X-3.02,Y19.55,Z-174.80

: Sonardyne - read R = 175.920000 from 175.92,X-3.02,Y19.55,Z-174.80

: Sonardyne - got all data, Vehicle coordinates,
    r=175.920000, x=174.800000, y=-3.020000, z=-19.550000 tat = 710
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R174.26,X-2.04,Y18.20,Z-173.29

: Sonardyne - parsing R174.26,X-2.04,Y18.20,Z-173.29

: Sonardyne - read R = 174.260000 from 174.26,X-2.04,Y18.20,Z-173.29

: Sonardyne - got all data, Vehicle coordinates,
    r=174.260000, x=173.290000, y=-2.040000, z=-18.200000 tat = 710
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R172.71,X-3.83,Y6.45,Z-172.54

: Sonardyne - parsing R172.71,X-3.83,Y6.45,Z-172.54

: Sonardyne - read R = 172.710000 from 172.71,X-3.83,Y6.45,Z-172.54

: Sonardyne - got all data, Vehicle coordinates,
    r=172.710000, x=172.540000, y=-3.830000, z=-6.450000 tat = 700
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R171.47,X-4.14,Y12.98,Z-170.92

: Sonardyne - parsing R171.47,X-4.14,Y12.98,Z-170.92

: Sonardyne - read R = 171.470000 from 171.47,X-4.14,Y12.98,Z-170.92

: Sonardyne - got all data, Vehicle coordinates,
    r=171.470000, x=170.920000, y=-4.140000, z=-12.980000 tat = 700
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R170.12,X-3.68,Y19.26,Z-168.98

: Sonardyne - parsing R170.12,X-3.68,Y19.26,Z-168.98

: Sonardyne - read R = 170.120000 from 170.12,X-3.68,Y19.26,Z-168.98

: Sonardyne - got all data, Vehicle coordinates,
    r=170.120000, x=168.980000, y=-3.680000, z=-19.260000 tat = 700
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R168.17,X-5.93,Y3.53,Z-168.03

: Sonardyne - parsing R168.17,X-5.93,Y3.53,Z-168.03

: Sonardyne - read R = 168.170000 from 168.17,X-5.93,Y3.53,Z-168.03

: Sonardyne - got all data, Vehicle coordinates,
    r=168.170000, x=168.030000, y=-5.930000, z=-3.530000 tat = 700
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.54,X-3.88,Y15.28,Z-165.79

: Sonardyne - parsing R166.54,X-3.88,Y15.28,Z-165.79

: Sonardyne - read R = 166.540000 from 166.54,X-3.88,Y15.28,Z-165.79

: Sonardyne - got all data, Vehicle coordinates,
    r=166.540000, x=165.790000, y=-3.880000, z=-15.280000 tat = 689
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R164.75,X-3.39,Y17.25,Z-163.81

: Sonardyne - parsing R164.75,X-3.39,Y17.25,Z-163.81

: Sonardyne - read R = 164.750000 from 164.75,X-3.39,Y17.25,Z-163.81

: Sonardyne - got all data, Vehicle coordinates,
    r=164.750000, x=163.810000, y=-3.390000, z=-17.250000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.08,X-2.39,Y20.80,Z-161.73

: Sonardyne - parsing R163.08,X-2.39,Y20.80,Z-161.73

: Sonardyne - read R = 163.080000 from 163.08,X-2.39,Y20.80,Z-161.73

: Sonardyne - got all data, Vehicle coordinates,
    r=163.080000, x=161.730000, y=-2.390000, z=-20.800000 tat = 690
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  9.23 16.69 4.00 4.03 0   248.71 02:48:22 m

: Sonardyne - POS response: 
POS V4,1 R161.47,X-3.56,Y12.39,Z-160.95

: Sonardyne - parsing R161.47,X-3.56,Y12.39,Z-160.95

: Sonardyne - read R = 161.470000 from 161.47,X-3.56,Y12.39,Z-160.95

: Sonardyne - got all data, Vehicle coordinates,
    r=161.470000, x=160.950000, y=-3.560000, z=-12.390000 tat = 690
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R159.82,X-3.46,Y16.45,Z-158.93

: Sonardyne - parsing R159.82,X-3.46,Y16.45,Z-158.93

: Sonardyne - read R = 159.820000 from 159.82,X-3.46,Y16.45,Z-158.93

: Sonardyne - got all data, Vehicle coordinates,
    r=159.820000, x=158.930000, y=-3.460000, z=-16.450000 tat = 690
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.17,X-4.24,Y8.01,Z-157.91

: Sonardyne - parsing R158.17,X-4.24,Y8.01,Z-157.91

: Sonardyne - read R = 158.170000 from 158.17,X-4.24,Y8.01,Z-157.91

: Sonardyne - got all data, Vehicle coordinates,
    r=158.170000, x=157.910000, y=-4.240000, z=-8.010000 tat = 680
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.59,X-3.17,Y11.17,Z-156.16

: Sonardyne - parsing R156.59,X-3.17,Y11.17,Z-156.16

: Sonardyne - read R = 156.590000 from 156.59,X-3.17,Y11.17,Z-156.16

: Sonardyne - got all data, Vehicle coordinates,
    r=156.590000, x=156.160000, y=-3.170000, z=-11.170000 tat = 680
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.89,X-2.70,Y7.92,Z-154.66

: Sonardyne - parsing R154.89,X-2.70,Y7.92,Z-154.66

: Sonardyne - read R = 154.890000 from 154.89,X-2.70,Y7.92,Z-154.66

: Sonardyne - got all data, Vehicle coordinates,
    r=154.890000, x=154.660000, y=-2.700000, z=-7.920000 tat = 680
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.19,X-3.80,Y6.59,Z-153.00

: Sonardyne - parsing R153.19,X-3.80,Y6.59,Z-153.00

: Sonardyne - read R = 153.190000 from 153.19,X-3.80,Y6.59,Z-153.00

: Sonardyne - got all data, Vehicle coordinates,
    r=153.190000, x=153.000000, y=-3.800000, z=-6.590000 tat = 680
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R151.94,X0.30,Y27.99,Z-149.34

: Sonardyne - parsing R151.94,X0.30,Y27.99,Z-149.34

: Sonardyne - read R = 151.940000 from 151.94,X0.30,Y27.99,Z-149.34

: Sonardyne - got all data, Vehicle coordinates,
    r=151.940000, x=149.340000, y=0.300000, z=-27.990000 tat = 680
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R150.03,X-2.30,Y19.64,Z-148.72

: Sonardyne - parsing R150.03,X-2.30,Y19.64,Z-148.72

: Sonardyne - read R = 150.030000 from 150.03,X-2.30,Y19.64,Z-148.72

: Sonardyne - got all data, Vehicle coordinates,
    r=150.030000, x=148.720000, y=-2.300000, z=-19.640000 tat = 670
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R148.45,X-2.50,Y19.78,Z-147.11

: Sonardyne - parsing R148.45,X-2.50,Y19.78,Z-147.11

: Sonardyne - read R = 148.450000 from 148.45,X-2.50,Y19.78,Z-147.11

: Sonardyne - got all data, Vehicle coordinates,
    r=148.450000, x=147.110000, y=-2.500000, z=-19.780000 tat = 670
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R146.79,X-5.42,Y3.77,Z-146.65

: Sonardyne - parsing R146.79,X-5.42,Y3.77,Z-146.65

: Sonardyne - read R = 146.790000 from 146.79,X-5.42,Y3.77,Z-146.65

: Sonardyne - got all data, Vehicle coordinates,
    r=146.790000, x=146.650000, y=-5.420000, z=-3.770000 tat = 670
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.13  8.05 16.69 4.00 4.03 0   247.79 02:48:32 m

: Sonardyne - POS response: 
POS V4,1 R145.42,X-3.75,Y12.33,Z-144.85

: Sonardyne - parsing R145.42,X-3.75,Y12.33,Z-144.85

: Sonardyne - read R = 145.420000 from 145.42,X-3.75,Y12.33,Z-144.85

: Sonardyne - got all data, Vehicle coordinates,
    r=145.420000, x=144.850000, y=-3.750000, z=-12.330000 tat = 670
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R143.73,X-2.68,Y10.28,Z-143.34

: Sonardyne - parsing R143.73,X-2.68,Y10.28,Z-143.34

: Sonardyne - read R = 143.730000 from 143.73,X-2.68,Y10.28,Z-143.34

: Sonardyne - got all data, Vehicle coordinates,
    r=143.730000, x=143.340000, y=-2.680000, z=-10.280000 tat = 659
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R142.09,X-2.39,Y13.88,Z-141.39

: Sonardyne - parsing R142.09,X-2.39,Y13.88,Z-141.39

: Sonardyne - read R = 142.090000 from 142.09,X-2.39,Y13.88,Z-141.39

: Sonardyne - got all data, Vehicle coordinates,
    r=142.090000, x=141.390000, y=-2.390000, z=-13.880000 tat = 670
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.49,X-2.76,Y17.34,Z-139.39

: Sonardyne - parsing R140.49,X-2.76,Y17.34,Z-139.39

: Sonardyne - read R = 140.490000 from 140.49,X-2.76,Y17.34,Z-139.39

: Sonardyne - got all data, Vehicle coordinates,
    r=140.490000, x=139.390000, y=-2.760000, z=-17.340000 tat = 660
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.97,X-3.22,Y10.38,Z-138.54

: Sonardyne - parsing R138.97,X-3.22,Y10.38,Z-138.54

: Sonardyne - read R = 138.970000 from 138.97,X-3.22,Y10.38,Z-138.54

: Sonardyne - got all data, Vehicle coordinates,
    r=138.970000, x=138.540000, y=-3.220000, z=-10.380000 tat = 660
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.22

: Sonardyne - parsing R137.22

: Sonardyne - read R = 137.220000 from 137.22

: Sonardyne - got range only (137.220000), tat = 630
: Sonardyne - POSD response: 
POSD S128.0,N16.2,D0,U3,Q0.000966

: Sonardyne - POSD response: 
POSD S128.0,N16.2,D0,U3,Q0.000966

: 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,201730.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.48,X-2.06,Y5.74,Z-135.35

: Sonardyne - parsing R135.48,X-2.06,Y5.74,Z-135.35

: Sonardyne - read R = 135.480000 from 135.48,X-2.06,Y5.74,Z-135.35

: Sonardyne - got all data, Vehicle coordinates,
    r=135.480000, x=135.350000, y=-2.060000, z=-5.740000 tat = 650
: 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,201731.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.58,X-0.61,Y13.74,Z-132.87

: Sonardyne - parsing R133.58,X-0.61,Y13.74,Z-132.87

: Sonardyne - read R = 133.580000 from 133.58,X-0.61,Y13.74,Z-132.87

: Sonardyne - got all data, Vehicle coordinates,
    r=133.580000, x=132.870000, y=-0.610000, z=-13.740000 tat = 650
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.62,X-1.23,Y6.27,Z-131.46

: Sonardyne - parsing R131.62,X-1.23,Y6.27,Z-131.46

: Sonardyne - read R = 131.620000 from 131.62,X-1.23,Y6.27,Z-131.46

: Sonardyne - got all data, Vehicle coordinates,
    r=131.620000, x=131.460000, y=-1.230000, z=-6.270000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201733.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201733.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.72,X-1.35,Y10.57,Z-129.28

: Sonardyne - parsing R129.72,X-1.35,Y10.57,Z-129.28

: Sonardyne - read R = 129.720000 from 129.72,X-1.35,Y10.57,Z-129.28

: Sonardyne - got all data, Vehicle coordinates,
    r=129.720000, x=129.280000, y=-1.350000, z=-10.570000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201734.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201734.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  9.03 16.69 4.00 4.03 0   247.18 02:48:42 m

: Sonardyne - POS response: 
POS V4,1 R127.88,X-1.08,Y10.18,Z-127.47

: Sonardyne - parsing R127.88,X-1.08,Y10.18,Z-127.47

: Sonardyne - read R = 127.880000 from 127.88,X-1.08,Y10.18,Z-127.47

: Sonardyne - got all data, Vehicle coordinates,
    r=127.880000, x=127.470000, y=-1.080000, z=-10.180000 tat = 640
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201735.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201735.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R126.37,X-1.61,Y7.99,Z-126.11

: Sonardyne - parsing R126.37,X-1.61,Y7.99,Z-126.11

: Sonardyne - read R = 126.370000 from 126.37,X-1.61,Y7.99,Z-126.11

: Sonardyne - got all data, Vehicle coordinates,
    r=126.370000, x=126.110000, y=-1.610000, z=-7.990000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201736.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201736.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.98,X-1.43,Y13.86,Z-124.20

: Sonardyne - parsing R124.98,X-1.43,Y13.86,Z-124.20

: Sonardyne - read R = 124.980000 from 124.98,X-1.43,Y13.86,Z-124.20

: Sonardyne - got all data, Vehicle coordinates,
    r=124.980000, x=124.200000, y=-1.430000, z=-13.860000 tat = 640
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201737.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201737.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.68,X-3.51,Y-0.60,Z-123.62

: Sonardyne - parsing R123.68,X-3.51,Y-0.60,Z-123.62

: Sonardyne - read R = 123.680000 from 123.68,X-3.51,Y-0.60,Z-123.62

: Sonardyne - got all data, Vehicle coordinates,
    r=123.680000, x=123.620000, y=-3.510000, z=0.600000 tat = 640
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201738.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201738.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.76,X-1.90,Y8.43,Z-122.45

: Sonardyne - parsing R122.76,X-1.90,Y8.43,Z-122.45

: Sonardyne - read R = 122.760000 from 122.76,X-1.90,Y8.43,Z-122.45

: Sonardyne - got all data, Vehicle coordinates,
    r=122.760000, x=122.450000, y=-1.900000, z=-8.430000 tat = 640
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201739.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201739.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.07

: Sonardyne - parsing R121.07

: Sonardyne - read R = 121.070000 from 121.07

: Sonardyne - got range only (121.070000), tat = 610
: Sonardyne - POSD response: 
POSD S+140.4,N23.5,D10,U2,Q0.000065

: Sonardyne - POSD response: 
POSD S+140.4,N23.5,D10,U2,Q0.000065

: 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,201740.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201740.00,,,,,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,201741.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201741.00,,,,,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,201742.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201742.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,201743.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201743.00,,,,,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 R112.96,X-1.53,Y7.33,Z-112.71

: Sonardyne - parsing R112.96,X-1.53,Y7.33,Z-112.71

: Sonardyne - read R = 112.960000 from 112.96,X-1.53,Y7.33,Z-112.71

: Sonardyne - got all data, Vehicle coordinates,
    r=112.960000, x=112.710000, y=-1.530000, z=-7.330000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201744.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201744.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.76 16.69 4.00 4.03 0   246.21 02:48:52 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 R111.04,X-0.57,Y9.97,Z-110.59

: Sonardyne - parsing R111.04,X-0.57,Y9.97,Z-110.59

: Sonardyne - read R = 111.040000 from 111.04,X-0.57,Y9.97,Z-110.59

: Sonardyne - got all data, Vehicle coordinates,
    r=111.040000, x=110.590000, y=-0.570000, z=-9.970000 tat = 620
: AshtechGps::processRecord() - $GPGGA,201745.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201745.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

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

: Sonardyne - POS response: 
POS V4,1 R109.31,X-0.11,Y12.18,Z-108.63

: Sonardyne - parsing R109.31,X-0.11,Y12.18,Z-108.63

: Sonardyne - read R = 109.310000 from 109.31,X-0.11,Y12.18,Z-108.63

: Sonardyne - got all data, Vehicle coordinates,
    r=109.310000, x=108.630000, y=-0.110000, z=-12.180000 tat = 620
: AshtechGps::processRecord() - $GPGGA,201746.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201746.00,,,,,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 R107.49,X-1.21,Y4.78,Z-107.38

: Sonardyne - parsing R107.49,X-1.21,Y4.78,Z-107.38

: Sonardyne - read R = 107.490000 from 107.49,X-1.21,Y4.78,Z-107.38

: Sonardyne - got all data, Vehicle coordinates,
    r=107.490000, x=107.380000, y=-1.210000, z=-4.780000 tat = 620
: AshtechGps::processRecord() - $GPGGA,201747.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201747.00,,,,,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 R105.94,X-1.45,Y9.41,Z-105.51

: Sonardyne - parsing R105.94,X-1.45,Y9.41,Z-105.51

: Sonardyne - read R = 105.940000 from 105.94,X-1.45,Y9.41,Z-105.51

: Sonardyne - got all data, Vehicle coordinates,
    r=105.940000, x=105.510000, y=-1.450000, z=-9.410000 tat = 610
: AshtechGps::processRecord() - $GPGGA,201748.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201748.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R104.17

: Sonardyne - parsing R104.17

: Sonardyne - read R = 104.170000 from 104.17

: Sonardyne - got range only (104.170000), tat = 590
: Sonardyne - POSD response: 
POSD S139.3,N23.0,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.3,N23.0,D-39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201749.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201749.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R102.51,X-0.50,Y5.91,Z-102.34

: Sonardyne - parsing R102.51,X-0.50,Y5.91,Z-102.34

: Sonardyne - read R = 102.510000 from 102.51,X-0.50,Y5.91,Z-102.34

: Sonardyne - got all data, Vehicle coordinates,
    r=102.510000, x=102.340000, y=-0.500000, z=-5.910000 tat = 610
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201750.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201750.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R101.17,X-0.70,Y5.80,Z-101.01

: Sonardyne - parsing R101.17,X-0.70,Y5.80,Z-101.01

: Sonardyne - read R = 101.170000 from 101.17,X-0.70,Y5.80,Z-101.01

: Sonardyne - got all data, Vehicle coordinates,
    r=101.170000, x=101.010000, y=-0.700000, z=-5.800000 tat = 610
: AshtechGps::processRecord() - $GPGGA,201751.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201751.00,,,,,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 R99.80,X0.02,Y11.45,Z-99.14

: Sonardyne - parsing R99.80,X0.02,Y11.45,Z-99.14

: Sonardyne - read R = 99.800000 from 99.80,X0.02,Y11.45,Z-99.14

: Sonardyne - got all data, Vehicle coordinates,
    r=99.800000, x=99.140000, y=0.020000, z=-11.450000 tat = 600
: AshtechGps::processRecord() - $GPGGA,201752.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201752.00,,,,,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 R98.42,X-0.65,Y11.98,Z-97.69

: Sonardyne - parsing R98.42,X-0.65,Y11.98,Z-97.69

: Sonardyne - read R = 98.420000 from 98.42,X-0.65,Y11.98,Z-97.69

: Sonardyne - got all data, Vehicle coordinates,
    r=98.420000, x=97.690000, y=-0.650000, z=-11.980000 tat = 600
: AshtechGps::processRecord() - $GPGGA,201753.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201753.00,,,,,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 R97.12

: Sonardyne - parsing R97.12

: Sonardyne - read R = 97.120000 from 97.12

: Sonardyne - got range only (97.120000), tat = 580
: Sonardyne - POSD response: 
POSD S+141.4,N21.4,D91,U2,Q0.001837

: Sonardyne - POSD response: 
POSD S+141.4,N21.4,D91,U2,Q0.001837

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $aaq0 d- 32.09  8.49 16.69 4.00 4.03 0   245.61 02:49:02 m

: AshtechGps::processRecord() - $GPGGA,201754.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,201754.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R95.19,X-2.37,Y3.89,Z-95.08

: Sonardyne - parsing R95.19,X-2.37,Y3.89,Z-95.08

: Sonardyne - read R = 95.190000 from 95.19,X-2.37,Y3.89,Z-95.08

: Sonardyne - got all data, Vehicle coordinates,
    r=95.190000, x=95.080000, y=-2.370000, z=-3.890000 tat = 599
: Sonardyne - POSD response: 
POSD S+142.8,N33.6,D-4,U8,Q0.000127

: WaypointHoming: The Usbl has aquired the transponder!
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201755.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,201755.00,,,,,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 R93.38

: Sonardyne - parsing R93.38

: Sonardyne - read R = 93.380000 from 93.38

: Sonardyne - got range only (93.380000), tat = 570
: Sonardyne - POSD response: 
POSD S+141.2,N22.3,D117,U3,Q0.000070

: Sonardyne - POSD response: 
POSD S+141.2,N22.3,D117,U3,Q0.000070

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201756.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201756.00,,,,,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 R91.59,X-1.46,Y2.11,Z-91.55

: Sonardyne - parsing R91.59,X-1.46,Y2.11,Z-91.55

: Sonardyne - read R = 91.590000 from 91.59,X-1.46,Y2.11,Z-91.55

: Sonardyne - got all data, Vehicle coordinates,
    r=91.590000, x=91.550000, y=-1.460000, z=-2.110000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.1,N30.2,D-20,U8,Q0.000235

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201757.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201757.00,,,,,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 R90.53,X-0.19,Y3.69,Z-90.45

: Sonardyne - parsing R90.53,X-0.19,Y3.69,Z-90.45

: Sonardyne - read R = 90.530000 from 90.53,X-0.19,Y3.69,Z-90.45

: Sonardyne - got all data, Vehicle coordinates,
    r=90.530000, x=90.450000, y=-0.190000, z=-3.690000 tat = 590
: Sonardyne - POSD response: 
POSD S+143.9,N28.8,D-37,U8,Q0.000102

: AshtechGps::processRecord() - $GPGGA,201758.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201758.00,,,,,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 R88.42,X-0.53,Y4.96,Z-88.28

: Sonardyne - parsing R88.42,X-0.53,Y4.96,Z-88.28

: Sonardyne - read R = 88.420000 from 88.42,X-0.53,Y4.96,Z-88.28

: Sonardyne - got all data, Vehicle coordinates,
    r=88.420000, x=88.280000, y=-0.530000, z=-4.960000 tat = 590
: Sonardyne - POSD response: 
POSD S+141.8,N27.1,D-52,U8,Q0.000106

: AshtechGps::processRecord() - $GPGGA,201759.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201759.00,,,,,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 R87.05

: Sonardyne - parsing R87.05

: Sonardyne - read R = 87.050000 from 87.05

: Sonardyne - got range only (87.050000), tat = 560
: Sonardyne - POSD response: 
POSD S+143.3,N22.6,D-132,U3,Q0.000061

: Sonardyne - POSD response: 
POSD S+143.3,N22.6,D-132,U3,Q0.000061

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201800.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201800.00,,,,,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 R85.11

: Sonardyne - parsing R85.11

: Sonardyne - read R = 85.110000 from 85.11

: Sonardyne - got range only (85.110000), tat = 560
: Sonardyne - POSD response: 
POSD S+143.0,N24.7,D6,U4,Q0.000074

: Sonardyne - POSD response: 
POSD S+143.0,N24.7,D6,U4,Q0.000074

: AshtechGps::processRecord() - $GPGGA,201801.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201801.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R83.36,X-0.36,Y5.83,Z-83.16

: Sonardyne - parsing R83.36,X-0.36,Y5.83,Z-83.16

: Sonardyne - read R = 83.360000 from 83.36,X-0.36,Y5.83,Z-83.16

: Sonardyne - got all data, Vehicle coordinates,
    r=83.360000, x=83.160000, y=-0.360000, z=-5.830000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.1,N25.4,D-58,U8,Q0.000119

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201802.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201802.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R81.75,X-1.35,Y2.50,Z-81.70

: Sonardyne - parsing R81.75,X-1.35,Y2.50,Z-81.70

: Sonardyne - read R = 81.750000 from 81.75,X-1.35,Y2.50,Z-81.70

: Sonardyne - got all data, Vehicle coordinates,
    r=81.750000, x=81.700000, y=-1.350000, z=-2.500000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.4,N29.2,D-14,U8,Q0.000384

: AshtechGps::processRecord() - $GPGGA,201803.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201803.00,,,,,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 R80.22

: Sonardyne - parsing R80.22

: Sonardyne - read R = 80.220000 from 80.22

: Sonardyne - got range only (80.220000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.4,N36.1,D-16,U5,Q0.000087

: Sonardyne - POSD response: 
POSD S+144.4,N36.1,D-16,U5,Q0.000087

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201804.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201804.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.06  8.96 16.69 4.00 4.03 0   244.67 02:49:12 m

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

: Sonardyne - POS response: 
POS V4,1 R78.60,X-0.36,Y6.62,Z-78.32

: Sonardyne - parsing R78.60,X-0.36,Y6.62,Z-78.32

: Sonardyne - read R = 78.600000 from 78.60,X-0.36,Y6.62,Z-78.32

: Sonardyne - got all data, Vehicle coordinates,
    r=78.600000, x=78.320000, y=-0.360000, z=-6.620000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N23.3,D-114,U8,Q0.000098

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201805.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201805.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

:  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 R77.00

: Sonardyne - parsing R77.00

: Sonardyne - read R = 77.000000 from 77.00

: Sonardyne - got range only (77.000000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N32.7,D39,U3,Q0.000071

: Sonardyne - POSD response: 
POSD S+144.8,N32.7,D39,U3,Q0.000071

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201806.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201806.00,,,,,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 R75.46,X-0.11,Y2.33,Z-75.43

: Sonardyne - parsing R75.46,X-0.11,Y2.33,Z-75.43

: Sonardyne - read R = 75.460000 from 75.46,X-0.11,Y2.33,Z-75.43

: Sonardyne - got all data, Vehicle coordinates,
    r=75.460000, x=75.430000, y=-0.110000, z=-2.330000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.3,N29.8,D30,U8,Q0.000059

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201807.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201807.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R74.04,X-0.35,Y4.14,Z-73.92

: Sonardyne - parsing R74.04,X-0.35,Y4.14,Z-73.92

: Sonardyne - read R = 74.040000 from 74.04,X-0.35,Y4.14,Z-73.92

: Sonardyne - got all data, Vehicle coordinates,
    r=74.040000, x=73.920000, y=-0.350000, z=-4.140000 tat = 570
: Sonardyne - POSD response: 
POSD S135.6,N18.6,D-125,U8,Q0.000111

: AshtechGps::processRecord() - $GPGGA,201808.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201808.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.54

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

: Sonardyne - parsing R72.54

: Sonardyne - read R = 72.540000 from 72.54

: Sonardyne - got range only (72.540000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.6,N28.4,D44,U2,Q0.000053

: Sonardyne - POSD response: 
POSD S+144.6,N28.4,D44,U2,Q0.000053

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201809.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201809.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.13

: Sonardyne - parsing R71.13

: Sonardyne - read R = 71.130000 from 71.13

: Sonardyne - got range only (71.130000), tat = 540
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D25,U3,Q0.000059

: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D25,U3,Q0.000059

: AshtechGps::processRecord() - $GPGGA,201810.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201810.00,,,,,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 R69.58,X-1.00,Y6.08,Z-69.30

: Sonardyne - parsing R69.58,X-1.00,Y6.08,Z-69.30

: Sonardyne - read R = 69.580000 from 69.58,X-1.00,Y6.08,Z-69.30

: Sonardyne - got all data, Vehicle coordinates,
    r=69.580000, x=69.300000, y=-1.000000, z=-6.080000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.1,N21.4,D-101,U8,Q0.000074

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201811.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201811.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.11

: Sonardyne - parsing R68.11

: Sonardyne - read R = 68.110000 from 68.11

: Sonardyne - got range only (68.110000), tat = 540
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.8,N21.2,D134,U3,Q0.000075

: Sonardyne - POSD response: 
POSD S+143.8,N21.2,D134,U3,Q0.000075

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201812.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201812.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.18,X-0.66,Y5.65,Z-65.94

: Sonardyne - parsing R66.18,X-0.66,Y5.65,Z-65.94

: Sonardyne - read R = 66.180000 from 66.18,X-0.66,Y5.65,Z-65.94

: Sonardyne - got all data, Vehicle coordinates,
    r=66.180000, x=65.940000, y=-0.660000, z=-5.650000 tat = 560
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.1,N21.3,D-124,U8,Q0.000076

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201813.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201813.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.73

: Sonardyne - parsing R64.73

: Sonardyne - read R = 64.730000 from 64.73

: Sonardyne - got range only (64.730000), tat = 530
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.7,N27.9,D66,U3,Q0.000048

: Sonardyne - POSD response: 
POSD S+144.7,N27.9,D66,U3,Q0.000048

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201814.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201814.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.45 16.69 4.00 4.03 0   244.08 02:49:22 m

: Sonardyne - POS response: 
POS V4,1 R62.49,X-0.27,Y3.69,Z-62.38

: Sonardyne - parsing R62.49,X-0.27,Y3.69,Z-62.38

: Sonardyne - read R = 62.490000 from 62.49,X-0.27,Y3.69,Z-62.38

: Sonardyne - got all data, Vehicle coordinates,
    r=62.490000, x=62.380000, y=-0.270000, z=-3.690000 tat = 550
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.3,N26.9,D-121,U8,Q0.000068

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201815.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201815.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R60.81

: Sonardyne - parsing R60.81

: Sonardyne - read R = 60.810000 from 60.81

: Sonardyne - got range only (60.810000), tat = 530
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N23.2,D-125,U5,Q0.000051

: Sonardyne - POSD response: 
POSD S+144.6,N23.2,D-125,U5,Q0.000051

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201816.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201816.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R59.23,X-0.97,Y4.65,Z-59.04

: Sonardyne - parsing R59.23,X-0.97,Y4.65,Z-59.04

: Sonardyne - read R = 59.230000 from 59.23,X-0.97,Y4.65,Z-59.04

: Sonardyne - got all data, Vehicle coordinates,
    r=59.230000, x=59.040000, y=-0.970000, z=-4.650000 tat = 550
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.7,N28.1,D-56,U8,Q0.000046

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201817.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201817.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R57.75

: Sonardyne - parsing R57.75

: Sonardyne - read R = 57.750000 from 57.75

: Sonardyne - got range only (57.750000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N28.1,D-93,U4,Q0.000065

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

: Sonardyne - POSD response: 
POSD S+144.8,N28.1,D-93,U4,Q0.000065

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201818.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201818.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.30,X0.01,Y4.67,Z-56.11

: Sonardyne - parsing R56.30,X0.01,Y4.67,Z-56.11

: Sonardyne - read R = 56.300000 from 56.30,X0.01,Y4.67,Z-56.11

: Sonardyne - got all data, Vehicle coordinates,
    r=56.300000, x=56.110000, y=0.010000, z=-4.670000 tat = 540
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N28.9,D-55,U8,Q0.000045

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,201819.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201819.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.97,X-0.16,Y2.45,Z-54.91

: Sonardyne - parsing R54.97,X-0.16,Y2.45,Z-54.91

: Sonardyne - read R = 54.970000 from 54.97,X-0.16,Y2.45,Z-54.91

: Sonardyne - got all data, Vehicle coordinates,
    r=54.970000, x=54.910000, y=-0.160000, z=-2.450000 tat = 540
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.8,N18.9,D-147,U8,Q0.000076

: AshtechGps::processRecord() - $GPGGA,201820.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201820.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.58,X-0.32,Y2.94,Z-53.50

: Sonardyne - parsing R53.58,X-0.32,Y2.94,Z-53.50

: Sonardyne - read R = 53.580000 from 53.58,X-0.32,Y2.94,Z-53.50

: Sonardyne - got all data, Vehicle coordinates,
    r=53.580000, x=53.500000, y=-0.320000, z=-2.940000 tat = 540
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.4,N21.7,D-106,U8,Q0.000081

: AshtechGps::processRecord() - $GPGGA,201821.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201821.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.10,X-0.49,Y2.88,Z-52.01

: Sonardyne - parsing R52.10,X-0.49,Y2.88,Z-52.01

: Sonardyne - read R = 52.100000 from 52.10,X-0.49,Y2.88,Z-52.01

: Sonardyne - got all data, Vehicle coordinates,
    r=52.100000, x=52.010000, y=-0.490000, z=-2.880000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.7,N36.5,D12,U8,Q0.000056

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

: AshtechGps::processRecord() - $GPGGA,201822.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201822.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.28,X-0.44,Y4.02,Z-50.11

: Sonardyne - parsing R50.28,X-0.44,Y4.02,Z-50.11

: Sonardyne - read R = 50.280000 from 50.28,X-0.44,Y4.02,Z-50.11

: Sonardyne - got all data, Vehicle coordinates,
    r=50.280000, x=50.110000, y=-0.440000, z=-4.020000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.7,N23.5,D-97,U8,Q0.000071

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

: AshtechGps::processRecord() - $GPGGA,201823.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201823.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R48.35

: Sonardyne - parsing R48.35

: Sonardyne - read R = 48.350000 from 48.35

: Sonardyne - got range only (48.350000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N36.5,D-23,U5,Q0.000051

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

: Sonardyne - POSD response: 
POSD S+144.9,N36.5,D-23,U5,Q0.000051

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,201824.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201824.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.35 16.79 4.00 4.03 0   243.12 02:49:32 m

: Sonardyne - POS response: 
POS V4,1 R46.35

: Sonardyne - parsing R46.35

: Sonardyne - read R = 46.350000 from 46.35

: Sonardyne - got range only (46.350000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N26.6,D-62,U5,Q0.000057

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

: Sonardyne - POSD response: 
POSD S+144.8,N26.6,D-62,U5,Q0.000057

: AshtechGps::processRecord() - $GPGGA,201825.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201825.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R44.42,X-0.31,Y1.60,Z-44.39

: Sonardyne - parsing R44.42,X-0.31,Y1.60,Z-44.39

: Sonardyne - read R = 44.420000 from 44.42,X-0.31,Y1.60,Z-44.39

: Sonardyne - got all data, Vehicle coordinates,
    r=44.420000, x=44.390000, y=-0.310000, z=-1.600000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.3,N28.7,D-39,U8,Q0.000053

:  wdt = 00897,  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,201826.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201826.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.68,X0.08,Y1.36,Z-42.66

: Sonardyne - parsing R42.68,X0.08,Y1.36,Z-42.66

: Sonardyne - read R = 42.680000 from 42.68,X0.08,Y1.36,Z-42.66

: Sonardyne - got all data, Vehicle coordinates,
    r=42.680000, x=42.660000, y=0.080000, z=-1.360000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.5,N21.9,D-69,U8,Q0.000049

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

: AshtechGps::processRecord() - $GPGGA,201827.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201827.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.34,X0.15,Y1.79,Z-41.30

: Sonardyne - parsing R41.34,X0.15,Y1.79,Z-41.30

: Sonardyne - read R = 41.340000 from 41.34,X0.15,Y1.79,Z-41.30

: Sonardyne - got all data, Vehicle coordinates,
    r=41.340000, x=41.300000, y=0.150000, z=-1.790000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N20.4,D-129,U7,Q0.000052

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

: AshtechGps::processRecord() - $GPGGA,201828.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201828.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R40.10,X-0.08,Y1.21,Z-40.08

: Sonardyne - parsing R40.10,X-0.08,Y1.21,Z-40.08

: Sonardyne - read R = 40.100000 from 40.10,X-0.08,Y1.21,Z-40.08

: Sonardyne - got all data, Vehicle coordinates,
    r=40.100000, x=40.080000, y=-0.080000, z=-1.210000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N26.9,D-64,U8,Q0.000059

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

: AshtechGps::processRecord() - $GPGGA,201829.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201829.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.01,X-0.42,Y0.91,Z-39.00

: Sonardyne - parsing R39.01,X-0.42,Y0.91,Z-39.00

: Sonardyne - read R = 39.010000 from 39.01,X-0.42,Y0.91,Z-39.00

: Sonardyne - got all data, Vehicle coordinates,
    r=39.010000, x=39.000000, y=-0.420000, z=-0.910000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N36.3,D6,U8,Q0.000065

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

: AshtechGps::processRecord() - $GPGGA,201830.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201830.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.67,X-0.42,Y1.70,Z-37.63

: Sonardyne - parsing R37.67,X-0.42,Y1.70,Z-37.63

: Sonardyne - read R = 37.670000 from 37.67,X-0.42,Y1.70,Z-37.63

: Sonardyne - got all data, Vehicle coordinates,
    r=37.670000, x=37.630000, y=-0.420000, z=-1.700000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N25.1,D-82,U8,Q0.000096

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

: AshtechGps::processRecord() - $GPGGA,201831.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201831.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R36.09,X-0.26,Y1.45,Z-36.06

: Sonardyne - parsing R36.09,X-0.26,Y1.45,Z-36.06

: Sonardyne - read R = 36.090000 from 36.09,X-0.26,Y1.45,Z-36.06

: Sonardyne - got all data, Vehicle coordinates,
    r=36.090000, x=36.060000, y=-0.260000, z=-1.450000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.6,N23.1,D-98,U8,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,201832.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201832.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.24,X-0.08,Y1.22,Z-34.22

: Sonardyne - parsing R34.24,X-0.08,Y1.22,Z-34.22

: Sonardyne - read R = 34.240000 from 34.24,X-0.08,Y1.22,Z-34.22

: Sonardyne - got all data, Vehicle coordinates,
    r=34.240000, x=34.220000, y=-0.080000, z=-1.220000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N34.1,D-28,U8,Q0.000057

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

: AshtechGps::processRecord() - $GPGGA,201833.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201833.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.39,X0.16,Y1.23,Z-32.36

: Sonardyne - parsing R32.39,X0.16,Y1.23,Z-32.36

: Sonardyne - read R = 32.390000 from 32.39,X0.16,Y1.23,Z-32.36

: Sonardyne - got all data, Vehicle coordinates,
    r=32.390000, x=32.360000, y=0.160000, z=-1.230000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.1,N18.6,D-104,U7,Q0.000052

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

: BluefinBatt Reply: $aaq0 d- 32.09  7.98 16.69 4.00 4.03 0   242.49 02:49:42 m

: AshtechGps::processRecord() - $GPGGA,201834.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201834.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.63,X0.15,Y0.90,Z-30.62

: Sonardyne - parsing R30.63,X0.15,Y0.90,Z-30.62

: Sonardyne - read R = 30.630000 from 30.63,X0.15,Y0.90,Z-30.62

: Sonardyne - got all data, Vehicle coordinates,
    r=30.630000, x=30.620000, y=0.150000, z=-0.900000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N33.3,D-48,U8,Q0.000051

:  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 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201835.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201835.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.97,X0.04,Y0.70,Z-28.96

: Sonardyne - parsing R28.97,X0.04,Y0.70,Z-28.96

: Sonardyne - read R = 28.970000 from 28.97,X0.04,Y0.70,Z-28.96

: Sonardyne - got all data, Vehicle coordinates,
    r=28.970000, x=28.960000, y=0.040000, z=-0.700000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N30.9,D-40,U8,Q0.000047

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

: AshtechGps::processRecord() - $GPGGA,201836.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201836.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.40,X-0.09,Y0.65,Z-27.39

: Sonardyne - parsing R27.40,X-0.09,Y0.65,Z-27.39

: Sonardyne - read R = 27.400000 from 27.40,X-0.09,Y0.65,Z-27.39

: Sonardyne - got all data, Vehicle coordinates,
    r=27.400000, x=27.390000, y=-0.090000, z=-0.650000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N22.9,D-36,U8,Q0.000047

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

: AshtechGps::processRecord() - $GPGGA,201837.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201837.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.84,X-0.04,Y0.40,Z-25.83

: Sonardyne - parsing R25.84,X-0.04,Y0.40,Z-25.83

: Sonardyne - read R = 25.840000 from 25.84,X-0.04,Y0.40,Z-25.83

: Sonardyne - got all data, Vehicle coordinates,
    r=25.840000, x=25.830000, y=-0.040000, z=-0.400000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.9,D-32,U8,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,201838.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201838.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.37,X-0.01,Y0.36,Z-24.36

: Sonardyne - parsing R24.37,X-0.01,Y0.36,Z-24.36

: Sonardyne - read R = 24.370000 from 24.37,X-0.01,Y0.36,Z-24.36

: Sonardyne - got all data, Vehicle coordinates,
    r=24.370000, x=24.360000, y=-0.010000, z=-0.360000 tat = 499
: Sonardyne - POSD response: 
POSD S+144.9,N33.6,D-33,U8,Q0.000049

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

: AshtechGps::processRecord() - $GPGGA,201839.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201839.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.88,X0.02,Y0.20,Z-22.88

: Sonardyne - parsing R22.88,X0.02,Y0.20,Z-22.88

: Sonardyne - read R = 22.880000 from 22.88,X0.02,Y0.20,Z-22.88

: Sonardyne - got all data, Vehicle coordinates,
    r=22.880000, x=22.880000, y=0.020000, z=-0.200000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N34.6,D-32,U8,Q0.000059

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

: AshtechGps::processRecord() - $GPGGA,201840.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201840.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.37,X-0.07,Y0.10,Z-21.37

: Sonardyne - parsing R21.37,X-0.07,Y0.10,Z-21.37

: Sonardyne - read R = 21.370000 from 21.37,X-0.07,Y0.10,Z-21.37

: Sonardyne - got all data, Vehicle coordinates,
    r=21.370000, x=21.370000, y=-0.070000, z=-0.100000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N33.0,D-36,U8,Q0.000074

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

: AshtechGps::processRecord() - $GPGGA,201841.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201841.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.83,X-0.12,Y0.00,Z-19.83

: Sonardyne - parsing R19.83,X-0.12,Y0.00,Z-19.83

: Sonardyne - read R = 19.830000 from 19.83,X-0.12,Y0.00,Z-19.83

: Sonardyne - got all data, Vehicle coordinates,
    r=19.830000, x=19.830000, y=-0.120000, z=0.000000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N31.0,D-40,U8,Q0.000095

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

: AshtechGps::processRecord() - $GPGGA,201842.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201842.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.13,X-0.08,Y-0.09,Z-18.13

: Sonardyne - parsing R18.13,X-0.08,Y-0.09,Z-18.13

: Sonardyne - read R = 18.130000 from 18.13,X-0.08,Y-0.09,Z-18.13

: Sonardyne - got all data, Vehicle coordinates,
    r=18.130000, x=18.130000, y=-0.080000, z=0.090000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-44,U8,Q0.000079

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

: AshtechGps::processRecord() - $GPGGA,201843.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201843.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.49,X-0.07,Y-0.19,Z-16.49

: Sonardyne - parsing R16.49,X-0.07,Y-0.19,Z-16.49

: Sonardyne - read R = 16.490000 from 16.49,X-0.07,Y-0.19,Z-16.49

: Sonardyne - got all data, Vehicle coordinates,
    r=16.490000, x=16.490000, y=-0.070000, z=0.190000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.7,D-43,U8,Q0.000087

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

: BluefinBatt Reply: $aaq0 d- 32.09  8.12 16.79 4.00 4.03 0   241.58 02:49:52 m

: AshtechGps::processRecord() - $GPGGA,201844.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201844.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.90,X-0.07,Y-0.26,Z-14.90

: Sonardyne - parsing R14.90,X-0.07,Y-0.26,Z-14.90

: Sonardyne - read R = 14.900000 from 14.90,X-0.07,Y-0.26,Z-14.90

: Sonardyne - got all data, Vehicle coordinates,
    r=14.900000, x=14.900000, y=-0.070000, z=0.260000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N28.8,D-43,U8,Q0.000102

:  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 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201845.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201845.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.25,X-0.11,Y-0.36,Z-13.24

: Sonardyne - parsing R13.25,X-0.11,Y-0.36,Z-13.24

: Sonardyne - read R = 13.250000 from 13.25,X-0.11,Y-0.36,Z-13.24

: Sonardyne - got all data, Vehicle coordinates,
    r=13.250000, x=13.240000, y=-0.110000, z=0.360000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-44,U8,Q0.000129

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

: AshtechGps::processRecord() - $GPGGA,201846.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201846.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.61,X-0.13,Y-0.50,Z-11.60

: Sonardyne - parsing R11.61,X-0.13,Y-0.50,Z-11.60

: Sonardyne - read R = 11.610000 from 11.61,X-0.13,Y-0.50,Z-11.60

: Sonardyne - got all data, Vehicle coordinates,
    r=11.610000, x=11.600000, y=-0.130000, z=0.500000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N29.7,D-44,U8,Q0.000102

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

: AshtechGps::processRecord() - $GPGGA,201847.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201847.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.99,X-0.12,Y-0.65,Z-9.97

: Sonardyne - parsing R9.99,X-0.12,Y-0.65,Z-9.97

: Sonardyne - read R = 9.990000 from 9.99,X-0.12,Y-0.65,Z-9.97

: Sonardyne - got all data, Vehicle coordinates,
    r=9.990000, x=9.970000, y=-0.120000, z=0.650000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N29.9,D-42,U8,Q0.000182

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

: AshtechGps::processRecord() - $GPGGA,201848.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201848.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.39,X-0.13,Y-0.72,Z-8.35

: Sonardyne - parsing R8.39,X-0.13,Y-0.72,Z-8.35

: Sonardyne - read R = 8.390000 from 8.39,X-0.13,Y-0.72,Z-8.35

: Sonardyne - got all data, Vehicle coordinates,
    r=8.390000, x=8.350000, y=-0.130000, z=0.720000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N29.8,D-40,U8,Q0.000131

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

: AshtechGps::processRecord() - $GPGGA,201849.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201849.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.84,X-0.13,Y-0.84,Z-6.78

: Sonardyne - parsing R6.84,X-0.13,Y-0.84,Z-6.78

: Sonardyne - read R = 6.840000 from 6.84,X-0.13,Y-0.84,Z-6.78

: Sonardyne - got all data, Vehicle coordinates,
    r=6.840000, x=6.780000, y=-0.130000, z=0.840000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N29.8,D-41,U8,Q0.000297

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

: AshtechGps::processRecord() - $GPGGA,201850.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201850.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.31,X-0.13,Y-1.02,Z-5.21

: Sonardyne - parsing R5.31,X-0.13,Y-1.02,Z-5.21

: Sonardyne - read R = 5.310000 from 5.31,X-0.13,Y-1.02,Z-5.21

: Sonardyne - got all data, Vehicle coordinates,
    r=5.310000, x=5.210000, y=-0.130000, z=1.020000 tat = 470
: Sonardyne - POSD response: 
POSD S+145.0,N28.5,D-42,U8,Q0.002364

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

: AshtechGps::processRecord() - $GPGGA,201851.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201851.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.84

: Sonardyne - parsing R3.84

: Sonardyne - read R = 3.840000 from 3.84

: Sonardyne - got range only (3.840000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N29.2,D-41,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201852.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201852.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.53

: Sonardyne - parsing R2.53

: Sonardyne - read R = 2.530000 from 2.53

: Sonardyne - got range only (2.530000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N30.3,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+145.0,N30.3,D-36,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,201853.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201853.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.64

: Sonardyne - parsing R1.64

: Sonardyne - read R = 1.640000 from 1.64

: Sonardyne - got range only (1.640000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N33.7,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N33.7,D-24,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 32.06  9.23 16.69 4.00 4.03 0   240.91 02:50:02 m

: AshtechGps::processRecord() - $GPGGA,201854.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201854.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.01

: Sonardyne - parsing R2.01

: Sonardyne - read R = 2.010000 from 2.01

: Sonardyne - got range only (2.010000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N33.7,D23,U4,Q0.012671

: Sonardyne - POSD response: 
POSD S+144.5,N33.7,D23,U4,Q0.012671

:  WaypointHoming has set the state to finished.

: WaypointHoming (4052093.1, 600446.9), 
  reached at t = 329.20                                          (wplog)

: Vehicle Position is error is (0.1, 0.1)

: LayeredControl::execute() -- (t = 329.197448) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 329.21                            (wplog)
  The current location (N,E) = 4052093.0      , 600446.8         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 69.3 Degrees.

: LayeredControl::execute() -- (t = 329.207448) Behavior waypoint has changed to state Active

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

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201855.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201855.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.33

: Sonardyne - parsing R3.33

: Sonardyne - read R = 3.330000 from 3.33

: Sonardyne - got range only (3.330000), tat = 450
: Sonardyne - POSD response: 
POSD S130.6,N22.7,D76,U1,Q0.019439

: Sonardyne - POSD response: 
POSD S130.6,N22.7,D76,U1,Q0.019439

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

: AshtechGps::processRecord() - $GPGGA,201856.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201856.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.90,X0.50,Y0.40,Z-4.86

: Sonardyne - parsing R4.90,X0.50,Y0.40,Z-4.86

: Sonardyne - read R = 4.900000 from 4.90,X0.50,Y0.40,Z-4.86

: Sonardyne - got all data, Vehicle coordinates,
    r=4.900000, x=4.860000, y=0.500000, z=-0.400000 tat = 470
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201857.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201857.00,,,,,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,201858.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201858.00,,,,,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,201859.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201859.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,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,201900.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201900.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.74

: Sonardyne - parsing R10.74

: Sonardyne - read R = 10.740000 from 10.74

: Sonardyne - got range only (10.740000), tat = 460
: Sonardyne - POSD response: 
POSD S127.8,N31.1,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.8,N31.1,D26,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,201901.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201901.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.58

: Sonardyne - parsing R12.58

: Sonardyne - read R = 12.580000 from 12.58

: Sonardyne - got range only (12.580000), tat = 460
: Sonardyne - POSD response: 
POSD S130.6,N29.1,D30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N29.1,D30,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,201902.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201902.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.03

: Sonardyne - parsing R13.03

: Sonardyne - read R = 13.030000 from 13.03

: Sonardyne - got range only (13.030000), tat = 460
: Sonardyne - POSD response: 
POSD S128.1,N28.3,D38,U1,Q0.006179

: Sonardyne - POSD response: 
POSD S128.1,N28.3,D38,U1,Q0.006179

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

: AshtechGps::processRecord() - $GPGGA,201903.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201903.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.89

: Sonardyne - parsing R13.89

: Sonardyne - read R = 13.890000 from 13.89

: Sonardyne - got range only (13.890000), tat = 460
: Sonardyne - POSD response: 
POSD S134.3,N30.2,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.3,N30.2,D15,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,201904.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201904.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.09  8.55 16.79 4.00 4.03 0   239.96 02:50:12 m

: Sonardyne - POS response: 
POS V4,1 R14.61

: Sonardyne - parsing R14.61

: Sonardyne - read R = 14.610000 from 14.61

: Sonardyne - got range only (14.610000), tat = 470
: Sonardyne - POSD response: 
POSD S135.0,N30.9,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.0,N30.9,D13,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,201905.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201905.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R15.22

: Sonardyne - parsing R15.22

: Sonardyne - read R = 15.220000 from 15.22

: Sonardyne - got range only (15.220000), tat = 470
: Sonardyne - POSD response: 
POSD S136.6,N30.8,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.6,N30.8,D13,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,201906.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201906.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.63,X-15.46,Y2.27,Z0.00

: Sonardyne - parsing R15.63,X-15.46,Y2.27,Z0.00

: Sonardyne - read R = 15.630000 from 15.63,X-15.46,Y2.27,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=15.630000, x=0.000000, y=-15.460000, z=-2.270000 tat = 490
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201907.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201907.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.05,X11.97,Y-5.84,Z-8.95

: Sonardyne - parsing R16.05,X11.97,Y-5.84,Z-8.95

: Sonardyne - read R = 16.050000 from 16.05,X11.97,Y-5.84,Z-8.95

: Sonardyne - got all data, Vehicle coordinates,
    r=16.050000, x=8.950000, y=11.970000, z=5.840000 tat = 489
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,201908.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201908.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.49,X11.98,Y-6.48,Z-9.29

: Sonardyne - parsing R16.49,X11.98,Y-6.48,Z-9.29

: Sonardyne - read R = 16.490000 from 16.49,X11.98,Y-6.48,Z-9.29

: Sonardyne - got all data, Vehicle coordinates,
    r=16.490000, x=9.290000, y=11.980000, z=6.480000 tat = 490
: AshtechGps::processRecord() - $GPGGA,201909.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201909.00,,,,,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 R16.67

: Sonardyne - parsing R16.67

: Sonardyne - read R = 16.670000 from 16.67

: Sonardyne - got range only (16.670000), tat = 470
: Sonardyne - POSD response: 
POSD S137.5,N31.0,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.5,N31.0,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201910.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201910.00,,,,,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 R16.70

: Sonardyne - parsing R16.70

: Sonardyne - read R = 16.700000 from 16.70

: Sonardyne - got range only (16.700000), tat = 470
: Sonardyne - POSD response: 
POSD S138.2,N37.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.2,N37.9,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201911.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201911.00,,,,,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,201912.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201912.00,,,,,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,201913.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201913.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $aaq0 d- 32.02  9.26 16.79 4.00 4.03 0   239.35 02:50:22 m

: AshtechGps::processRecord() - $GPGGA,201914.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201914.00,,,,,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,N8.9,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201915.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201915.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R18.87

: Sonardyne - parsing R18.87

: Sonardyne - read R = 18.870000 from 18.87

: Sonardyne - got range only (18.870000), tat = 470
: Sonardyne - POSD response: 
POSD S130.2,N30.7,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N30.7,D18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201916.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201916.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R19.88,X11.67,Y10.69,Z-12.03

: Sonardyne - parsing R19.88,X11.67,Y10.69,Z-12.03

: Sonardyne - read R = 19.880000 from 19.88,X11.67,Y10.69,Z-12.03

: Sonardyne - got all data, Vehicle coordinates,
    r=19.880000, x=12.030000, y=11.670000, z=-10.690000 tat = 500
: AshtechGps::processRecord() - $GPGGA,201917.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201917.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R21.05

: Sonardyne - parsing R21.05

: Sonardyne - read R = 21.050000 from 21.05

: Sonardyne - got range only (21.050000), tat = 470
: Sonardyne - POSD response: 
POSD S129.7,N28.2,D7,U1,Q0.001605

: Sonardyne - POSD response: 
POSD S129.7,N28.2,D7,U1,Q0.001605

: AshtechGps::processRecord() - $GPGGA,201918.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,201918.00,,,,,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 R22.22

: Sonardyne - parsing R22.22

: Sonardyne - read R = 22.220000 from 22.22

: Sonardyne - got range only (22.220000), tat = 480
: Sonardyne - POSD response: 
POSD S122.2,N28.8,D54,U1,Q0.003706

: Sonardyne - POSD response: 
POSD S122.2,N28.8,D54,U1,Q0.003706

: AshtechGps::processRecord() - $GPGGA,201919.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,201919.00,,,,,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 R23.36,X-18.59,Y14.16,Z0.00

: Sonardyne - parsing R23.36,X-18.59,Y14.16,Z0.00

: Sonardyne - read R = 23.360000 from 23.36,X-18.59,Y14.16,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=23.360000, x=0.000000, y=-18.590000, z=-14.160000 tat = 500
: AshtechGps::processRecord() - $GPGGA,201920.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201920.00,,,,,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 R25.55

: Sonardyne - parsing R25.55

: Sonardyne - read R = 25.550000 from 25.55

: Sonardyne - got range only (25.550000), tat = 480
: Sonardyne - POSD response: 
POSD S122.0,N28.8,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.0,N28.8,D-34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201921.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201921.00,,,,,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 R29.48

: Sonardyne - parsing R29.48

: Sonardyne - read R = 29.480000 from 29.48

: Sonardyne - got range only (29.480000), tat = 490
: Sonardyne - POSD response: 
POSD S112.0,N18.8,D42,U1,Q0.003312

: Sonardyne - POSD response: 
POSD S112.0,N18.8,D42,U1,Q0.003312

: AshtechGps::processRecord() - $GPGGA,201922.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201922.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R34.33

: Sonardyne - parsing R34.33

: Sonardyne - read R = 34.330000 from 34.33

: Sonardyne - got range only (34.330000), tat = 489
: Sonardyne - POSD response: 
POSD S120.6,N19.1,D35,U5,Q0.000406

: Sonardyne - POSD response: 
POSD S120.6,N19.1,D35,U5,Q0.000406

: AshtechGps::processRecord() - $GPGGA,201923.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201923.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R31.59

: Sonardyne - parsing R31.59

: Sonardyne - read R = 31.590000 from 31.59

: Sonardyne - got range only (31.590000), tat = 490
: Sonardyne - POSD response: 
POSD S118.6,N27.0,D42,U2,Q0.002051

: Sonardyne - POSD response: 
POSD S118.6,N27.0,D42,U2,Q0.002051

: BluefinBatt Reply: $aaq0 d- 32.02  9.50 16.79 3.99 4.02 0   238.36 02:50:32 m

: AshtechGps::processRecord() - $GPGGA,201924.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201924.00,,,,,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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,201925.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201925.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,201926.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201926.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201927.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201927.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,201928.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201928.00,,,,,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,201929.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201929.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,201930.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201930.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,201931.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201931.00,,,,,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,201932.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201932.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,201933.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201933.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,201934.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201934.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.06  9.36 16.79 3.99 4.02 0   237.70 02:50:42 m

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

: AshtechGps::processRecord() - $GPGGA,201935.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201935.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

: AshtechGps::processRecord() - $GPGGA,201936.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201936.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,201937.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201937.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,201938.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,201938.00,,,,,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 R58.49

: Sonardyne - parsing R58.49

: Sonardyne - read R = 58.490000 from 58.49

: Sonardyne - got range only (58.490000), tat = 520
: Sonardyne - POSD response: 
POSD S107.6,N15.4,D47,U2,Q0.005147

: Sonardyne - POSD response: 
POSD S107.6,N15.4,D47,U2,Q0.005147

: AshtechGps::processRecord() - $GPGGA,201939.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,201939.00,,,,,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 R58.00

: Sonardyne - parsing R58.00

: Sonardyne - read R = 58.000000 from 58.00

: Sonardyne - got range only (58.000000), tat = 520
: Sonardyne - POSD response: 
POSD S111.6,N20.2,D-3,U2,Q0.012941

: Sonardyne - POSD response: 
POSD S111.6,N20.2,D-3,U2,Q0.012941

: AshtechGps::processRecord() - $GPGGA,201940.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201940.00,,,,,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,201941.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201941.00,,,,,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,201942.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201942.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 376.394215) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 376.39                            (wplog)
  The current location (N,E) = 4052111.8      , 600496.1         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 346.6 Degrees.

: LayeredControl::execute() -- (t = 376.394215) Behavior waypoint has changed to state Active

:  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,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,201943.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201943.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 32.06  8.86 16.79 4.00 4.03 0   236.70 02:50:52 m

: AshtechGps::processRecord() - $GPGGA,201944.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201944.00,,,,,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

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201945.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201945.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,201946.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201946.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,201947.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201947.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.54

: Sonardyne - parsing R68.54

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

: Sonardyne - read R = 68.540000 from 68.54

: Sonardyne - got range only (68.540000), tat = 540
: Sonardyne - POSD response: 
POSD S110.5,N19.7,D-27,U2,Q0.005223

: Sonardyne - POSD response: 
POSD S110.5,N19.7,D-27,U2,Q0.005223

: AshtechGps::processRecord() - $GPGGA,201948.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201948.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.05

: Sonardyne - parsing R68.05

: Sonardyne - read R = 68.050000 from 68.05

: Sonardyne - got range only (68.050000), tat = 540
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S115.6,N23.7,D66,U1,Q0.013417

: Sonardyne - POSD response: 
POSD S115.6,N23.7,D66,U1,Q0.013417

: AshtechGps::processRecord() - $GPGGA,201949.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201949.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,201950.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,201950.00,,,,,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,201951.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,201951.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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

: AshtechGps::processRecord() - $GPGGA,201952.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,201952.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R70.76

: Sonardyne - parsing R70.76

: Sonardyne - read R = 70.760000 from 70.76

: Sonardyne - got range only (70.760000), tat = 540
: Sonardyne - POSD response: 
POSD S125.4,N25.3,D91,U1,Q0.011042

: Sonardyne - POSD response: 
POSD S125.4,N25.3,D91,U1,Q0.011042

: AshtechGps::processRecord() - $GPGGA,201953.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,201953.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R70.88

: Sonardyne - parsing R70.88

: Sonardyne - read R = 70.880000 from 70.88

: Sonardyne - got range only (70.880000), tat = 540
: Sonardyne - POSD response: 
POSD S126.5,N29.2,D-75,U5,Q0.002461

: Sonardyne - POSD response: 
POSD S126.5,N29.2,D-75,U5,Q0.002461

: BluefinBatt Reply: $aaq0 d- 32.09  7.41 16.79 4.00 4.03 0   236.04 02:51:02 m

: AshtechGps::processRecord() - $GPGGA,201954.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,201954.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R70.14

: Sonardyne - parsing R70.14

: Sonardyne - read R = 70.140000 from 70.14

: Sonardyne - got range only (70.140000), tat = 540
: Sonardyne - POSD response: 
POSD S127.4,N25.8,D49,U3,Q0.008856

: Sonardyne - POSD response: 
POSD S127.4,N25.8,D49,U3,Q0.008856

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,201955.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,201955.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R73.84,X-54.52,Y45.11,Z-21.07

: Sonardyne - parsing R73.84,X-54.52,Y45.11,Z-21.07

: Sonardyne - read R = 73.840000 from 73.84,X-54.52,Y45.11,Z-21.07

: Sonardyne - got all data, Vehicle coordinates,
    r=73.840000, x=21.070000, y=-54.520000, z=-45.110000 tat = 570
: AshtechGps::processRecord() - $GPGGA,201956.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,201956.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R69.57

: Sonardyne - parsing R69.57

: Sonardyne - read R = 69.570000 from 69.57

: Sonardyne - got range only (69.570000), tat = 540
: Sonardyne - POSD response: 
POSD S136.0,N33.1,D-4,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S136.0,N33.1,D-4,U1,Q0.019270

: AshtechGps::processRecord() - $GPGGA,201957.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,201957.00,,,,,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 R69.64

: Sonardyne - parsing R69.64

: Sonardyne - read R = 69.640000 from 69.64

: Sonardyne - got range only (69.640000), tat = 540
: Sonardyne - POSD response: 
POSD S138.4,N32.2,D-20,U1,Q0.011384

: Sonardyne - POSD response: 
POSD S138.4,N32.2,D-20,U1,Q0.011384

: AshtechGps::processRecord() - $GPGGA,201958.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,201958.00,,,,,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 R68.65

: Sonardyne - parsing R68.65

: Sonardyne - read R = 68.650000 from 68.65

: Sonardyne - got range only (68.650000), tat = 540
: Sonardyne - POSD response: 
POSD S138.0,N26.9,D26,U3,Q0.004591

: Sonardyne - POSD response: 
POSD S138.0,N26.9,D26,U3,Q0.004591

: AshtechGps::processRecord() - $GPGGA,201959.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,201959.00,,,,,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 R68.14

: Sonardyne - parsing R68.14

: Sonardyne - read R = 68.140000 from 68.14

: Sonardyne - got range only (68.140000), tat = 540
: Sonardyne - POSD response: 
POSD S135.2,N22.8,D73,U4,Q0.005762

: Sonardyne - POSD response: 
POSD S135.2,N22.8,D73,U4,Q0.005762

: AshtechGps::processRecord() - $GPGGA,202000.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202000.00,,,,,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 R67.72

: Sonardyne - parsing R67.72

: Sonardyne - read R = 67.720000 from 67.72

: Sonardyne - got range only (67.720000), tat = 540
: Sonardyne - POSD response: 
POSD S135.0,N33.6,D-3,U1,Q0.010945

: Sonardyne - POSD response: 
POSD S135.0,N33.6,D-3,U1,Q0.010945

: AshtechGps::processRecord() - $GPGGA,202001.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202001.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202002.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202002.00,,,,,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,202003.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202003.00,,,,,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- 32.02  9.33 16.79 4.00 4.03 0   235.08 02:51:12 m

: AshtechGps::processRecord() - $GPGGA,202004.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202004.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,202005.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202005.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.03

: Sonardyne - parsing R66.03

: Sonardyne - read R = 66.030000 from 66.03

: Sonardyne - got range only (66.030000), tat = 540
: Sonardyne - POSD response: 
POSD S126.4,N25.2,D55,U3,Q0.004384

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

: Sonardyne - POSD response: 
POSD S126.4,N25.2,D55,U3,Q0.004384

: AshtechGps::processRecord() - $GPGGA,202006.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202006.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.67,X51.12,Y39.29,Z-12.50

: Sonardyne - parsing R65.67,X51.12,Y39.29,Z-12.50

: Sonardyne - read R = 65.670000 from 65.67,X51.12,Y39.29,Z-12.50

: Sonardyne - got all data, Vehicle coordinates,
    r=65.670000, x=12.500000, y=51.120000, z=-39.290000 tat = 559
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202007.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202007.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.23,X52.37,Y-14.83,Z-37.73

: Sonardyne - parsing R66.23,X52.37,Y-14.83,Z-37.73

: Sonardyne - read R = 66.230000 from 66.23,X52.37,Y-14.83,Z-37.73

: Sonardyne - got all data, Vehicle coordinates,
    r=66.230000, x=37.730000, y=52.370000, z=14.830000 tat = 560
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202008.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202008.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.34

: Sonardyne - parsing R66.34

: Sonardyne - read R = 66.340000 from 66.34

: Sonardyne - got range only (66.340000), tat = 540
: Sonardyne - POSD response: 
POSD S125.8,N28.9,D11,U2,Q0.007902

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

: Sonardyne - POSD response: 
POSD S125.8,N28.9,D11,U2,Q0.007902

: AshtechGps::processRecord() - $GPGGA,202009.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202009.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.27

: Sonardyne - parsing R66.27

: Sonardyne - read R = 66.270000 from 66.27

: Sonardyne - got range only (66.270000), tat = 540
: Sonardyne - POSD response: 
POSD S132.8,N33.4,D8,U5,Q0.001063

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

: Sonardyne - POSD response: 
POSD S132.8,N33.4,D8,U5,Q0.001063

: AshtechGps::processRecord() - $GPGGA,202010.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202010.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.96

: Sonardyne - parsing R65.96

: Sonardyne - read R = 65.960000 from 65.96

: Sonardyne - got range only (65.960000), tat = 540
: Sonardyne - POSD response: 
POSD S129.1,N29.1,D16,U1,Q0.008397

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

: Sonardyne - POSD response: 
POSD S129.1,N29.1,D16,U1,Q0.008397

: AshtechGps::processRecord() - $GPGGA,202011.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202011.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.17

: Sonardyne - parsing R66.17

: Sonardyne - read R = 66.170000 from 66.17

: Sonardyne - got range only (66.170000), tat = 540
: Sonardyne - POSD response: 
POSD S126.1,N25.5,D60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.1,N25.5,D60,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,202012.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202012.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.35

: Sonardyne - parsing R67.35

: Sonardyne - read R = 67.350000 from 67.35

: Sonardyne - got range only (67.350000), tat = 540
: Sonardyne - POSD response: 
POSD S125.6,N31.7,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N31.7,D29,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,202013.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202013.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.57

: Sonardyne - parsing R67.57

: Sonardyne - read R = 67.570000 from 67.57

: Sonardyne - got range only (67.570000), tat = 540
: Sonardyne - POSD response: 
POSD S124.5,N23.1,D60,U3,Q0.003983

: Sonardyne - POSD response: 
POSD S124.5,N23.1,D60,U3,Q0.003983

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

: BluefinBatt Reply: $aaq0 d- 32.02  8.59 16.79 4.00 4.03 0   234.43 02:51:22 m

: AshtechGps::processRecord() - $GPGGA,202014.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202014.00,,,,,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 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,202015.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202015.00,,,,,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,202016.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202016.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,202017.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202017.00,,,,,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 R70.82

: Sonardyne - parsing R70.82

: Sonardyne - read R = 70.820000 from 70.82

: Sonardyne - got range only (70.820000), tat = 540
: Sonardyne - POSD response: 
POSD S118.1,N28.8,D14,U2,Q0.014926

: Sonardyne - POSD response: 
POSD S118.1,N28.8,D14,U2,Q0.014926

: AshtechGps::processRecord() - $GPGGA,202018.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202018.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R71.76

: Sonardyne - parsing R71.76

: Sonardyne - read R = 71.760000 from 71.76

: Sonardyne - got range only (71.760000), tat = 540
: Sonardyne - POSD response: 
POSD S115.7,N21.7,D-127,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.7,N21.7,D-127,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202019.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202019.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R72.67

: Sonardyne - parsing R72.67

: Sonardyne - read R = 72.670000 from 72.67

: Sonardyne - got range only (72.670000), tat = 540
: Sonardyne - POSD response: 
POSD S121.2,N22.5,D77,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.2,N22.5,D77,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202020.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202020.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R79.30

: Sonardyne - parsing R79.30

: Sonardyne - read R = 79.300000 from 79.30

: Sonardyne - got range only (79.300000), tat = 599
: Sonardyne - POSD response: 
POSD S113.9,N26.8,D12,U2,Q0.005847

: Sonardyne - POSD response: 
POSD S113.9,N26.8,D12,U2,Q0.005847

: AshtechGps::processRecord() - $GPGGA,202021.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202021.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R74.73,X10.84,Y-13.78,Z-72.64

: Sonardyne - parsing R74.73,X10.84,Y-13.78,Z-72.64

: Sonardyne - read R = 74.730000 from 74.73,X10.84,Y-13.78,Z-72.64

: Sonardyne - got all data, Vehicle coordinates,
    r=74.730000, x=72.640000, y=10.840000, z=13.780000 tat = 570
: AshtechGps::processRecord() - $GPGGA,202022.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202022.00,,,,,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,202023.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202023.00,,,,,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- 32.02  9.43 16.89 3.99 4.02 0   233.45 02:51:32 m

: AshtechGps::processRecord() - $GPGGA,202024.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202024.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202025.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202025.00,,,,,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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,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,202026.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202026.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202027.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202027.00,,,,,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,202028.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202028.00,,,,,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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202029.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202029.00,,,,,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,202030.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202030.00,,,,,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,202031.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202031.00,,,,,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,202032.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202032.00,,,,,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,N10.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,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,202033.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202033.00,,,,,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,202034.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202034.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  9.36 16.89 3.99 4.02 0   232.83 02:51:42 m

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

: AshtechGps::processRecord() - $GPGGA,202035.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202035.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,202036.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202036.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202037.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202037.00,,,,,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,202038.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202038.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202039.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202039.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,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,202040.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202040.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202041.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202041.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202042.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202042.00,,,,,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,202043.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202043.00,,,,,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 R104.80

: Sonardyne - parsing R104.80

: Sonardyne - read R = 104.800000 from 104.80

: Sonardyne - got range only (104.800000), tat = 590
: Sonardyne - POSD response: 
POSD S109.4,N23.8,D-14,U1,Q0.000964

: Sonardyne - POSD response: 
POSD S109.4,N23.8,D-14,U1,Q0.000964

: AshtechGps::processRecord() - $GPGGA,202044.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202044.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  9.87 16.89 4.00 4.03 0   231.94 02:51:52 m

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

: AshtechGps::processRecord() - $GPGGA,202045.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202045.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

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

: AshtechGps::processRecord() - $GPGGA,202046.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202046.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,202047.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202047.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202048.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202048.00,,,,,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,202049.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202049.00,,,,,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,202050.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202050.00,,,,,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 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,202051.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202051.00,,,,,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,202052.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202052.00,,,,,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,202053.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202053.00,,,,,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,202054.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202054.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  9.30 16.89 4.00 4.03 0   231.30 02:52:02 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,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,202055.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202055.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - POS response: 
POS V4,1 R141.01

: Sonardyne - parsing R141.01

: Sonardyne - read R = 141.010000 from 141.01

: Sonardyne - got range only (141.010000), tat = 640
: Sonardyne - POSD response: 
POSD S106.5,N20.8,D18,U1,Q0.002378

: Sonardyne - POSD response: 
POSD S106.5,N20.8,D18,U1,Q0.002378

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

: AshtechGps::processRecord() - $GPGGA,202056.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202056.00,,,,,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,202057.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202057.00,,,,,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,202058.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202058.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202059.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202059.00,,,,,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,202100.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202100.00,,,,,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,202101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202101.00,,,,,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,202102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202102.00,,,,,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 = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202103.00,,,,,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- 32.02  9.03 16.89 3.99 4.02 0   230.38 02:52:12 m

: AshtechGps::processRecord() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202104.00,,,,,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 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202106.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202106.00,,,,,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,202107.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202107.00,,,,,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,202108.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202108.00,,,,,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,202109.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,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,202110.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202112.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202112.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202113.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202113.00,,,,,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- 32.02  8.96 16.89 3.99 4.02 0   229.75 02:52:22 m

: AshtechGps::processRecord() - $GPGGA,202114.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202114.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202115.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202115.00,,,,,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,202116.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202116.00,,,,,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,N8.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202117.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202117.00,,,,,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,202118.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202118.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202120.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202120.00,,,,,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,202121.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202121.00,,,,,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,202122.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202122.00,,,,,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,202123.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202123.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.5,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- 32.02  9.33 16.89 3.99 4.02 0   228.84 02:52:32 m

: AshtechGps::processRecord() - $GPGGA,202124.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202124.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202125.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202125.00,,,,,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,202126.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202126.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202127.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202127.00,,,,,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,202128.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202128.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202129.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202129.00,,,,,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,202130.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202130.00,,,,,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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202131.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202131.00,,,,,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,202132.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202132.00,,,,,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,202133.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202133.00,,,,,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,N7.7,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.98  9.03 16.89 3.99 4.02 0   228.22 02:52:42 m

: AshtechGps::processRecord() - $GPGGA,202134.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202134.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202135.00,,,,,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,202136.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202136.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202137.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202137.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,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,202138.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202138.00,,,,,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,202139.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202139.00,,,,,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,202140.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202140.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202141.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202141.00,,,,,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,202142.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202142.00,,,,,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,202143.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202143.00,,,,,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,202144.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  7.85 16.89 3.99 4.02 0   227.29 02:52:52 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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,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,202145.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202145.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

: AshtechGps::processRecord() - $GPGGA,202146.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202146.00,,,,,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,202147.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202147.00,,,,,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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,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,202148.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202148.00,,,,,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,202149.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202149.00,,,,,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,202150.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202150.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202152.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202152.00,,,,,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,202153.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202153.00,,,,,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,202154.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  8.96 16.89 3.99 4.02 0   226.70 02:53:02 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

: AshtechGps::processRecord() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,202157.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202157.00,,,,,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,202158.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202158.00,,,,,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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202159.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202159.00,,,,,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,202200.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202200.00,,,,,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,202201.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202201.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202202.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202202.00,,,,,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,202203.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202203.00,,,,,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- 31.98  9.16 16.89 3.99 4.02 0   225.76 02:53:12 m

: AshtechGps::processRecord() - $GPGGA,202204.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202204.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,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,202206.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202206.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202207.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202207.00,,,,,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,202208.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202209.00,,,,,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,202210.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202210.00,,,,,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,202211.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202211.00,,,,,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,202212.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202212.00,,,,,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,N9.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,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,202213.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202213.00,,,,,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- 31.98  8.99 16.89 3.99 4.02 0   225.16 02:53:22 m

: AshtechGps::processRecord() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202215.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202215.00,,,,,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,N5.1,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,202216.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202217.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202217.00,,,,,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,202218.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202218.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202219.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202219.00,,,,,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,N13.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.0,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,202220.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202220.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202222.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202222.00,,,,,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,N6.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202223.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202223.00,,,,,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,202224.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202224.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  8.32 16.89 3.99 4.02 0   224.25 02:53:32 m

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

: AshtechGps::processRecord() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

: AshtechGps::processRecord() - $GPGGA,202226.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202226.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202227.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202227.00,,,,,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,202228.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202228.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,202229.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202229.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202231.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202231.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202232.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202232.00,,,,,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,202233.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202233.00,,,,,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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 32.02  8.12 16.89 3.99 4.02 0   223.65 02:53:42 m

: AshtechGps::processRecord() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202235.00,,,,,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,202236.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202236.00,,,,,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,N8.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202237.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202237.00,,,,,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,202238.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202238.00,,,,,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,202239.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202239.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,202240.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202240.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202241.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202241.00,,,,,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,202242.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202242.00,,,,,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,202243.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202243.00,,,,,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,N6.3,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.98  8.82 16.89 3.99 4.02 0   222.71 02:53:52 m

: AshtechGps::processRecord() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202247.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202247.00,,,,,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,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,202248.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202248.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,202249.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202249.00,,,,,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,202250.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202250.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,202252.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202252.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202253.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202253.00,,,,,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,202254.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202254.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.98  7.95 16.89 3.99 4.02 0   222.05 02:54:02 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,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,202255.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202255.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

:  wdt = 00899,  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 = 570.20                                          (wplog)

: Vehicle Position is error is (-0.1, 0.7)

: LayeredControl::execute() -- (t = 570.200939) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 570.210938) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202256.00,,,,,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,202257.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202257.00,,,,,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 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,202258.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202258.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,202259.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202259.00,,,,,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,202300.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202300.00,,,,,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,202301.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202301.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202303.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202303.00,,,,,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,202304.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202304.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.06  7.17 16.89 3.99 4.02 0   221.14 02:54:12 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,N12.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

: AshtechGps::processRecord() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.45

: Sonardyne - parsing R319.45

: Sonardyne - read R = 319.450000 from 319.45

: Sonardyne - got range only (319.450000), tat = 880
: Sonardyne - POSD response: 
POSD S109.9,N25.8,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.9,N25.8,D-34,U0,Q0.000000

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

: LayeredControl::execute() -- (t = 581.200185) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 581.200185) Behavior getgps has changed to state Active

: AshtechGps::processRecord() - $GPGGA,202307.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202307.00,,,,,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 R319.03,X277.21,Y-34.07,Z-154.18

: Sonardyne - parsing R319.03,X277.21,Y-34.07,Z-154.18

: Sonardyne - read R = 319.030000 from 319.03,X277.21,Y-34.07,Z-154.18

: Sonardyne - got all data, Vehicle coordinates,
    r=319.030000, x=154.180000, y=277.210000, z=34.070000 tat = 910
: AshtechGps::processRecord() - $GPGGA,202308.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202308.00,,,,,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,202309.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202309.00,,,,,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,202310.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202310.00,,,,,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,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202311.00,,,,,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,202312.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R316.56,X164.14,Y-6.87,Z-270.60

: Sonardyne - parsing R316.56,X164.14,Y-6.87,Z-270.60

: Sonardyne - read R = 316.560000 from 316.56,X164.14,Y-6.87,Z-270.60

: Sonardyne - got all data, Vehicle coordinates,
    r=316.560000, x=270.600000, y=164.140000, z=6.870000 tat = 900
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.86,X151.00,Y6.85,Z-276.21

: Sonardyne - parsing R314.86,X151.00,Y6.85,Z-276.21

: Sonardyne - read R = 314.860000 from 314.86,X151.00,Y6.85,Z-276.21

: Sonardyne - got all data, Vehicle coordinates,
    r=314.860000, x=276.210000, y=151.000000, z=-6.850000 tat = 890
:  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  3.13 16.89 3.99 4.02 0   220.73 02:54:22 m

: AshtechGps::processRecord() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.14,X129.71,Y-1.04,Z-286.11

: Sonardyne - parsing R314.14,X129.71,Y-1.04,Z-286.11

: Sonardyne - read R = 314.140000 from 314.14,X129.71,Y-1.04,Z-286.11

: Sonardyne - got all data, Vehicle coordinates,
    r=314.140000, x=286.110000, y=129.710000, z=1.040000 tat = 900
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.80,X139.22,Y34.90,Z-280.17

: Sonardyne - parsing R314.80,X139.22,Y34.90,Z-280.17

: Sonardyne - read R = 314.800000 from 314.80,X139.22,Y34.90,Z-280.17

: Sonardyne - got all data, Vehicle coordinates,
    r=314.800000, x=280.170000, y=139.220000, z=-34.900000 tat = 900
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R314.12,X109.37,Y-16.42,Z-294.01

: Sonardyne - parsing R314.12,X109.37,Y-16.42,Z-294.01

: Sonardyne - read R = 314.120000 from 314.12,X109.37,Y-16.42,Z-294.01

: Sonardyne - got all data, Vehicle coordinates,
    r=314.120000, x=294.010000, y=109.370000, z=16.420000 tat = 899
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R313.59,X94.56,Y3.67,Z-298.97

: Sonardyne - parsing R313.59,X94.56,Y3.67,Z-298.97

: Sonardyne - read R = 313.590000 from 313.59,X94.56,Y3.67,Z-298.97

: Sonardyne - got all data, Vehicle coordinates,
    r=313.590000, x=298.970000, y=94.560000, z=-3.670000 tat = 890
:  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 R313.04

: Sonardyne - parsing R313.04

: Sonardyne - read R = 313.040000 from 313.04

: Sonardyne - got range only (313.040000), tat = 870
: AshtechGps::processRecord() - $GPGGA,202318.00,3636.72155,N,12152.58162,W,1,10,1.0,-1.31,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202318.00,3636.72155,N,12152.58162,W,1,10,1.0,-1.31,M,-33.21,M,,*7D


: successfully parse sentence at 20:23:18

: AshtechGPS::processRecord -sample time is 1142281398
: Sonardyne - POSD response: 
POSD S127.6,N24.4,D95,U5,Q0.004840

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POSD response: 
POSD S127.6,N24.4,D95,U5,Q0.004840

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

: AshtechGps::processRecord() - $GPGGA,202319.00,3636.72101,N,12152.58135,W,1,10,1.0,-1.43,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202319.00,3636.72101,N,12152.58135,W,1,10,1.0,-1.43,M,-33.21,M,,*7A


: successfully parse sentence at 20:23:19

: AshtechGPS::processRecord -sample time is 1142281399
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202320.00,3636.72068,N,12152.58101,W,1,10,1.0,-2.20,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202320.00,3636.72068,N,12152.58101,W,1,10,1.0,-2.20,M,-33.21,M,,*7F


: successfully parse sentence at 20:23:20

: AshtechGPS::processRecord -sample time is 1142281400
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202321.00,3636.72035,N,12152.58087,W,1,10,1.0,-2.28,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202321.00,3636.72035,N,12152.58087,W,1,10,1.0,-2.28,M,-33.21,M,,*71


: successfully parse sentence at 20:23:21

: AshtechGPS::processRecord -sample time is 1142281401
: GetGPS::execute() -- Got a new GPS hit: 4 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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,202322.00,3636.72011,N,12152.58077,W,1,10,1.0,-2.56,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,202322.00,3636.72011,N,12152.58077,W,1,10,1.0,-2.56,M,-33.21,M,,*72


: successfully parse sentence at 20:23:22

: AshtechGPS::processRecord -sample time is 1142281402
: GetGPS::execute() -- Got a new GPS hit: 5 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 R310.03,X18.60,Y-14.14,Z-309.15

: Sonardyne - parsing R310.03,X18.60,Y-14.14,Z-309.15

: Sonardyne - read R = 310.030000 from 310.03,X18.60,Y-14.14,Z-309.15

: Sonardyne - got all data, Vehicle coordinates,
    r=310.030000, x=309.150000, y=18.600000, z=14.140000 tat = 890
: AshtechGps::processRecord() - $GPGGA,202323.00,3636.71990,N,12152.58083,W,1,10,1.0,-2.74,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202323.00,3636.71990,N,12152.58083,W,1,10,1.0,-2.74,M,-33.21,M,,*7B


: successfully parse sentence at 20:23:23

: AshtechGPS::processRecord -sample time is 1142281403
: GetGPS::execute() -- Got a new GPS hit: 6 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 R310.55,X27.66,Y13.45,Z-309.02

: Sonardyne - parsing R310.55,X27.66,Y13.45,Z-309.02

: Sonardyne - read R = 310.550000 from 310.55,X27.66,Y13.45,Z-309.02

: Sonardyne - got all data, Vehicle coordinates,
    r=310.550000, x=309.020000, y=27.660000, z=-13.450000 tat = 890
: BluefinBatt Reply: $aaq0 d- 32.17  4.98 16.99 4.01 4.04 0   220.28 02:54:32 m

: AshtechGps::processRecord() - $GPGGA,202324.00,3636.71970,N,12152.58080,W,1,10,1.0,-2.59,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202324.00,3636.71970,N,12152.58080,W,1,10,1.0,-2.59,M,-33.21,M,,*7E


: successfully parse sentence at 20:23:24

: AshtechGPS::processRecord -sample time is 1142281404
: GetGPS::execute() -- Got a new GPS hit: 7 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 R313.83

: Sonardyne - parsing R313.83

: Sonardyne - read R = 313.830000 from 313.83

: Sonardyne - got range only (313.830000), tat = 870
: Sonardyne - POSD response: 
POSD S125.4,N29.8,D-30,U1,Q0.014933

: Sonardyne - POSD response: 
POSD S125.4,N29.8,D-30,U1,Q0.014933

: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,202325.00,3636.71941,N,12152.58067,W,1,10,1.0,-2.47,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202325.00,3636.71941,N,12152.58067,W,1,10,1.0,-2.47,M,-33.21,M,,*7B


: successfully parse sentence at 20:23:25

: AshtechGPS::processRecord -sample time is 1142281405
: GetGPS::execute() -- Got a new GPS hit: 8 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 R311.46

: Sonardyne - parsing R311.46

: Sonardyne - read R = 311.460000 from 311.46

: Sonardyne - got range only (311.460000), tat = 870
: Sonardyne - POSD response: 
POSD S124.6,N18.1,D-46,U2,Q0.000588

: Sonardyne - POSD response: 
POSD S124.6,N18.1,D-46,U2,Q0.000588

: AshtechGps::processRecord() - $GPGGA,202326.00,3636.71913,N,12152.58073,W,1,10,1.0,-2.43,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202326.00,3636.71913,N,12152.58073,W,1,10,1.0,-2.43,M,-33.21,M,,*7E


: successfully parse sentence at 20:23:26

: AshtechGPS::processRecord -sample time is 1142281406
: GetGPS::execute() -- Got a new GPS hit: 9 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 R311.37

: Sonardyne - parsing R311.37

: Sonardyne - read R = 311.370000 from 311.37

: Sonardyne - got range only (311.370000), tat = 870
: Sonardyne - POSD response: 
POSD S123.0,N20.8,D-103,U3,Q0.000786

: Sonardyne - POSD response: 
POSD S123.0,N20.8,D-103,U3,Q0.000786

: AshtechGps::processRecord() - $GPGGA,202327.00,3636.71889,N,12152.58064,W,1,10,1.0,-2.37,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,202327.00,3636.71889,N,12152.58064,W,1,10,1.0,-2.37,M,-33.21,M,,*78


: successfully parse sentence at 20:23:27

: AshtechGPS::processRecord -sample time is 1142281407
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 601.398801) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 601.398801) Behavior setpoint has changed to state Active

:  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 R307.80,X-15.57,Y12.97,Z-307.13

: Sonardyne - parsing R307.80,X-15.57,Y12.97,Z-307.13

: Sonardyne - read R = 307.800000 from 307.80,X-15.57,Y12.97,Z-307.13

: Sonardyne - got all data, Vehicle coordinates,
    r=307.800000, x=307.130000, y=-15.570000, z=-12.970000 tat = 890
: AshtechGps::processRecord() - $GPGGA,202328.00,3636.71859,N,12152.58054,W,1,10,1.0,-2.29,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,202328.00,3636.71859,N,12152.58054,W,1,10,1.0,-2.29,M,-33.21,M,,*76


: successfully parse sentence at 20:23:28

: AshtechGPS::processRecord -sample time is 1142281408
:  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 R306.90,X-17.01,Y-0.58,Z-306.43

: Sonardyne - parsing R306.90,X-17.01,Y-0.58,Z-306.43

: Sonardyne - read R = 306.900000 from 306.90,X-17.01,Y-0.58,Z-306.43

: Sonardyne - got all data, Vehicle coordinates,
    r=306.900000, x=306.430000, y=-17.010000, z=0.580000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202329.00,3636.71829,N,12152.58054,W,1,10,1.0,-2.23,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202329.00,3636.71829,N,12152.58054,W,1,10,1.0,-2.23,M,-33.21,M,,*7A


: successfully parse sentence at 20:23:29

: AshtechGPS::processRecord -sample time is 1142281409
:  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 R305.82,X-23.97,Y8.44,Z-304.77

: Sonardyne - parsing R305.82,X-23.97,Y8.44,Z-304.77

: Sonardyne - read R = 305.820000 from 305.82,X-23.97,Y8.44,Z-304.77

: Sonardyne - got all data, Vehicle coordinates,
    r=305.820000, x=304.770000, y=-23.970000, z=-8.440000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202330.00,3636.71795,N,12152.58036,W,1,10,1.0,-2.17,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,202330.00,3636.71795,N,12152.58036,W,1,10,1.0,-2.17,M,-33.21,M,,*79


: successfully parse sentence at 20:23:30

: AshtechGPS::processRecord -sample time is 1142281410
:  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 R305.13,X-39.90,Y4.00,Z-302.48

: Sonardyne - parsing R305.13,X-39.90,Y4.00,Z-302.48

: Sonardyne - read R = 305.130000 from 305.13,X-39.90,Y4.00,Z-302.48

: Sonardyne - got all data, Vehicle coordinates,
    r=305.130000, x=302.480000, y=-39.900000, z=-4.000000 tat = 879
: AshtechGps::processRecord() - $GPGGA,202331.00,3636.71760,N,12152.58041,W,1,10,1.0,-2.15,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,202331.00,3636.71760,N,12152.58041,W,1,10,1.0,-2.15,M,-33.21,M,,*70


: successfully parse sentence at 20:23:31

: AshtechGPS::processRecord -sample time is 1142281411
:  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 R304.49,X-61.32,Y8.40,Z-298.14

: Sonardyne - parsing R304.49,X-61.32,Y8.40,Z-298.14

: Sonardyne - read R = 304.490000 from 304.49,X-61.32,Y8.40,Z-298.14

: Sonardyne - got all data, Vehicle coordinates,
    r=304.490000, x=298.140000, y=-61.320000, z=-8.400000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202332.00,3636.71719,N,12152.58033,W,1,10,1.0,-2.26,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,202332.00,3636.71719,N,12152.58033,W,1,10,1.0,-2.26,M,-33.21,M,,*78


: successfully parse sentence at 20:23:32

: AshtechGPS::processRecord -sample time is 1142281412
:  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 R303.94,X-94.19,Y11.86,Z-288.74

: Sonardyne - parsing R303.94,X-94.19,Y11.86,Z-288.74

: Sonardyne - read R = 303.940000 from 303.94,X-94.19,Y11.86,Z-288.74

: Sonardyne - got all data, Vehicle coordinates,
    r=303.940000, x=288.740000, y=-94.190000, z=-11.860000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202333.00,3636.71673,N,12152.58030,W,1,10,1.0,-2.46,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202333.00,3636.71673,N,12152.58030,W,1,10,1.0,-2.46,M,-33.21,M,,*71


: successfully parse sentence at 20:23:33

: AshtechGPS::processRecord -sample time is 1142281413
:  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 R305.21,X-120.25,Y44.23,Z-277.01

: Sonardyne - parsing R305.21,X-120.25,Y44.23,Z-277.01

: Sonardyne - read R = 305.210000 from 305.21,X-120.25,Y44.23,Z-277.01

: Sonardyne - got all data, Vehicle coordinates,
    r=305.210000, x=277.010000, y=-120.250000, z=-44.230000 tat = 890
: BluefinBatt Reply: $aaq0 d- 31.98  9.26 16.89 4.01 4.04 0   219.87 02:54:42 m

: AshtechGps::processRecord() - $GPGGA,202334.00,3636.71635,N,12152.58051,W,1,10,1.0,-2.62,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202334.00,3636.71635,N,12152.58051,W,1,10,1.0,-2.62,M,-33.21,M,,*75


: successfully parse sentence at 20:23:34

: AshtechGPS::processRecord -sample time is 1142281414
:  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 R302.84,X-148.16,Y24.34,Z-262.99

: Sonardyne - parsing R302.84,X-148.16,Y24.34,Z-262.99

: Sonardyne - read R = 302.840000 from 302.84,X-148.16,Y24.34,Z-262.99

: Sonardyne - got all data, Vehicle coordinates,
    r=302.840000, x=262.990000, y=-148.160000, z=-24.340000 tat = 880
: batts online 1, min cell voltage 4.010000, mean min cell voltage 4.010000

: AshtechGps::processRecord() - $GPGGA,202335.00,3636.71588,N,12152.58072,W,1,10,1.0,-2.53,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,202335.00,3636.71588,N,12152.58072,W,1,10,1.0,-2.53,M,-33.21,M,,*72


: successfully parse sentence at 20:23:35

: AshtechGPS::processRecord -sample time is 1142281415
:  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 R303.00,X-188.08,Y21.57,Z-236.58

: Sonardyne - parsing R303.00,X-188.08,Y21.57,Z-236.58

: Sonardyne - read R = 303.000000 from 303.00,X-188.08,Y21.57,Z-236.58

: Sonardyne - got all data, Vehicle coordinates,
    r=303.000000, x=236.580000, y=-188.080000, z=-21.570000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202336.00,3636.71535,N,12152.58104,W,1,10,1.0,-2.44,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202336.00,3636.71535,N,12152.58104,W,1,10,1.0,-2.44,M,-33.21,M,,*71


: successfully parse sentence at 20:23:36

: AshtechGPS::processRecord -sample time is 1142281416
:  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 R302.69

: Sonardyne - parsing R302.69

: Sonardyne - read R = 302.690000 from 302.69

: Sonardyne - got range only (302.690000), tat = 860
: Sonardyne - POSD response: 
POSD S125.4,N26.3,D-141,U3,Q0.006026

: Sonardyne - POSD response: 
POSD S125.4,N26.3,D-141,U3,Q0.006026

: AshtechGps::processRecord() - $GPGGA,202337.00,3636.71489,N,12152.58148,W,1,10,1.0,-2.51,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202337.00,3636.71489,N,12152.58148,W,1,10,1.0,-2.51,M,-33.21,M,,*7A


: successfully parse sentence at 20:23:37

: AshtechGPS::processRecord -sample time is 1142281417
:  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 R301.96,X-224.65,Y43.39,Z-197.05

: Sonardyne - parsing R301.96,X-224.65,Y43.39,Z-197.05

: Sonardyne - read R = 301.960000 from 301.96,X-224.65,Y43.39,Z-197.05

: Sonardyne - got all data, Vehicle coordinates,
    r=301.960000, x=197.050000, y=-224.650000, z=-43.390000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202338.00,3636.71442,N,12152.58196,W,1,10,1.0,-2.46,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,202338.00,3636.71442,N,12152.58196,W,1,10,1.0,-2.46,M,-33.21,M,,*77


: successfully parse sentence at 20:23:38

: AshtechGPS::processRecord -sample time is 1142281418
:  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 R301.78

: Sonardyne - parsing R301.78

: Sonardyne - read R = 301.780000 from 301.78

: Sonardyne - got range only (301.780000), tat = 850
: Sonardyne - POSD response: 
POSD S122.8,N28.1,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.8,N28.1,D-43,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202339.00,3636.71400,N,12152.58258,W,1,10,1.0,-2.34,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,202339.00,3636.71400,N,12152.58258,W,1,10,1.0,-2.34,M,-33.21,M,,*74


: successfully parse sentence at 20:23:39

: AshtechGPS::processRecord -sample time is 1142281419
:  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 R299.48,X-253.24,Y36.42,Z-155.67

: Sonardyne - parsing R299.48,X-253.24,Y36.42,Z-155.67

: Sonardyne - read R = 299.480000 from 299.48,X-253.24,Y36.42,Z-155.67

: Sonardyne - got all data, Vehicle coordinates,
    r=299.480000, x=155.670000, y=-253.240000, z=-36.420000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202340.00,3636.71353,N,12152.58319,W,1,10,1.0,-2.19,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,202340.00,3636.71353,N,12152.58319,W,1,10,1.0,-2.19,M,-33.21,M,,*70


: successfully parse sentence at 20:23:40

: AshtechGPS::processRecord -sample time is 1142281420
:  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 R299.64,X-258.96,Y29.34,Z-147.86

: Sonardyne - parsing R299.64,X-258.96,Y29.34,Z-147.86

: Sonardyne - read R = 299.640000 from 299.64,X-258.96,Y29.34,Z-147.86

: Sonardyne - got all data, Vehicle coordinates,
    r=299.640000, x=147.860000, y=-258.960000, z=-29.340000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202341.00,3636.71309,N,12152.58390,W,1,10,1.0,-2.17,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202341.00,3636.71309,N,12152.58390,W,1,10,1.0,-2.17,M,-33.21,M,,*71


: successfully parse sentence at 20:23:41

: AshtechGPS::processRecord -sample time is 1142281421
:  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 R300.45

: Sonardyne - parsing R300.45

: Sonardyne - read R = 300.450000 from 300.45

: Sonardyne - got range only (300.450000), tat = 850
: Sonardyne - POSD response: 
POSD S127.5,N30.5,D-41,U5,Q0.008361

: Sonardyne - POSD response: 
POSD S127.5,N30.5,D-41,U5,Q0.008361

: AshtechGps::processRecord() - $GPGGA,202342.00,3636.71260,N,12152.58460,W,1,10,1.0,-2.16,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202342.00,3636.71260,N,12152.58460,W,1,10,1.0,-2.16,M,-33.21,M,,*75


: successfully parse sentence at 20:23:42

: AshtechGPS::processRecord -sample time is 1142281422
:  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 R302.32

: Sonardyne - parsing R302.32

: Sonardyne - read R = 302.320000 from 302.32

: Sonardyne - got range only (302.320000), tat = 860
: Sonardyne - POSD response: 
POSD S118.8,N26.6,D-46,U5,Q0.006013

: Sonardyne - POSD response: 
POSD S118.8,N26.6,D-46,U5,Q0.006013

: AshtechGps::processRecord() - $GPGGA,202343.00,3636.71219,N,12152.58530,W,1,10,1.0,-2.15,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202343.00,3636.71219,N,12152.58530,W,1,10,1.0,-2.15,M,-33.21,M,,*7D


: successfully parse sentence at 20:23:43

: AshtechGPS::processRecord -sample time is 1142281423
:  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 R298.53

: Sonardyne - parsing R298.53

: Sonardyne - read R = 298.530000 from 298.53

: Sonardyne - got range only (298.530000), tat = 850
: Sonardyne - POSD response: 
POSD S122.0,N20.4,D58,U5,Q0.009427

: Sonardyne - POSD response: 
POSD S122.0,N20.4,D58,U5,Q0.009427

: BluefinBatt Reply: $aaq0 d- 31.98  9.63 16.89 3.98 4.02 0   218.83 02:54:52 m

: AshtechGps::processRecord() - $GPGGA,202344.00,3636.71179,N,12152.58596,W,1,10,1.0,-2.17,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202344.00,3636.71179,N,12152.58596,W,1,10,1.0,-2.17,M,-33.21,M,,*71


: successfully parse sentence at 20:23:44

: AshtechGPS::processRecord -sample time is 1142281424
:  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 R296.19

: Sonardyne - parsing R296.19

: Sonardyne - read R = 296.190000 from 296.19

: Sonardyne - got range only (296.190000), tat = 900
: Sonardyne - POSD response: 
POSD S111.5,N24.7,D-30,U1,Q0.006893

: Sonardyne - POSD response: 
POSD S111.5,N24.7,D-30,U1,Q0.006893

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

: AshtechGps::processRecord() - $GPGGA,202345.00,3636.71137,N,12152.58666,W,1,10,1.0,-2.36,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202345.00,3636.71137,N,12152.58666,W,1,10,1.0,-2.36,M,-33.21,M,,*75


: successfully parse sentence at 20:23:45

: AshtechGPS::processRecord -sample time is 1142281425
:  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 R295.52

: Sonardyne - parsing R295.52

: Sonardyne - read R = 295.520000 from 295.52

: Sonardyne - got range only (295.520000), tat = 850
: AshtechGps::processRecord() - $GPGGA,202346.00,3636.71108,N,12152.58749,W,1,10,1.0,-2.72,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,202346.00,3636.71108,N,12152.58749,W,1,10,1.0,-2.72,M,-33.21,M,,*76


: successfully parse sentence at 20:23:46

: AshtechGPS::processRecord -sample time is 1142281426
: Sonardyne - POSD response: 
POSD S122.1,N28.6,D-34,U2,Q0.012150

: Sonardyne - POSD response: 
POSD S122.1,N28.6,D-34,U2,Q0.012150

:  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 R295.19

: Sonardyne - parsing R295.19

: Sonardyne - read R = 295.190000 from 295.19

: Sonardyne - got range only (295.190000), tat = 850
: AshtechGps::processRecord() - $GPGGA,202347.00,3636.71090,N,12152.58840,W,1,10,1.0,-2.86,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202347.00,3636.71090,N,12152.58840,W,1,10,1.0,-2.86,M,-33.21,M,,*7A


: successfully parse sentence at 20:23:47

: AshtechGPS::processRecord -sample time is 1142281427
: Sonardyne - POSD response: 
POSD S112.4,N21.0,D-84,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.4,N21.0,D-84,U0,Q0.000000

:  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 R294.91

: Sonardyne - parsing R294.91

: Sonardyne - read R = 294.910000 from 294.91

: Sonardyne - got range only (294.910000), tat = 840
: AshtechGps::processRecord() - $GPGGA,202348.00,3636.71064,N,12152.58924,W,1,10,1.0,-2.60,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202348.00,3636.71064,N,12152.58924,W,1,10,1.0,-2.60,M,-33.21,M,,*75


: successfully parse sentence at 20:23:48

: AshtechGPS::processRecord -sample time is 1142281428
: Sonardyne - POSD response: 
POSD S107.8,N19.8,D37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S107.8,N19.8,D37,U0,Q0.000000

:  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 R294.48

: Sonardyne - parsing R294.48

: Sonardyne - read R = 294.480000 from 294.48

: Sonardyne - got range only (294.480000), tat = 840
: AshtechGps::processRecord() - $GPGGA,202349.00,3636.71036,N,12152.59007,W,1,10,1.0,-2.44,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,202349.00,3636.71036,N,12152.59007,W,1,10,1.0,-2.44,M,-33.21,M,,*7C


: successfully parse sentence at 20:23:49

: AshtechGPS::processRecord -sample time is 1142281429
: Sonardyne - POSD response: 
POSD S115.6,N29.8,D-18,U4,Q0.009318

: Sonardyne - POSD response: 
POSD S115.6,N29.8,D-18,U4,Q0.009318

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

: AshtechGps::processRecord() - $GPGGA,202350.00,3636.70990,N,12152.59081,W,1,10,1.0,-2.30,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202350.00,3636.70990,N,12152.59081,W,1,10,1.0,-2.30,M,-33.21,M,,*7D


: successfully parse sentence at 20:23:50

: AshtechGPS::processRecord -sample time is 1142281430
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202351.00,3636.70957,N,12152.59164,W,1,10,1.0,-2.27,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202351.00,3636.70957,N,12152.59164,W,1,10,1.0,-2.27,M,-33.21,M,,*7B


: successfully parse sentence at 20:23:51

: AshtechGPS::processRecord -sample time is 1142281431
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202352.00,3636.70899,N,12152.59225,W,1,10,1.0,-2.17,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202352.00,3636.70899,N,12152.59225,W,1,10,1.0,-2.17,M,-33.21,M,,*7E


: successfully parse sentence at 20:23:52

: AshtechGPS::processRecord -sample time is 1142281432
: 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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202353.00,3636.70860,N,12152.59296,W,1,10,1.0,-2.43,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,202353.00,3636.70860,N,12152.59296,W,1,10,1.0,-2.43,M,-33.21,M,,*70


: successfully parse sentence at 20:23:53

: AshtechGPS::processRecord -sample time is 1142281433
:  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 R292.82

: Sonardyne - parsing R292.82

: Sonardyne - read R = 292.820000 from 292.82

: Sonardyne - got range only (292.820000), tat = 840
: Sonardyne - POSD response: 
POSD S119.3,N22.6,D-52,U2,Q0.003905

: Sonardyne - POSD response: 
POSD S119.3,N22.6,D-52,U2,Q0.003905

: BluefinBatt Reply: $aaq0 d- 31.98 10.00 16.89 3.98 4.02 0   218.18 02:55:02 m

: AshtechGps::processRecord() - $GPGGA,202354.00,3636.70821,N,12152.59373,W,1,10,1.0,-2.68,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,202354.00,3636.70821,N,12152.59373,W,1,10,1.0,-2.68,M,-33.21,M,,*71


: successfully parse sentence at 20:23:54

: AshtechGPS::processRecord -sample time is 1142281434
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R292.29

: Sonardyne - parsing R292.29

: Sonardyne - read R = 292.290000 from 292.29

: Sonardyne - got range only (292.290000), tat = 840
: Sonardyne - POSD response: 
POSD S121.4,N23.7,D5,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S121.4,N23.7,D5,U1,Q0.008222

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

: AshtechGps::processRecord() - $GPGGA,202355.00,3636.70793,N,12152.59462,W,1,10,1.0,-2.62,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202355.00,3636.70793,N,12152.59462,W,1,10,1.0,-2.62,M,-33.21,M,,*7B


: successfully parse sentence at 20:23:55

: AshtechGPS::processRecord -sample time is 1142281435
:  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 R291.20

: Sonardyne - parsing R291.20

: Sonardyne - read R = 291.200000 from 291.20

: Sonardyne - got range only (291.200000), tat = 840
: Sonardyne - POSD response: 
POSD S120.2,N20.4,D-96,U1,Q0.010404

: Sonardyne - POSD response: 
POSD S120.2,N20.4,D-96,U1,Q0.010404

: AshtechGps::processRecord() - $GPGGA,202356.00,3636.70760,N,12152.59545,W,1,10,1.0,-2.54,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202356.00,3636.70760,N,12152.59545,W,1,10,1.0,-2.54,M,-33.21,M,,*75


: successfully parse sentence at 20:23:56

: AshtechGPS::processRecord -sample time is 1142281436
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202357.00,3636.70727,N,12152.59629,W,1,10,1.0,-2.77,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202357.00,3636.70727,N,12152.59629,W,1,10,1.0,-2.77,M,-33.21,M,,*7F


: successfully parse sentence at 20:23:57

: AshtechGPS::processRecord -sample time is 1142281437
: LayeredControl::execute() -- (t = 631.596733) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 631.596733) Behavior descend has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,202358.00,3636.70696,N,12152.59714,W,1,10,1.0,-2.56,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,202358.00,3636.70696,N,12152.59714,W,1,10,1.0,-2.56,M,-33.21,M,,*77


: successfully parse sentence at 20:23:58

: AshtechGPS::processRecord -sample time is 1142281438
:  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,N7.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202359.00,3636.70652,N,12152.59793,W,1,10,1.0,-2.33,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,202359.00,3636.70652,N,12152.59793,W,1,10,1.0,-2.33,M,-33.21,M,,*72


: successfully parse sentence at 20:23:59

: AshtechGPS::processRecord -sample time is 1142281439
:  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 R288.18

: Sonardyne - parsing R288.18

: Sonardyne - read R = 288.180000 from 288.18

: Sonardyne - got range only (288.180000), tat = 839
: AshtechGps::processRecord() - $GPGGA,202400.00,3636.70614,N,12152.59878,W,1,10,1.0,-2.40,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202400.00,3636.70614,N,12152.59878,W,1,10,1.0,-2.40,M,-33.21,M,,*75


: successfully parse sentence at 20:24:0

: AshtechGPS::processRecord -sample time is 1142281440
: Sonardyne - POSD response: 
POSD S116.9,N18.9,D42,U3,Q0.013192

: Sonardyne - POSD response: 
POSD S116.9,N18.9,D42,U3,Q0.013192

:  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 R287.60

: Sonardyne - parsing R287.60

: Sonardyne - read R = 287.600000 from 287.60

: Sonardyne - got range only (287.600000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202401.00,3636.70571,N,12152.59960,W,1,10,1.0,-2.42,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202401.00,3636.70571,N,12152.59960,W,1,10,1.0,-2.42,M,-33.21,M,,*7E


: successfully parse sentence at 20:24:1

: AshtechGPS::processRecord -sample time is 1142281441
: Sonardyne - POSD response: 
POSD S118.3,N26.6,D40,U5,Q0.014201

: Sonardyne - POSD response: 
POSD S118.3,N26.6,D40,U5,Q0.014201

:  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 R287.20

: Sonardyne - parsing R287.20

: Sonardyne - read R = 287.200000 from 287.20

: Sonardyne - got range only (287.200000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202402.00,3636.70530,N,12152.60042,W,1,10,1.0,-2.39,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,202402.00,3636.70530,N,12152.60042,W,1,10,1.0,-2.39,M,-33.21,M,,*77


: successfully parse sentence at 20:24:2

: Sonardyne - POSD response: 
POSD S118.0,N25.7,D25,U0,Q0.000000

: AshtechGPS::processRecord -sample time is 1142281442
: Sonardyne - POSD response: 
POSD S118.0,N25.7,D25,U0,Q0.000000

:  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 R286.80,X221.46,Y182.24,Z0.00

: Sonardyne - parsing R286.80,X221.46,Y182.24,Z0.00

: Sonardyne - read R = 286.800000 from 286.80,X221.46,Y182.24,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=286.800000, x=0.000000, y=221.460000, z=-182.240000 tat = 860
: AshtechGps::processRecord() - $GPGGA,202403.00,3636.70495,N,12152.60125,W,1,10,1.0,-2.34,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,202403.00,3636.70495,N,12152.60125,W,1,10,1.0,-2.34,M,-33.21,M,,*75


: successfully parse sentence at 20:24:3

: AshtechGPS::processRecord -sample time is 1142281443
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.98  8.66 16.89 3.99 4.02 0   217.22 02:55:12 m

: Sonardyne - POS response: 
POS V4,1 R286.56

: Sonardyne - parsing R286.56

: Sonardyne - read R = 286.560000 from 286.56

: Sonardyne - got range only (286.560000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202404.00,3636.70452,N,12152.60208,W,1,10,1.0,-2.38,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,202404.00,3636.70452,N,12152.60208,W,1,10,1.0,-2.38,M,-33.21,M,,*79


: successfully parse sentence at 20:24:4

: AshtechGPS::processRecord -sample time is 1142281444
: Sonardyne - POSD response: 
POSD S115.7,N20.9,D-90,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.7,N20.9,D-90,U0,Q0.000000

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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: Sonardyne - POS response: 
POS V4,1 R286.18,X217.67,Y185.80,Z0.00

: Sonardyne - parsing R286.18,X217.67,Y185.80,Z0.00

: Sonardyne - read R = 286.180000 from 286.18,X217.67,Y185.80,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=286.180000, x=0.000000, y=217.670000, z=-185.800000 tat = 860
: AshtechGps::processRecord() - $GPGGA,202405.00,3636.70414,N,12152.60291,W,1,10,1.0,-2.49,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,202405.00,3636.70414,N,12152.60291,W,1,10,1.0,-2.49,M,-33.21,M,,*7C


: successfully parse sentence at 20:24:5

: AshtechGPS::processRecord -sample time is 1142281445
:  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 R285.84

: Sonardyne - parsing R285.84

: Sonardyne - read R = 285.840000 from 285.84

: Sonardyne - got range only (285.840000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202406.00,3636.70389,N,12152.60380,W,1,10,1.0,-2.70,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,202406.00,3636.70389,N,12152.60380,W,1,10,1.0,-2.70,M,-33.21,M,,*77


: Sonardyne - POSD response: 
POSD S123.2,N29.6,D-32,U4,Q0.015441

: successfully parse sentence at 20:24:6

: AshtechGPS::processRecord -sample time is 1142281446
: Sonardyne - POSD response: 
POSD S123.2,N29.6,D-32,U4,Q0.015441

:  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 R285.49

: Sonardyne - parsing R285.49

: Sonardyne - read R = 285.490000 from 285.49

: Sonardyne - got range only (285.490000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202407.00,3636.70358,N,12152.60471,W,1,10,1.0,-2.62,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,202407.00,3636.70358,N,12152.60471,W,1,10,1.0,-2.62,M,-33.21,M,,*70


: successfully parse sentence at 20:24:7

: Sonardyne - POSD response: 
POSD S116.8,N29.6,D2,U0,Q0.000000

: AshtechGPS::processRecord -sample time is 1142281447
: Sonardyne - POSD response: 
POSD S116.8,N29.6,D2,U0,Q0.000000

:  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 R285.05,X214.38,Y187.88,Z0.00

: Sonardyne - parsing R285.05,X214.38,Y187.88,Z0.00

: Sonardyne - read R = 285.050000 from 285.05,X214.38,Y187.88,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=285.050000, x=0.000000, y=214.380000, z=-187.880000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202408.00,3636.70327,N,12152.60568,W,1,10,1.0,-2.63,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202408.00,3636.70327,N,12152.60568,W,1,10,1.0,-2.63,M,-33.21,M,,*7F


: successfully parse sentence at 20:24:8

: AshtechGPS::processRecord -sample time is 1142281448
:  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 R285.34

: Sonardyne - parsing R285.34

: Sonardyne - read R = 285.340000 from 285.34

: Sonardyne - got range only (285.340000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202409.00,3636.70295,N,12152.60651,W,1,10,1.0,-2.95,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,202409.00,3636.70295,N,12152.60651,W,1,10,1.0,-2.95,M,-33.21,M,,*76


: Sonardyne - POSD response: 
POSD S117.1,N26.4,D-24,U4,Q0.012965

: successfully parse sentence at 20:24:9

: AshtechGPS::processRecord -sample time is 1142281449
: Sonardyne - POSD response: 
POSD S117.1,N26.4,D-24,U4,Q0.012965

:  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 R284.27,X-231.31,Y130.21,Z-101.75

: Sonardyne - parsing R284.27,X-231.31,Y130.21,Z-101.75

: Sonardyne - read R = 284.270000 from 284.27,X-231.31,Y130.21,Z-101.75

: Sonardyne - got all data, Vehicle coordinates,
    r=284.270000, x=101.750000, y=-231.310000, z=-130.210000 tat = 860
: AshtechGps::processRecord() - $GPGGA,202410.00,3636.70298,N,12152.60752,W,1,10,1.0,-4.89,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202410.00,3636.70298,N,12152.60752,W,1,10,1.0,-4.89,M,-33.21,M,,*7A


: successfully parse sentence at 20:24:10

: AshtechGPS::processRecord -sample time is 1142281450
:  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 R283.46

: Sonardyne - parsing R283.46

: Sonardyne - read R = 283.460000 from 283.46

: Sonardyne - got range only (283.460000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.4,N31.0,D-10,U5,Q0.006735

: Sonardyne - POSD response: 
POSD S124.4,N31.0,D-10,U5,Q0.006735

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

: AshtechGps::processRecord() - $GPGGA,202412.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202412.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.86,X-223.10,Y116.60,Z-129.00

: Sonardyne - parsing R282.86,X-223.10,Y116.60,Z-129.00

: Sonardyne - read R = 282.860000 from 282.86,X-223.10,Y116.60,Z-129.00

: Sonardyne - got all data, Vehicle coordinates,
    r=282.860000, x=129.000000, y=-223.100000, z=-116.600000 tat = 850
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202413.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202413.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.48,X-238.32,Y85.09,Z-125.54

: Sonardyne - parsing R282.48,X-238.32,Y85.09,Z-125.54

: Sonardyne - read R = 282.480000 from 282.48,X-238.32,Y85.09,Z-125.54

: Sonardyne - got all data, Vehicle coordinates,
    r=282.480000, x=125.540000, y=-238.320000, z=-85.090000 tat = 850
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.98  8.72 16.89 3.99 4.02 0   216.74 02:55:22 m

: AshtechGps::processRecord() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.18,X-244.60,Y69.60,Z-122.29

: Sonardyne - parsing R282.18,X-244.60,Y69.60,Z-122.29

: Sonardyne - read R = 282.180000 from 282.18,X-244.60,Y69.60,Z-122.29

: Sonardyne - got all data, Vehicle coordinates,
    r=282.180000, x=122.290000, y=-244.600000, z=-69.600000 tat = 860
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: Sonardyne - POS response: 
POS V4,1 R283.43

: Sonardyne - parsing R283.43

: Sonardyne - read R = 283.430000 from 283.43

: Sonardyne - got range only (283.430000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S120.4,N24.4,D21,U3,Q0.009720

: Sonardyne - POSD response: 
POSD S120.4,N24.4,D21,U3,Q0.009720

:  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 R281.67

: Sonardyne - parsing R281.67

: Sonardyne - read R = 281.670000 from 281.67

: Sonardyne - got range only (281.670000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.9,N29.1,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.9,N29.1,D-12,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R281.21

: Sonardyne - parsing R281.21

: Sonardyne - read R = 281.210000 from 281.21

: Sonardyne - got range only (281.210000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S120.7,N27.4,D60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.7,N27.4,D60,U0,Q0.000000

:  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 R280.75

: Sonardyne - parsing R280.75

: Sonardyne - read R = 280.750000 from 280.75

: Sonardyne - got range only (280.750000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.6,N25.9,D95,U1,Q0.018576

: Sonardyne - POSD response: 
POSD S121.6,N25.9,D95,U1,Q0.018576

:  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 R279.98

: Sonardyne - parsing R279.98

: Sonardyne - read R = 279.980000 from 279.98

: Sonardyne - got range only (279.980000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.4,N28.0,D65,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.4,N28.0,D65,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 R279.20

: Sonardyne - parsing R279.20

: Sonardyne - read R = 279.200000 from 279.20

: Sonardyne - got range only (279.200000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202420.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202420.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.1,N30.7,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.1,N30.7,D22,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 R279.02

: Sonardyne - parsing R279.02

: Sonardyne - read R = 279.020000 from 279.02

: Sonardyne - got range only (279.020000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.4,N14.2,D-13,U3,Q0.015155

: Sonardyne - POSD response: 
POSD S116.4,N14.2,D-13,U3,Q0.015155

:  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 R277.98

: Sonardyne - parsing R277.98

: Sonardyne - read R = 277.980000 from 277.98

: Sonardyne - got range only (277.980000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.4,N16.4,D-70,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.4,N16.4,D-70,U0,Q0.000000

:  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 R277.62

: Sonardyne - parsing R277.62

: Sonardyne - read R = 277.620000 from 277.62

: Sonardyne - got range only (277.620000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.5,N27.2,D3,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S116.5,N27.2,D3,U1,Q0.017183

:  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 R277.59

: Sonardyne - parsing R277.59

: Sonardyne - read R = 277.590000 from 277.59

: Sonardyne - got range only (277.590000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.98  8.52 16.89 3.98 4.01 0   215.76 02:55:32 m

: Sonardyne - POSD response: 
POSD S117.2,N26.0,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.2,N26.0,D-2,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R284.45

: Sonardyne - parsing R284.45

: Sonardyne - read R = 284.450000 from 284.45

: Sonardyne - got range only (284.450000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POSD response: 
POSD S118.0,N23.3,D-34,U1,Q0.001161

: Sonardyne - POSD response: 
POSD S118.0,N23.3,D-34,U1,Q0.001161

:  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 R277.23

: Sonardyne - parsing R277.23

: Sonardyne - read R = 277.230000 from 277.23

: Sonardyne - got range only (277.230000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.9,N25.5,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.9,N25.5,D-43,U0,Q0.000000

:  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 R287.09

: Sonardyne - parsing R287.09

: Sonardyne - read R = 287.090000 from 287.09

: Sonardyne - got range only (287.090000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.6,N24.8,D-108,U5,Q0.001069

: Sonardyne - POSD response: 
POSD S112.6,N24.8,D-108,U5,Q0.001069

: Descend::execute() - Descend terminating on depth 4.028869 > 4.000000 at time 661.794664

: LayeredControl::execute() -- (t = 661.794664) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 661.79                            (wplog)
  The current location (N,E) = 4052376.2      , 600428.0         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 276.4 Degrees.

: LayeredControl::execute() -- (t = 661.804663) Behavior waypoint has changed to state Active

:  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 R276.29

: Sonardyne - parsing R276.29

: Sonardyne - read R = 276.290000 from 276.29

: Sonardyne - got range only (276.290000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.4,N22.1,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.4,N22.1,D-39,U0,Q0.000000

:  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 R276.32

: Sonardyne - parsing R276.32

: Sonardyne - read R = 276.320000 from 276.32

: Sonardyne - got range only (276.320000), tat = 819
: AshtechGps::processRecord() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S110.7,N15.9,D9,U3,Q0.009058

: Sonardyne - POSD response: 
POSD S110.7,N15.9,D9,U3,Q0.009058

:  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 R275.85

: Sonardyne - parsing R275.85

: Sonardyne - read R = 275.850000 from 275.85

: Sonardyne - got range only (275.850000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202430.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202430.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.0,N24.0,D-62,U4,Q0.011577

: Sonardyne - POSD response: 
POSD S117.0,N24.0,D-62,U4,Q0.011577

:  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 R274.92

: Sonardyne - parsing R274.92

: Sonardyne - read R = 274.920000 from 274.92

: Sonardyne - got range only (274.920000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.5,N27.4,D72,U3,Q0.002635

: Sonardyne - POSD response: 
POSD S121.5,N27.4,D72,U3,Q0.002635

:  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 R275.10

: Sonardyne - parsing R275.10

: Sonardyne - read R = 275.100000 from 275.10

: Sonardyne - got range only (275.100000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.8,N25.3,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.8,N25.3,D26,U0,Q0.000000

:  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 R280.80

: Sonardyne - parsing R280.80

: Sonardyne - read R = 280.800000 from 280.80

: Sonardyne - got range only (280.800000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.6,N27.0,D51,U2,Q0.002990

: Sonardyne - POSD response: 
POSD S108.6,N27.0,D51,U2,Q0.002990

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

: AshtechGps::processRecord() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.02  9.03 16.89 3.98 4.01 0   215.09 02:55:42 m

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

: AshtechGps::processRecord() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202436.00,,,,,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 = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202437.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202437.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.97,X25.82,Y-52.35,Z-274.84

: Sonardyne - parsing R280.97,X25.82,Y-52.35,Z-274.84

: Sonardyne - read R = 280.970000 from 280.97,X25.82,Y-52.35,Z-274.84

: Sonardyne - got all data, Vehicle coordinates,
    r=280.970000, x=274.840000, y=25.820000, z=52.350000 tat = 850
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202438.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202438.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.01

: Sonardyne - parsing R284.01

: Sonardyne - read R = 284.010000 from 284.01

: Sonardyne - got range only (284.010000), tat = 830
: Sonardyne - POSD response: 
POSD S109.3,N22.9,D71,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.3,N22.9,D71,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,202439.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202439.00,,,,,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,202440.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202440.00,,,,,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,202441.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202441.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202442.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202442.00,,,,,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,202443.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202443.00,,,,,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- 31.98  8.28 16.99 3.99 4.02 0   214.18 02:55:52 m

: AshtechGps::processRecord() - $GPGGA,202444.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202444.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202446.00,,,,,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,202447.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202447.00,,,,,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,202448.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202448.00,,,,,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,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202449.00,,,,,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,202450.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202452.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202452.00,,,,,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,N6.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202453.00,,,,,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,202454.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202454.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.98  9.26 16.99 3.99 4.02 0   213.53 02:56:02 m

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

: AshtechGps::processRecord() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202456.00,,,,,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,202457.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 691.99                                          (wplog)

: Vehicle Position is error is (0.8, 0.2)

: LayeredControl::execute() -- (t = 691.992595) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 692.00                            (wplog)
  The current location (N,E) = 4052380.6      , 600381.5         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.0 Degrees.

: LayeredControl::execute() -- (t = 692.002595) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,202458.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202458.00,,,,,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,202459.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202459.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.33

: Sonardyne - parsing R297.33

: Sonardyne - read R = 297.330000 from 297.33

: Sonardyne - got range only (297.330000), tat = 850
: Sonardyne - POSD response: 
POSD S107.2,N16.2,D117,U2,Q0.005097

: Sonardyne - POSD response: 
POSD S107.2,N16.2,D117,U2,Q0.005097

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

: AshtechGps::processRecord() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.98  9.09 16.89 3.98 4.01 0   212.57 02:56:12 m

: AshtechGps::processRecord() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - POS response: 
POS V4,1 R297.49

: Sonardyne - parsing R297.49

: AshtechGps::processRecord() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48

: Sonardyne - read R = 297.490000 from 297.49

: GpsUtils::parseFix() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48


: Sonardyne - got range only (297.490000), tat = 850
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.1,N27.0,D-85,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.1,N27.0,D-85,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,202506.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.32,X-252.38,Y43.76,Z-152.91

: Sonardyne - parsing R298.32,X-252.38,Y43.76,Z-152.91

: Sonardyne - read R = 298.320000 from 298.32,X-252.38,Y43.76,Z-152.91

: Sonardyne - got all data, Vehicle coordinates,
    r=298.320000, x=152.910000, y=-252.380000, z=-43.760000 tat = 880
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R296.02,X-221.24,Y40.91,Z-192.37

: Sonardyne - parsing R296.02,X-221.24,Y40.91,Z-192.37

: Sonardyne - read R = 296.020000 from 296.02,X-221.24,Y40.91,Z-192.37

: Sonardyne - got all data, Vehicle coordinates,
    r=296.020000, x=192.370000, y=-221.240000, z=-40.910000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202508.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202508.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R295.23,X-170.28,Y41.32,Z-237.61

: Sonardyne - parsing R295.23,X-170.28,Y41.32,Z-237.61

: Sonardyne - read R = 295.230000 from 295.23,X-170.28,Y41.32,Z-237.61

: Sonardyne - got all data, Vehicle coordinates,
    r=295.230000, x=237.610000, y=-170.280000, z=-41.320000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R294.50,X-118.56,Y34.97,Z-267.30

: Sonardyne - parsing R294.50,X-118.56,Y34.97,Z-267.30

: Sonardyne - read R = 294.500000 from 294.50,X-118.56,Y34.97,Z-267.30

: Sonardyne - got all data, Vehicle coordinates,
    r=294.500000, x=267.300000, y=-118.560000, z=-34.970000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.89,X-58.12,Y25.95,Z-286.91

: Sonardyne - parsing R293.89,X-58.12,Y25.95,Z-286.91

: Sonardyne - read R = 293.890000 from 293.89,X-58.12,Y25.95,Z-286.91

: Sonardyne - got all data, Vehicle coordinates,
    r=293.890000, x=286.910000, y=-58.120000, z=-25.950000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.50,X-9.54,Y7.21,Z-292.25

: Sonardyne - parsing R292.50,X-9.54,Y7.21,Z-292.25

: Sonardyne - read R = 292.500000 from 292.50,X-9.54,Y7.21,Z-292.25

: Sonardyne - got all data, Vehicle coordinates,
    r=292.500000, x=292.250000, y=-9.540000, z=-7.210000 tat = 860
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202512.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202512.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R291.56,X37.53,Y2.74,Z-289.12

: Sonardyne - parsing R291.56,X37.53,Y2.74,Z-289.12

: Sonardyne - read R = 291.560000 from 291.56,X37.53,Y2.74,Z-289.12

: Sonardyne - got all data, Vehicle coordinates,
    r=291.560000, x=289.120000, y=37.530000, z=-2.740000 tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R290.54,X92.67,Y-2.89,Z-275.35

: Sonardyne - parsing R290.54,X92.67,Y-2.89,Z-275.35

: Sonardyne - read R = 290.540000 from 290.54,X92.67,Y-2.89,Z-275.35

: Sonardyne - got all data, Vehicle coordinates,
    r=290.540000, x=275.350000, y=92.670000, z=2.890000 tat = 859
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  9.36 16.99 3.98 4.01 0   211.96 02:56:22 m

: Sonardyne - POS response: 
POS V4,1 R289.39,X138.12,Y-14.72,Z-253.87

: Sonardyne - parsing R289.39,X138.12,Y-14.72,Z-253.87

: Sonardyne - read R = 289.390000 from 289.39,X138.12,Y-14.72,Z-253.87

: Sonardyne - got all data, Vehicle coordinates,
    r=289.390000, x=253.870000, y=138.120000, z=14.720000 tat = 860
:  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 R288.31

: Sonardyne - parsing R288.31

: AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49

: Sonardyne - read R = 288.310000 from 288.31

: GpsUtils::parseFix() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49


: Sonardyne - got range only (288.310000), tat = 840
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POSD response: 
POSD S132.4,N27.0,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.4,N27.0,D-48,U0,Q0.000000

:  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 R287.64

: Sonardyne - parsing R287.64

: Sonardyne - read R = 287.640000 from 287.64

: AshtechGps::processRecord() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A

: Sonardyne - got range only (287.640000), tat = 830
: GpsUtils::parseFix() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.9,N29.8,D-38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.9,N29.8,D-38,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,202517.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.05,X238.01,Y-20.15,Z-159.20

: Sonardyne - parsing R287.05,X238.01,Y-20.15,Z-159.20

: Sonardyne - read R = 287.050000 from 287.05,X238.01,Y-20.15,Z-159.20

: Sonardyne - got all data, Vehicle coordinates,
    r=287.050000, x=159.200000, y=238.010000, z=20.150000 tat = 860
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.57,X245.96,Y-16.87,Z-146.08

: Sonardyne - parsing R286.57,X245.96,Y-16.87,Z-146.08

: Sonardyne - read R = 286.570000 from 286.57,X245.96,Y-16.87,Z-146.08

: Sonardyne - got all data, Vehicle coordinates,
    r=286.570000, x=146.080000, y=245.960000, z=16.870000 tat = 860
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.95,X246.42,Y-27.16,Z-142.50

: Sonardyne - parsing R285.95,X246.42,Y-27.16,Z-142.50

: Sonardyne - read R = 285.950000 from 285.95,X246.42,Y-27.16,Z-142.50

: Sonardyne - got all data, Vehicle coordinates,
    r=285.950000, x=142.500000, y=246.420000, z=27.160000 tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R285.34

: Sonardyne - parsing R285.34

: Sonardyne - read R = 285.340000 from 285.34

: Sonardyne - got range only (285.340000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.9,N24.2,D58,U2,Q0.016977

: Sonardyne - POSD response: 
POSD S124.9,N24.2,D58,U2,Q0.016977

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

: AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.73,X243.37,Y-10.67,Z-147.40

: Sonardyne - parsing R284.73,X243.37,Y-10.67,Z-147.40

: Sonardyne - read R = 284.730000 from 284.73,X243.37,Y-10.67,Z-147.40

: Sonardyne - got all data, Vehicle coordinates,
    r=284.730000, x=147.400000, y=243.370000, z=10.670000 tat = 860
:  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 R284.00

: Sonardyne - parsing R284.00

: Sonardyne - read R = 284.000000 from 284.00

: Sonardyne - got range only (284.000000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S126.1,N25.5,D73,U2,Q0.011372

: Sonardyne - POSD response: 
POSD S126.1,N25.5,D73,U2,Q0.011372

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

: AshtechGps::processRecord() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.32,X232.35,Y3.37,Z-162.08

: Sonardyne - parsing R283.32,X232.35,Y3.37,Z-162.08

: Sonardyne - read R = 283.320000 from 283.32,X232.35,Y3.37,Z-162.08

: Sonardyne - got all data, Vehicle coordinates,
    r=283.320000, x=162.080000, y=232.350000, z=-3.370000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.84,X226.04,Y7.77,Z-169.83

: Sonardyne - parsing R282.84,X226.04,Y7.77,Z-169.83

: Sonardyne - read R = 282.840000 from 282.84,X226.04,Y7.77,Z-169.83

: BluefinBatt Reply: $aaq0 d- 31.91 10.48 16.89 3.99 4.02 0   210.95 02:56:32 m

: Sonardyne - got all data, Vehicle coordinates,
    r=282.840000, x=169.830000, y=226.040000, z=-7.770000 tat = 850
:  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 R283.30

: Sonardyne - parsing R283.30

: Sonardyne - read R = 283.300000 from 283.30

: Sonardyne - got range only (283.300000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: Sonardyne - POSD response: 
POSD S125.6,N17.8,D17,U3,Q0.004734

: Sonardyne - POSD response: 
POSD S125.6,N17.8,D17,U3,Q0.004734

:  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 R287.26

: Sonardyne - parsing R287.26

: Sonardyne - read R = 287.260000 from 287.26

: Sonardyne - got range only (287.260000), tat = 830
: AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.9,N23.2,D-148,U1,Q0.006074

: Sonardyne - POSD response: 
POSD S119.9,N23.2,D-148,U1,Q0.006074

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

: AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.81,X189.46,Y26.68,Z-204.18

: Sonardyne - parsing R279.81,X189.46,Y26.68,Z-204.18

: Sonardyne - read R = 279.810000 from 279.81,X189.46,Y26.68,Z-204.18

: Sonardyne - got all data, Vehicle coordinates,
    r=279.810000, x=204.180000, y=189.460000, z=-26.680000 tat = 850
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.82,X179.92,Y21.98,Z-211.87

: Sonardyne - parsing R278.82,X179.92,Y21.98,Z-211.87

: Sonardyne - read R = 278.820000 from 278.82,X179.92,Y21.98,Z-211.87

: Sonardyne - got all data, Vehicle coordinates,
    r=278.820000, x=211.870000, y=179.920000, z=-21.980000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R277.68,X171.88,Y20.62,Z-217.12

: Sonardyne - parsing R277.68,X171.88,Y20.62,Z-217.12

: Sonardyne - read R = 277.680000 from 277.68,X171.88,Y20.62,Z-217.12

: Sonardyne - got all data, Vehicle coordinates,
    r=277.680000, x=217.120000, y=171.880000, z=-20.620000 tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R276.87,X164.78,Y22.47,Z-221.36

: Sonardyne - parsing R276.87,X164.78,Y22.47,Z-221.36

: Sonardyne - read R = 276.870000 from 276.87,X164.78,Y22.47,Z-221.36

: Sonardyne - got all data, Vehicle coordinates,
    r=276.870000, x=221.360000, y=164.780000, z=-22.470000 tat = 850
:  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 R275.60

: Sonardyne - parsing R275.60

: Sonardyne - read R = 275.600000 from 275.60

: Sonardyne - got range only (275.600000), tat = 820
: AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.4,N24.7,D-42,U4,Q0.009969

: Sonardyne - POSD response: 
POSD S132.4,N24.7,D-42,U4,Q0.009969

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

: AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C

: Sonardyne - POS response: 
POS V4,1 R274.45,X150.65,Y0.79,Z-229.40

: GpsUtils::parseFix() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C


: Sonardyne - parsing R274.45,X150.65,Y0.79,Z-229.40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - read R = 274.450000 from 274.45,X150.65,Y0.79,Z-229.40

: Sonardyne - got all data, Vehicle coordinates,
    r=274.450000, x=229.400000, y=150.650000, z=-0.790000 tat = 840
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D

: Sonardyne - POS response: 
POS V4,1 R273.22,X147.31,Y17.34,Z-229.45

: GpsUtils::parseFix() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - parsing R273.22,X147.31,Y17.34,Z-229.45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - read R = 273.220000 from 273.22,X147.31,Y17.34,Z-229.45

: Sonardyne - got all data, Vehicle coordinates,
    r=273.220000, x=229.450000, y=147.310000, z=-17.340000 tat = 840
:  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 R271.89,X139.01,Y17.39,Z-233.03

: Sonardyne - parsing R271.89,X139.01,Y17.39,Z-233.03

: AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A

: Sonardyne - read R = 271.890000 from 271.89,X139.01,Y17.39,Z-233.03

: GpsUtils::parseFix() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A


: Sonardyne - got all data, Vehicle coordinates,
    r=271.890000, x=233.030000, y=139.010000, z=-17.390000 tat = 840
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.98  8.82 16.89 3.99 4.02 0   210.25 02:56:42 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 R270.47,X134.12,Y20.15,Z-234.01

: AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B

: Sonardyne - parsing R270.47,X134.12,Y20.15,Z-234.01

: GpsUtils::parseFix() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B


: Sonardyne - read R = 270.470000 from 270.47,X134.12,Y20.15,Z-234.01

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - got all data, Vehicle coordinates,
    r=270.470000, x=234.010000, y=134.120000, z=-20.150000 tat = 840
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

:  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 R268.95,X126.48,Y13.47,Z-236.97

: Sonardyne - parsing R268.95,X126.48,Y13.47,Z-236.97

: Sonardyne - read R = 268.950000 from 268.95,X126.48,Y13.47,Z-236.97

: Sonardyne - got all data, Vehicle coordinates,
    r=268.950000, x=236.970000, y=126.480000, z=-13.470000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202536.00,,,,,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 R267.35,X121.22,Y8.88,Z-238.12

: Sonardyne - parsing R267.35,X121.22,Y8.88,Z-238.12

: Sonardyne - read R = 267.350000 from 267.35,X121.22,Y8.88,Z-238.12

: Sonardyne - got all data, Vehicle coordinates,
    r=267.350000, x=238.120000, y=121.220000, z=-8.880000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202537.00,,,,,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 R265.61,X117.32,Y6.33,Z-238.22

: Sonardyne - parsing R265.61,X117.32,Y6.33,Z-238.22

: Sonardyne - read R = 265.610000 from 265.61,X117.32,Y6.33,Z-238.22

: Sonardyne - got all data, Vehicle coordinates,
    r=265.610000, x=238.220000, y=117.320000, z=-6.330000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202538.00,,,,,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 R264.21,X115.92,Y11.07,Z-237.17

: Sonardyne - parsing R264.21,X115.92,Y11.07,Z-237.17

: Sonardyne - read R = 264.210000 from 264.21,X115.92,Y11.07,Z-237.17

: Sonardyne - got all data, Vehicle coordinates,
    r=264.210000, x=237.170000, y=115.920000, z=-11.070000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R262.83,X112.43,Y11.46,Z-237.29

: Sonardyne - parsing R262.83,X112.43,Y11.46,Z-237.29

: Sonardyne - read R = 262.830000 from 262.83,X112.43,Y11.46,Z-237.29

: Sonardyne - got all data, Vehicle coordinates,
    r=262.830000, x=237.290000, y=112.430000, z=-11.460000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202540.00,,,,,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 R261.66,X108.82,Y5.18,Z-237.91

: Sonardyne - parsing R261.66,X108.82,Y5.18,Z-237.91

: Sonardyne - read R = 261.660000 from 261.66,X108.82,Y5.18,Z-237.91

: Sonardyne - got all data, Vehicle coordinates,
    r=261.660000, x=237.910000, y=108.820000, z=-5.180000 tat = 820
: AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202541.00,,,,,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 R260.58,X106.83,Y16.24,Z-237.12

: Sonardyne - parsing R260.58,X106.83,Y16.24,Z-237.12

: Sonardyne - read R = 260.580000 from 260.58,X106.83,Y16.24,Z-237.12

: Sonardyne - got all data, Vehicle coordinates,
    r=260.580000, x=237.120000, y=106.830000, z=-16.240000 tat = 819
: AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R259.34,X104.32,Y17.11,Z-236.82

: Sonardyne - parsing R259.34,X104.32,Y17.11,Z-236.82

: Sonardyne - read R = 259.340000 from 259.34,X104.32,Y17.11,Z-236.82

: Sonardyne - got all data, Vehicle coordinates,
    r=259.340000, x=236.820000, y=104.320000, z=-17.110000 tat = 820
: AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202543.00,,,,,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,202544.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.98  8.86 16.89 3.98 4.01 0   209.28 02:56:52 m

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

: AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202546.00,,,,,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,N6.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R252.81,X93.13,Y22.44,Z-233.96

: Sonardyne - parsing R252.81,X93.13,Y22.44,Z-233.96

: Sonardyne - read R = 252.810000 from 252.81,X93.13,Y22.44,Z-233.96

: Sonardyne - got all data, Vehicle coordinates,
    r=252.810000, x=233.960000, y=93.130000, z=-22.440000 tat = 810
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R251.19,X90.42,Y16.60,Z-233.76

: Sonardyne - parsing R251.19,X90.42,Y16.60,Z-233.76

: Sonardyne - read R = 251.190000 from 251.19,X90.42,Y16.60,Z-233.76

: Sonardyne - got all data, Vehicle coordinates,
    r=251.190000, x=233.760000, y=90.420000, z=-16.600000 tat = 810
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.58,X87.56,Y11.69,Z-233.43

: Sonardyne - parsing R249.58,X87.56,Y11.69,Z-233.43

: Sonardyne - read R = 249.580000 from 249.58,X87.56,Y11.69,Z-233.43

: Sonardyne - got all data, Vehicle coordinates,
    r=249.580000, x=233.430000, y=87.560000, z=-11.690000 tat = 810
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.90,X85.07,Y9.80,Z-232.64

: Sonardyne - parsing R247.90,X85.07,Y9.80,Z-232.64

: Sonardyne - read R = 247.900000 from 247.90,X85.07,Y9.80,Z-232.64

: Sonardyne - got all data, Vehicle coordinates,
    r=247.900000, x=232.640000, y=85.070000, z=-9.800000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49


:  wdt = 00894,  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 R246.23,X83.08,Y7.10,Z-231.68

: Sonardyne - parsing R246.23,X83.08,Y7.10,Z-231.68

: Sonardyne - read R = 246.230000 from 246.23,X83.08,Y7.10,Z-231.68

: Sonardyne - got all data, Vehicle coordinates,
    r=246.230000, x=231.680000, y=83.080000, z=-7.100000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202552.00,,,,,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 R244.52,X81.83,Y5.97,Z-230.34

: Sonardyne - parsing R244.52,X81.83,Y5.97,Z-230.34

: Sonardyne - read R = 244.520000 from 244.52,X81.83,Y5.97,Z-230.34

: Sonardyne - got all data, Vehicle coordinates,
    r=244.520000, x=230.340000, y=81.830000, z=-5.970000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R242.88,X79.60,Y-8.87,Z-229.29

: Sonardyne - parsing R242.88,X79.60,Y-8.87,Z-229.29

: Sonardyne - read R = 242.880000 from 242.88,X79.60,Y-8.87,Z-229.29

: Sonardyne - got all data, Vehicle coordinates,
    r=242.880000, x=229.290000, y=79.600000, z=8.870000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202554.00,,,,,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- 31.98  8.69 16.99 3.98 4.01 0   208.65 02:57:02 m

: Sonardyne - POS response: 
POS V4,1 R241.14,X80.91,Y-6.96,Z-227.05

: Sonardyne - parsing R241.14,X80.91,Y-6.96,Z-227.05

: Sonardyne - read R = 241.140000 from 241.14,X80.91,Y-6.96,Z-227.05

: Sonardyne - got all data, Vehicle coordinates,
    r=241.140000, x=227.050000, y=80.910000, z=6.960000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - POS response: 
POS V4,1 R240.82,X76.17,Y-25.90,Z-226.98

: Sonardyne - parsing R240.82,X76.17,Y-25.90,Z-226.98

: Sonardyne - read R = 240.820000 from 240.82,X76.17,Y-25.90,Z-226.98

: Sonardyne - got all data, Vehicle coordinates,
    r=240.820000, x=226.980000, y=76.170000, z=25.900000 tat = 800
: AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202556.00,,,,,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 R239.31,X87.07,Y13.25,Z-222.51

: Sonardyne - parsing R239.31,X87.07,Y13.25,Z-222.51

: Sonardyne - read R = 239.310000 from 239.31,X87.07,Y13.25,Z-222.51

: Sonardyne - got all data, Vehicle coordinates,
    r=239.310000, x=222.510000, y=87.070000, z=-13.250000 tat = 789
: AshtechGps::processRecord() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202557.00,,,,,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 R238.38,X82.72,Y8.64,Z-223.40

: Sonardyne - parsing R238.38,X82.72,Y8.64,Z-223.40

: Sonardyne - read R = 238.380000 from 238.38,X82.72,Y8.64,Z-223.40

: Sonardyne - got all data, Vehicle coordinates,
    r=238.380000, x=223.400000, y=82.720000, z=-8.640000 tat = 790
: AshtechGps::processRecord() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R237.27,X86.21,Y33.44,Z-218.51

: Sonardyne - parsing R237.27,X86.21,Y33.44,Z-218.51

: Sonardyne - read R = 237.270000 from 237.27,X86.21,Y33.44,Z-218.51

: Sonardyne - got all data, Vehicle coordinates,
    r=237.270000, x=218.510000, y=86.210000, z=-33.440000 tat = 790
: AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202559.00,,,,,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 R235.63,X80.94,Y12.92,Z-220.92

: Sonardyne - parsing R235.63,X80.94,Y12.92,Z-220.92

: Sonardyne - read R = 235.630000 from 235.63,X80.94,Y12.92,Z-220.92

: Sonardyne - got all data, Vehicle coordinates,
    r=235.630000, x=220.920000, y=80.940000, z=-12.920000 tat = 790
: AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202600.00,,,,,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 R233.99,X79.84,Y17.97,Z-219.21

: Sonardyne - parsing R233.99,X79.84,Y17.97,Z-219.21

: Sonardyne - read R = 233.990000 from 233.99,X79.84,Y17.97,Z-219.21

: Sonardyne - got all data, Vehicle coordinates,
    r=233.990000, x=219.210000, y=79.840000, z=-17.970000 tat = 790
: AshtechGps::processRecord() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202601.00,,,,,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 R232.25,X76.37,Y12.77,Z-218.96

: Sonardyne - parsing R232.25,X76.37,Y12.77,Z-218.96

: Sonardyne - read R = 232.250000 from 232.25,X76.37,Y12.77,Z-218.96

: Sonardyne - got all data, Vehicle coordinates,
    r=232.250000, x=218.960000, y=76.370000, z=-12.770000 tat = 780
: AshtechGps::processRecord() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R230.43,X74.68,Y10.28,Z-217.75

: Sonardyne - parsing R230.43,X74.68,Y10.28,Z-217.75

: Sonardyne - read R = 230.430000 from 230.43,X74.68,Y10.28,Z-217.75

: Sonardyne - got all data, Vehicle coordinates,
    r=230.430000, x=217.750000, y=74.680000, z=-10.280000 tat = 780
: AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202603.00,,,,,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 R228.71,X74.57,Y7.32,Z-216.09

: Sonardyne - parsing R228.71,X74.57,Y7.32,Z-216.09

: Sonardyne - read R = 228.710000 from 228.71,X74.57,Y7.32,Z-216.09

: Sonardyne - got all data, Vehicle coordinates,
    r=228.710000, x=216.090000, y=74.570000, z=-7.320000 tat = 780
: BluefinBatt Reply: $aaq0 d- 31.98  8.86 16.89 3.99 4.02 0   207.74 02:57:12 m

: AshtechGps::processRecord() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202604.00,,,,,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 R227.09,X76.34,Y9.29,Z-213.68

: Sonardyne - parsing R227.09,X76.34,Y9.29,Z-213.68

: Sonardyne - read R = 227.090000 from 227.09,X76.34,Y9.29,Z-213.68

: Sonardyne - got all data, Vehicle coordinates,
    r=227.090000, x=213.680000, y=76.340000, z=-9.290000 tat = 780
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202605.00,,,,,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 R225.59,X75.91,Y8.44,Z-212.26

: Sonardyne - parsing R225.59,X75.91,Y8.44,Z-212.26

: Sonardyne - read R = 225.590000 from 225.59,X75.91,Y8.44,Z-212.26

: Sonardyne - got all data, Vehicle coordinates,
    r=225.590000, x=212.260000, y=75.910000, z=-8.440000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202606.00,,,,,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 R224.17,X77.23,Y15.72,Z-209.86

: Sonardyne - parsing R224.17,X77.23,Y15.72,Z-209.86

: Sonardyne - read R = 224.170000 from 224.17,X77.23,Y15.72,Z-209.86

: Sonardyne - got all data, Vehicle coordinates,
    r=224.170000, x=209.860000, y=77.230000, z=-15.720000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202607.00,,,,,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 R222.78,X76.56,Y7.35,Z-209.09

: Sonardyne - parsing R222.78,X76.56,Y7.35,Z-209.09

: Sonardyne - read R = 222.780000 from 222.78,X76.56,Y7.35,Z-209.09

: Sonardyne - got all data, Vehicle coordinates,
    r=222.780000, x=209.090000, y=76.560000, z=-7.350000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R221.40,X76.79,Y12.81,Z-207.26

: Sonardyne - parsing R221.40,X76.79,Y12.81,Z-207.26

: Sonardyne - read R = 221.400000 from 221.40,X76.79,Y12.81,Z-207.26

: Sonardyne - got all data, Vehicle coordinates,
    r=221.400000, x=207.260000, y=76.790000, z=-12.810000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202609.00,,,,,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 R219.91,X75.16,Y10.54,Z-206.40

: Sonardyne - parsing R219.91,X75.16,Y10.54,Z-206.40

: Sonardyne - read R = 219.910000 from 219.91,X75.16,Y10.54,Z-206.40

: Sonardyne - got all data, Vehicle coordinates,
    r=219.910000, x=206.400000, y=75.160000, z=-10.540000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202610.00,,,,,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 R219.14,X70.17,Y-13.93,Z-207.14

: Sonardyne - parsing R219.14,X70.17,Y-13.93,Z-207.14

: Sonardyne - read R = 219.140000 from 219.14,X70.17,Y-13.93,Z-207.14

: Sonardyne - got all data, Vehicle coordinates,
    r=219.140000, x=207.140000, y=70.170000, z=13.930000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202611.00,,,,,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 R216.97,X73.02,Y2.75,Z-204.29

: Sonardyne - parsing R216.97,X73.02,Y2.75,Z-204.29

: Sonardyne - read R = 216.970000 from 216.97,X73.02,Y2.75,Z-204.29

: Sonardyne - got all data, Vehicle coordinates,
    r=216.970000, x=204.290000, y=73.020000, z=-2.750000 tat = 759
: AshtechGps::processRecord() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202612.00,,,,,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 R215.30,X76.89,Y15.08,Z-200.54

: Sonardyne - parsing R215.30,X76.89,Y15.08,Z-200.54

: Sonardyne - read R = 215.300000 from 215.30,X76.89,Y15.08,Z-200.54

: Sonardyne - got all data, Vehicle coordinates,
    r=215.300000, x=200.540000, y=76.890000, z=-15.080000 tat = 760
: AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202613.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.94  8.99 16.99 3.99 4.02 0   207.14 02:57:22 m

: AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202614.00,,,,,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

: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R208.59,X78.07,Y7.18,Z-193.29

: Sonardyne - parsing R208.59,X78.07,Y7.18,Z-193.29

: Sonardyne - read R = 208.590000 from 208.59,X78.07,Y7.18,Z-193.29

: Sonardyne - got all data, Vehicle coordinates,
    r=208.590000, x=193.290000, y=78.070000, z=-7.180000 tat = 750
: AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202617.00,,,,,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 R207.03,X81.19,Y16.82,Z-189.70

: Sonardyne - parsing R207.03,X81.19,Y16.82,Z-189.70

: Sonardyne - read R = 207.030000 from 207.03,X81.19,Y16.82,Z-189.70

: Sonardyne - got all data, Vehicle coordinates,
    r=207.030000, x=189.700000, y=81.190000, z=-16.820000 tat = 750
: AshtechGps::processRecord() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202618.00,,,,,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 R205.24,X77.39,Y9.09,Z-189.87

: Sonardyne - parsing R205.24,X77.39,Y9.09,Z-189.87

: Sonardyne - read R = 205.240000 from 205.24,X77.39,Y9.09,Z-189.87

: Sonardyne - got all data, Vehicle coordinates,
    r=205.240000, x=189.870000, y=77.390000, z=-9.090000 tat = 750
: AshtechGps::processRecord() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202619.00,,,,,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 R203.79,X76.81,Y8.78,Z-188.55

: Sonardyne - parsing R203.79,X76.81,Y8.78,Z-188.55

: Sonardyne - read R = 203.790000 from 203.79,X76.81,Y8.78,Z-188.55

: Sonardyne - got all data, Vehicle coordinates,
    r=203.790000, x=188.550000, y=76.810000, z=-8.780000 tat = 740
: AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202620.00,,,,,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 R202.17,X75.51,Y5.87,Z-187.45

: Sonardyne - parsing R202.17,X75.51,Y5.87,Z-187.45

: Sonardyne - read R = 202.170000 from 202.17,X75.51,Y5.87,Z-187.45

: Sonardyne - got all data, Vehicle coordinates,
    r=202.170000, x=187.450000, y=75.510000, z=-5.870000 tat = 740
: AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202621.00,,,,,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 R200.74,X75.12,Y8.50,Z-185.96

: Sonardyne - parsing R200.74,X75.12,Y8.50,Z-185.96

: Sonardyne - read R = 200.740000 from 200.74,X75.12,Y8.50,Z-185.96

: Sonardyne - got all data, Vehicle coordinates,
    r=200.740000, x=185.960000, y=75.120000, z=-8.500000 tat = 740
: AshtechGps::processRecord() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202622.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 776.60                                          (wplog)

: Vehicle Position is error is (0.1, -0.1)

: LayeredControl::execute() -- (t = 776.596800) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 776.61                            (wplog)
  The current location (N,E) = 4052292.1      , 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 = 776.606799) Behavior waypoint_homing has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R198.69

: Sonardyne - parsing R198.69

: Sonardyne - read R = 198.690000 from 198.69

: Sonardyne - got range only (198.690000), tat = 710
: Sonardyne - POSD response: 
POSD S132.9,N23.6,D137,U3,Q0.000634

: Sonardyne - POSD response: 
POSD S132.9,N23.6,D137,U3,Q0.000634

: AshtechGps::processRecord() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R197.34,X65.68,Y5.35,Z-186.01

: Sonardyne - parsing R197.34,X65.68,Y5.35,Z-186.01

: Sonardyne - read R = 197.340000 from 197.34,X65.68,Y5.35,Z-186.01

: Sonardyne - got all data, Vehicle coordinates,
    r=197.340000, x=186.010000, y=65.680000, z=-5.350000 tat = 740
: BluefinBatt Reply: $aaq0 d- 31.98  7.91 16.99 3.98 4.01 0   206.25 02:57:32 m

: AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R195.89,X38.11,Y15.12,Z-191.55

: Sonardyne - parsing R195.89,X38.11,Y15.12,Z-191.55

: Sonardyne - read R = 195.890000 from 195.89,X38.11,Y15.12,Z-191.55

: Sonardyne - got all data, Vehicle coordinates,
    r=195.890000, x=191.550000, y=38.110000, z=-15.120000 tat = 740
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202625.00,,,,,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 R194.21,X18.70,Y7.15,Z-193.17

: Sonardyne - parsing R194.21,X18.70,Y7.15,Z-193.17

: Sonardyne - read R = 194.210000 from 194.21,X18.70,Y7.15,Z-193.17

: Sonardyne - got all data, Vehicle coordinates,
    r=194.210000, x=193.170000, y=18.700000, z=-7.150000 tat = 729
: AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202626.00,,,,,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 R192.98,X10.89,Y15.66,Z-192.03

: Sonardyne - parsing R192.98,X10.89,Y15.66,Z-192.03

: Sonardyne - read R = 192.980000 from 192.98,X10.89,Y15.66,Z-192.03

: Sonardyne - got all data, Vehicle coordinates,
    r=192.980000, x=192.030000, y=10.890000, z=-15.660000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202627.00,,,,,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 R191.44,X4.73,Y6.35,Z-191.28

: Sonardyne - parsing R191.44,X4.73,Y6.35,Z-191.28

: Sonardyne - read R = 191.440000 from 191.44,X4.73,Y6.35,Z-191.28

: Sonardyne - got all data, Vehicle coordinates,
    r=191.440000, x=191.280000, y=4.730000, z=-6.350000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R189.99,X1.19,Y17.49,Z-189.18

: Sonardyne - parsing R189.99,X1.19,Y17.49,Z-189.18

: Sonardyne - read R = 189.990000 from 189.99,X1.19,Y17.49,Z-189.18

: Sonardyne - got all data, Vehicle coordinates,
    r=189.990000, x=189.180000, y=1.190000, z=-17.490000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202629.00,,,,,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 R188.60,X1.21,Y23.94,Z-187.07

: Sonardyne - parsing R188.60,X1.21,Y23.94,Z-187.07

: Sonardyne - read R = 188.600000 from 188.60,X1.21,Y23.94,Z-187.07

: Sonardyne - got all data, Vehicle coordinates,
    r=188.600000, x=187.070000, y=1.210000, z=-23.940000 tat = 720
: AshtechGps::processRecord() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202630.00,,,,,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 R187.24,X0.05,Y21.89,Z-185.96

: Sonardyne - parsing R187.24,X0.05,Y21.89,Z-185.96

: Sonardyne - read R = 187.240000 from 187.24,X0.05,Y21.89,Z-185.96

: Sonardyne - got all data, Vehicle coordinates,
    r=187.240000, x=185.960000, y=0.050000, z=-21.890000 tat = 720
: AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202631.00,,,,,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 R185.00,X-0.12,Y17.42,Z-184.18

: Sonardyne - parsing R185.00,X-0.12,Y17.42,Z-184.18

: Sonardyne - read R = 185.000000 from 185.00,X-0.12,Y17.42,Z-184.18

: Sonardyne - got all data, Vehicle coordinates,
    r=185.000000, x=184.180000, y=-0.120000, z=-17.420000 tat = 720
: AshtechGps::processRecord() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R183.04,X0.14,Y12.86,Z-182.58

: Sonardyne - parsing R183.04,X0.14,Y12.86,Z-182.58

: Sonardyne - read R = 183.040000 from 183.04,X0.14,Y12.86,Z-182.58

: Sonardyne - got all data, Vehicle coordinates,
    r=183.040000, x=182.580000, y=0.140000, z=-12.860000 tat = 720
: AshtechGps::processRecord() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202633.00,,,,,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 R181.24,X0.89,Y15.54,Z-180.57

: Sonardyne - parsing R181.24,X0.89,Y15.54,Z-180.57

: Sonardyne - read R = 181.240000 from 181.24,X0.89,Y15.54,Z-180.57

: Sonardyne - got all data, Vehicle coordinates,
    r=181.240000, x=180.570000, y=0.890000, z=-15.540000 tat = 710
: AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.62 16.99 3.98 4.01 0   205.66 02:57:42 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 R179.41,X-1.50,Y2.60,Z-179.39

: Sonardyne - parsing R179.41,X-1.50,Y2.60,Z-179.39

: Sonardyne - read R = 179.410000 from 179.41,X-1.50,Y2.60,Z-179.39

: Sonardyne - got all data, Vehicle coordinates,
    r=179.410000, x=179.390000, y=-1.500000, z=-2.600000 tat = 710
: AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

:  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 R178.02,X1.38,Y16.50,Z-177.25

: Sonardyne - parsing R178.02,X1.38,Y16.50,Z-177.25

: Sonardyne - read R = 178.020000 from 178.02,X1.38,Y16.50,Z-177.25

: Sonardyne - got all data, Vehicle coordinates,
    r=178.020000, x=177.250000, y=1.380000, z=-16.500000 tat = 710
: AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202636.00,,,,,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 R176.75,X2.30,Y15.86,Z-176.02

: Sonardyne - parsing R176.75,X2.30,Y15.86,Z-176.02

: Sonardyne - read R = 176.750000 from 176.75,X2.30,Y15.86,Z-176.02

: Sonardyne - got all data, Vehicle coordinates,
    r=176.750000, x=176.020000, y=2.300000, z=-15.860000 tat = 710
: AshtechGps::processRecord() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202637.00,,,,,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 R175.31,X-2.75,Y0.65,Z-175.29

: Sonardyne - parsing R175.31,X-2.75,Y0.65,Z-175.29

: Sonardyne - read R = 175.310000 from 175.31,X-2.75,Y0.65,Z-175.29

: Sonardyne - got all data, Vehicle coordinates,
    r=175.310000, x=175.290000, y=-2.750000, z=-0.650000 tat = 710
: AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R174.06,X0.28,Y17.05,Z-173.22

: Sonardyne - parsing R174.06,X0.28,Y17.05,Z-173.22

: Sonardyne - read R = 174.060000 from 174.06,X0.28,Y17.05,Z-173.22

: Sonardyne - got all data, Vehicle coordinates,
    r=174.060000, x=173.220000, y=0.280000, z=-17.050000 tat = 700
: AshtechGps::processRecord() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202639.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R172.13,X-0.37,Y8.12,Z-171.93

: Sonardyne - parsing R172.13,X-0.37,Y8.12,Z-171.93

: Sonardyne - read R = 172.130000 from 172.13,X-0.37,Y8.12,Z-171.93

: Sonardyne - got all data, Vehicle coordinates,
    r=172.130000, x=171.930000, y=-0.370000, z=-8.120000 tat = 700
: AshtechGps::processRecord() - $GPGGA,202640.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202640.00,,,,,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 R170.38,X0.78,Y14.84,Z-169.73

: Sonardyne - parsing R170.38,X0.78,Y14.84,Z-169.73

: Sonardyne - read R = 170.380000 from 170.38,X0.78,Y14.84,Z-169.73

: Sonardyne - got all data, Vehicle coordinates,
    r=170.380000, x=169.730000, y=0.780000, z=-14.840000 tat = 700
: AshtechGps::processRecord() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202641.00,,,,,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 R168.39,X0.19,Y10.67,Z-168.05

: Sonardyne - parsing R168.39,X0.19,Y10.67,Z-168.05

: Sonardyne - read R = 168.390000 from 168.39,X0.19,Y10.67,Z-168.05

: Sonardyne - got all data, Vehicle coordinates,
    r=168.390000, x=168.050000, y=0.190000, z=-10.670000 tat = 700
: AshtechGps::processRecord() - $GPGGA,202642.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202642.00,,,,,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 R166.57,X1.20,Y11.89,Z-166.14

: Sonardyne - parsing R166.57,X1.20,Y11.89,Z-166.14

: Sonardyne - read R = 166.570000 from 166.57,X1.20,Y11.89,Z-166.14

: Sonardyne - got all data, Vehicle coordinates,
    r=166.570000, x=166.140000, y=1.200000, z=-11.890000 tat = 690
: AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R164.81,X1.81,Y11.48,Z-164.40

: Sonardyne - parsing R164.81,X1.81,Y11.48,Z-164.40

: Sonardyne - read R = 164.810000 from 164.81,X1.81,Y11.48,Z-164.40

: Sonardyne - got all data, Vehicle coordinates,
    r=164.810000, x=164.400000, y=1.810000, z=-11.480000 tat = 690
: AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  9.26 16.99 3.98 4.01 0   204.65 02:57:52 m

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

: AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202646.00,,,,,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,202647.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N6.8,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R158.36,X-0.40,Y17.74,Z-157.36

: Sonardyne - parsing R158.36,X-0.40,Y17.74,Z-157.36

: Sonardyne - read R = 158.360000 from 158.36,X-0.40,Y17.74,Z-157.36

: Sonardyne - got all data, Vehicle coordinates,
    r=158.360000, x=157.360000, y=-0.400000, z=-17.740000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202649.00,,,,,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 R156.54,X-1.05,Y13.72,Z-155.94

: Sonardyne - parsing R156.54,X-1.05,Y13.72,Z-155.94

: Sonardyne - read R = 156.540000 from 156.54,X-1.05,Y13.72,Z-155.94

: Sonardyne - got all data, Vehicle coordinates,
    r=156.540000, x=155.940000, y=-1.050000, z=-13.720000 tat = 680
: AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202650.00,,,,,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 R154.96,X-1.49,Y11.53,Z-154.52

: Sonardyne - parsing R154.96,X-1.49,Y11.53,Z-154.52

: Sonardyne - read R = 154.960000 from 154.96,X-1.49,Y11.53,Z-154.52

: Sonardyne - got all data, Vehicle coordinates,
    r=154.960000, x=154.520000, y=-1.490000, z=-11.530000 tat = 680
: AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202651.00,,,,,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 R153.19,X-0.26,Y8.08,Z-152.98

: Sonardyne - parsing R153.19,X-0.26,Y8.08,Z-152.98

: Sonardyne - read R = 153.190000 from 153.19,X-0.26,Y8.08,Z-152.98

: Sonardyne - got all data, Vehicle coordinates,
    r=153.190000, x=152.980000, y=-0.260000, z=-8.080000 tat = 680
: AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202652.00,,,,,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 R151.49,X-0.93,Y7.45,Z-151.30

: Sonardyne - parsing R151.49,X-0.93,Y7.45,Z-151.30

: Sonardyne - read R = 151.490000 from 151.49,X-0.93,Y7.45,Z-151.30

: Sonardyne - got all data, Vehicle coordinates,
    r=151.490000, x=151.300000, y=-0.930000, z=-7.450000 tat = 680
: AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R149.68,X-0.28,Y11.56,Z-149.24

: Sonardyne - parsing R149.68,X-0.28,Y11.56,Z-149.24

: Sonardyne - read R = 149.680000 from 149.68,X-0.28,Y11.56,Z-149.24

: Sonardyne - got all data, Vehicle coordinates,
    r=149.680000, x=149.240000, y=-0.280000, z=-11.560000 tat = 720
: BluefinBatt Reply: $aaq0 d- 31.94  9.33 16.99 3.98 4.01 0   204.02 02:58:02 m

: AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R148.17,X-1.47,Y10.53,Z-147.79

: Sonardyne - parsing R148.17,X-1.47,Y10.53,Z-147.79

: Sonardyne - read R = 148.170000 from 148.17,X-1.47,Y10.53,Z-147.79

: Sonardyne - got all data, Vehicle coordinates,
    r=148.170000, x=147.790000, y=-1.470000, z=-10.530000 tat = 670
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202655.00,,,,,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 R146.42,X0.33,Y13.83,Z-145.77

: Sonardyne - parsing R146.42,X0.33,Y13.83,Z-145.77

: Sonardyne - read R = 146.420000 from 146.42,X0.33,Y13.83,Z-145.77

: Sonardyne - got all data, Vehicle coordinates,
    r=146.420000, x=145.770000, y=0.330000, z=-13.830000 tat = 720
: AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R144.86

: Sonardyne - parsing R144.86

: Sonardyne - read R = 144.860000 from 144.86

: Sonardyne - got range only (144.860000), tat = 640
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S136.1,N22.4,D-20,U2,Q0.002977

: Sonardyne - POSD response: 
POSD S136.1,N22.4,D-20,U2,Q0.002977

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R143.62,X2.47,Y27.77,Z-140.89

: Sonardyne - parsing R143.62,X2.47,Y27.77,Z-140.89

: Sonardyne - read R = 143.620000 from 143.62,X2.47,Y27.77,Z-140.89

: Sonardyne - got all data, Vehicle coordinates,
    r=143.620000, x=140.890000, y=2.470000, z=-27.770000 tat = 660
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R141.38,X1.24,Y15.39,Z-140.53

: Sonardyne - parsing R141.38,X1.24,Y15.39,Z-140.53

: Sonardyne - read R = 141.380000 from 141.38,X1.24,Y15.39,Z-140.53

: Sonardyne - got all data, Vehicle coordinates,
    r=141.380000, x=140.530000, y=1.240000, z=-15.390000 tat = 660
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R139.68,X0.06,Y13.78,Z-139.00

: Sonardyne - parsing R139.68,X0.06,Y13.78,Z-139.00

: Sonardyne - read R = 139.680000 from 139.68,X0.06,Y13.78,Z-139.00

: Sonardyne - got all data, Vehicle coordinates,
    r=139.680000, x=139.000000, y=0.060000, z=-13.780000 tat = 660
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.10,X0.49,Y13.67,Z-137.42

: Sonardyne - parsing R138.10,X0.49,Y13.67,Z-137.42

: Sonardyne - read R = 138.100000 from 138.10,X0.49,Y13.67,Z-137.42

: Sonardyne - got all data, Vehicle coordinates,
    r=138.100000, x=137.420000, y=0.490000, z=-13.670000 tat = 660
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.46,X-1.27,Y11.30,Z-135.98

: Sonardyne - parsing R136.46,X-1.27,Y11.30,Z-135.98

: Sonardyne - read R = 136.460000 from 136.46,X-1.27,Y11.30,Z-135.98

: Sonardyne - got all data, Vehicle coordinates,
    r=136.460000, x=135.980000, y=-1.270000, z=-11.300000 tat = 650
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.91,X-0.03,Y15.37,Z-134.03

: Sonardyne - parsing R134.91,X-0.03,Y15.37,Z-134.03

: Sonardyne - read R = 134.910000 from 134.91,X-0.03,Y15.37,Z-134.03

: Sonardyne - got all data, Vehicle coordinates,
    r=134.910000, x=134.030000, y=-0.030000, z=-15.370000 tat = 650
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.35,X0.31,Y16.22,Z-132.36

: Sonardyne - parsing R133.35,X0.31,Y16.22,Z-132.36

: Sonardyne - read R = 133.350000 from 133.35,X0.31,Y16.22,Z-132.36

: Sonardyne - got all data, Vehicle coordinates,
    r=133.350000, x=132.360000, y=0.310000, z=-16.220000 tat = 650
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.82 16.99 3.98 4.01 0   203.11 02:58:12 m

: Sonardyne - POS response: 
POS V4,1 R131.68,X0.00,Y8.70,Z-131.39

: Sonardyne - parsing R131.68,X0.00,Y8.70,Z-131.39

: Sonardyne - read R = 131.680000 from 131.68,X0.00,Y8.70,Z-131.39

: Sonardyne - got all data, Vehicle coordinates,
    r=131.680000, x=131.390000, y=0.000000, z=-8.700000 tat = 650
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R130.22,X0.38,Y14.00,Z-129.46

: Sonardyne - parsing R130.22,X0.38,Y14.00,Z-129.46

: Sonardyne - read R = 130.220000 from 130.22,X0.38,Y14.00,Z-129.46

: Sonardyne - got all data, Vehicle coordinates,
    r=130.220000, x=129.460000, y=0.380000, z=-14.000000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.72,X0.16,Y13.54,Z-128.00

: Sonardyne - parsing R128.72,X0.16,Y13.54,Z-128.00

: Sonardyne - read R = 128.720000 from 128.72,X0.16,Y13.54,Z-128.00

: Sonardyne - got all data, Vehicle coordinates,
    r=128.720000, x=128.000000, y=0.160000, z=-13.540000 tat = 640
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.23,X-1.28,Y5.00,Z-127.13

: Sonardyne - parsing R127.23,X-1.28,Y5.00,Z-127.13

: Sonardyne - read R = 127.230000 from 127.23,X-1.28,Y5.00,Z-127.13

: Sonardyne - got all data, Vehicle coordinates,
    r=127.230000, x=127.130000, y=-1.280000, z=-5.000000 tat = 640
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.49,X0.54,Y15.74,Z-124.49

: Sonardyne - parsing R125.49,X0.54,Y15.74,Z-124.49

: Sonardyne - read R = 125.490000 from 125.49,X0.54,Y15.74,Z-124.49

: Sonardyne - got all data, Vehicle coordinates,
    r=125.490000, x=124.490000, y=0.540000, z=-15.740000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.78,X-0.98,Y7.75,Z-123.53

: Sonardyne - parsing R123.78,X-0.98,Y7.75,Z-123.53

: Sonardyne - read R = 123.780000 from 123.78,X-0.98,Y7.75,Z-123.53

: Sonardyne - got all data, Vehicle coordinates,
    r=123.780000, x=123.530000, y=-0.980000, z=-7.750000 tat = 639
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.27,X0.10,Y13.69,Z-121.50

: Sonardyne - parsing R122.27,X0.10,Y13.69,Z-121.50

: Sonardyne - read R = 122.270000 from 122.27,X0.10,Y13.69,Z-121.50

: Sonardyne - got all data, Vehicle coordinates,
    r=122.270000, x=121.500000, y=0.100000, z=-13.690000 tat = 630
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.56,X0.30,Y9.48,Z-120.18

: Sonardyne - parsing R120.56,X0.30,Y9.48,Z-120.18

: Sonardyne - read R = 120.560000 from 120.56,X0.30,Y9.48,Z-120.18

: Sonardyne - got all data, Vehicle coordinates,
    r=120.560000, x=120.180000, y=0.300000, z=-9.480000 tat = 630
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.71,X-0.49,Y11.79,Z-118.13

: Sonardyne - parsing R118.71,X-0.49,Y11.79,Z-118.13

: Sonardyne - read R = 118.710000 from 118.71,X-0.49,Y11.79,Z-118.13

: Sonardyne - got all data, Vehicle coordinates,
    r=118.710000, x=118.130000, y=-0.490000, z=-11.790000 tat = 630
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.86,X-0.62,Y10.06,Z-116.42

: Sonardyne - parsing R116.86,X-0.62,Y10.06,Z-116.42

: Sonardyne - read R = 116.860000 from 116.86,X-0.62,Y10.06,Z-116.42

: Sonardyne - got all data, Vehicle coordinates,
    r=116.860000, x=116.420000, y=-0.620000, z=-10.060000 tat = 630
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.86 16.89 3.98 4.01 0   202.50 02:58:22 m

: Sonardyne - POS response: 
POS V4,1 R115.55,X0.62,Y8.14,Z-115.27

: Sonardyne - parsing R115.55,X0.62,Y8.14,Z-115.27

: Sonardyne - read R = 115.550000 from 115.55,X0.62,Y8.14,Z-115.27

: Sonardyne - got all data, Vehicle coordinates,
    r=115.550000, x=115.270000, y=0.620000, z=-8.140000 tat = 630
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R113.49,X-0.47,Y4.46,Z-113.40

: Sonardyne - parsing R113.49,X-0.47,Y4.46,Z-113.40

: Sonardyne - read R = 113.490000 from 113.49,X-0.47,Y4.46,Z-113.40

: Sonardyne - got all data, Vehicle coordinates,
    r=113.490000, x=113.400000, y=-0.470000, z=-4.460000 tat = 620
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.92,X-0.02,Y9.62,Z-111.51

: Sonardyne - parsing R111.92,X-0.02,Y9.62,Z-111.51

: Sonardyne - read R = 111.920000 from 111.92,X-0.02,Y9.62,Z-111.51

: Sonardyne - got all data, Vehicle coordinates,
    r=111.920000, x=111.510000, y=-0.020000, z=-9.620000 tat = 620
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R110.24,X-0.34,Y10.24,Z-109.76

: Sonardyne - parsing R110.24,X-0.34,Y10.24,Z-109.76

: Sonardyne - read R = 110.240000 from 110.24,X-0.34,Y10.24,Z-109.76

: Sonardyne - got all data, Vehicle coordinates,
    r=110.240000, x=109.760000, y=-0.340000, z=-10.240000 tat = 620
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.41

: Sonardyne - parsing R112.41

: Sonardyne - read R = 112.410000 from 112.41

: Sonardyne - got range only (112.410000), tat = 600
: Sonardyne - POSD response: 
POSD S135.9,N30.3,D-76,U2,Q0.010364

: Sonardyne - POSD response: 
POSD S135.9,N30.3,D-76,U2,Q0.010364

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R107.05,X1.38,Y9.37,Z-106.63

: Sonardyne - parsing R107.05,X1.38,Y9.37,Z-106.63

: Sonardyne - read R = 107.050000 from 107.05,X1.38,Y9.37,Z-106.63

: Sonardyne - got all data, Vehicle coordinates,
    r=107.050000, x=106.630000, y=1.380000, z=-9.370000 tat = 610
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202720.00,,,,,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+144.0,N25.4,D27,U2,Q0.003018

: Sonardyne - POSD response: 
POSD S+144.0,N25.4,D27,U2,Q0.003018

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.28,X0.52,Y8.34,Z-103.94

: Sonardyne - parsing R104.28,X0.52,Y8.34,Z-103.94

: Sonardyne - read R = 104.280000 from 104.28,X0.52,Y8.34,Z-103.94

: Sonardyne - got all data, Vehicle coordinates,
    r=104.280000, x=103.940000, y=0.520000, z=-8.340000 tat = 610
: Sonardyne - POSD response: 
POSD S+141.8,N30.1,D-16,U8,Q0.000624

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.99,X-1.26,Y7.12,Z-102.74

: Sonardyne - parsing R102.99,X-1.26,Y7.12,Z-102.74

: Sonardyne - read R = 102.990000 from 102.99,X-1.26,Y7.12,Z-102.74

: Sonardyne - got all data, Vehicle coordinates,
    r=102.990000, x=102.740000, y=-1.260000, z=-7.120000 tat = 610
: Sonardyne - POSD response: 
POSD S+143.5,N27.1,D-27,U8,Q0.000120

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

: AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R101.66,X-1.02,Y10.73,Z-101.09

: Sonardyne - parsing R101.66,X-1.02,Y10.73,Z-101.09

: Sonardyne - read R = 101.660000 from 101.66,X-1.02,Y10.73,Z-101.09

: Sonardyne - got all data, Vehicle coordinates,
    r=101.660000, x=101.090000, y=-1.020000, z=-10.730000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.2,N30.1,D-45,U8,Q0.000045

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

: AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.15 16.89 3.98 4.01 0   201.59 02:58:32 m

: Sonardyne - POS response: 
POS V4,1 R100.12,X-1.29,Y8.38,Z-99.77

: Sonardyne - parsing R100.12,X-1.29,Y8.38,Z-99.77

: Sonardyne - read R = 100.120000 from 100.12,X-1.29,Y8.38,Z-99.77

: Sonardyne - got all data, Vehicle coordinates,
    r=100.120000, x=99.770000, y=-1.290000, z=-8.380000 tat = 599
: Sonardyne - POSD response: 
POSD S+144.0,N28.8,D-48,U8,Q0.000100

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

: AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R98.35,X-0.78,Y9.88,Z-97.85

: Sonardyne - parsing R98.35,X-0.78,Y9.88,Z-97.85

: Sonardyne - read R = 98.350000 from 98.35,X-0.78,Y9.88,Z-97.85

: Sonardyne - got all data, Vehicle coordinates,
    r=98.350000, x=97.850000, y=-0.780000, z=-9.880000 tat = 600
: Sonardyne - POSD response: 
POSD S+140.8,N21.7,D-117,U8,Q0.000433

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

: AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.52,X-0.96,Y4.68,Z-96.40

: Sonardyne - parsing R96.52,X-0.96,Y4.68,Z-96.40

: Sonardyne - read R = 96.520000 from 96.52,X-0.96,Y4.68,Z-96.40

: Sonardyne - got all data, Vehicle coordinates,
    r=96.520000, x=96.400000, y=-0.960000, z=-4.680000 tat = 600
: Sonardyne - POSD response: 
POSD S+140.8,N24.9,D-83,U8,Q0.000070

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

: AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.67,X1.07,Y11.63,Z-93.95

: Sonardyne - parsing R94.67,X1.07,Y11.63,Z-93.95

: Sonardyne - read R = 94.670000 from 94.67,X1.07,Y11.63,Z-93.95

: Sonardyne - got all data, Vehicle coordinates,
    r=94.670000, x=93.950000, y=1.070000, z=-11.630000 tat = 600
: Sonardyne - POSD response: 
POSD S+144.4,N25.7,D-91,U8,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.75,X-0.91,Y3.21,Z-92.69

: Sonardyne - parsing R92.75,X-0.91,Y3.21,Z-92.69

: Sonardyne - read R = 92.750000 from 92.75,X-0.91,Y3.21,Z-92.69

: Sonardyne - got all data, Vehicle coordinates,
    r=92.750000, x=92.690000, y=-0.910000, z=-3.210000 tat = 590
: Sonardyne - POSD response: 
POSD S138.7,N24.5,D-79,U8,Q0.000158

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

: AshtechGps::processRecord() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.75

: Sonardyne - parsing R94.75

: Sonardyne - read R = 94.750000 from 94.75

: Sonardyne - got range only (94.750000), tat = 570
: Sonardyne - POSD response: 
POSD S138.8,N26.0,D14,U2,Q0.001103

: Sonardyne - POSD response: 
POSD S138.8,N26.0,D14,U2,Q0.001103

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.85,X0.74,Y10.51,Z-88.22

: Sonardyne - parsing R88.85,X0.74,Y10.51,Z-88.22

: Sonardyne - read R = 88.850000 from 88.85,X0.74,Y10.51,Z-88.22

: Sonardyne - got all data, Vehicle coordinates,
    r=88.850000, x=88.220000, y=0.740000, z=-10.510000 tat = 590
: 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,202731.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.99,X0.09,Y3.60,Z-86.92

: Sonardyne - parsing R86.99,X0.09,Y3.60,Z-86.92

: Sonardyne - read R = 86.990000 from 86.99,X0.09,Y3.60,Z-86.92

: Sonardyne - got all data, Vehicle coordinates,
    r=86.990000, x=86.920000, y=0.090000, z=-3.600000 tat = 580
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.96 16.99 3.98 4.01 0   200.95 02:58:42 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 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,202735.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: 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

: Sonardyne - POS response: 
POS V4,1 R81.13

: Sonardyne - parsing R81.13

: Sonardyne - read R = 81.130000 from 81.13

: Sonardyne - got range only (81.130000), tat = 560
: Sonardyne - POSD response: 
POSD S+144.4,N23.9,D-84,U3,Q0.000072

: Sonardyne - POSD response: 
POSD S+144.4,N23.9,D-84,U3,Q0.000072

: AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202736.00,,,,,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 R79.72,X1.67,Y11.13,Z-78.93

: Sonardyne - parsing R79.72,X1.67,Y11.13,Z-78.93

: Sonardyne - read R = 79.720000 from 79.72,X1.67,Y11.13,Z-78.93

: Sonardyne - got all data, Vehicle coordinates,
    r=79.720000, x=78.930000, y=1.670000, z=-11.130000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.3,N23.3,D-122,U8,Q0.000061

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202737.00,,,,,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 R78.14,X0.56,Y10.24,Z-77.46

: Sonardyne - parsing R78.14,X0.56,Y10.24,Z-77.46

: Sonardyne - read R = 78.140000 from 78.14,X0.56,Y10.24,Z-77.46

: Sonardyne - got all data, Vehicle coordinates,
    r=78.140000, x=77.460000, y=0.560000, z=-10.240000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N21.4,D-91,U8,Q0.000069

: AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R76.28,X-0.84,Y5.54,Z-76.07

: Sonardyne - parsing R76.28,X-0.84,Y5.54,Z-76.07

: Sonardyne - read R = 76.280000 from 76.28,X-0.84,Y5.54,Z-76.07

: Sonardyne - got all data, Vehicle coordinates,
    r=76.280000, x=76.070000, y=-0.840000, z=-5.540000 tat = 569
: Sonardyne - POSD response: 
POSD S+144.3,N26.9,D-61,U8,Q0.000113

: AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202739.00,,,,,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 R74.35,X0.21,Y8.14,Z-73.91

: Sonardyne - parsing R74.35,X0.21,Y8.14,Z-73.91

: Sonardyne - read R = 74.350000 from 74.35,X0.21,Y8.14,Z-73.91

: Sonardyne - got all data, Vehicle coordinates,
    r=74.350000, x=73.910000, y=0.210000, z=-8.140000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.6,N34.9,D-10,U8,Q0.000074

: AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202740.00,,,,,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 R72.05

: Sonardyne - parsing R72.05

: Sonardyne - read R = 72.050000 from 72.05

: Sonardyne - got range only (72.050000), tat = 540
: Sonardyne - POSD response: 
POSD S+142.9,N20.5,D-74,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S+142.9,N20.5,D-74,U1,Q0.013937

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202741.00,,,,,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 R70.69

: Sonardyne - parsing R70.69

: Sonardyne - read R = 70.690000 from 70.69

: Sonardyne - got range only (70.690000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.4,N27.5,D59,U3,Q0.000066

: Sonardyne - POSD response: 
POSD S+144.4,N27.5,D59,U3,Q0.000066

: AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202742.00,,,,,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 R72.15

: Sonardyne - parsing R72.15

: Sonardyne - read R = 72.150000 from 72.15

: Sonardyne - got range only (72.150000), tat = 540
: Sonardyne - POSD response: 
POSD S+140.2,N24.1,D128,U3,Q0.001490

: Sonardyne - POSD response: 
POSD S+140.2,N24.1,D128,U3,Q0.001490

: AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R67.44,X-0.35,Y2.60,Z-67.39

: Sonardyne - parsing R67.44,X-0.35,Y2.60,Z-67.39

: Sonardyne - read R = 67.440000 from 67.44,X-0.35,Y2.60,Z-67.39

: Sonardyne - got all data, Vehicle coordinates,
    r=67.440000, x=67.390000, y=-0.350000, z=-2.600000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.5,N32.7,D-20,U8,Q0.000072

: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $aaq0 d- 31.94  8.08 16.89 3.98 4.01 0   200.03 02:58:52 m

: AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R65.96,X-0.21,Y3.82,Z-65.85

: Sonardyne - parsing R65.96,X-0.21,Y3.82,Z-65.85

: Sonardyne - read R = 65.960000 from 65.96,X-0.21,Y3.82,Z-65.85

: Sonardyne - got all data, Vehicle coordinates,
    r=65.960000, x=65.850000, y=-0.210000, z=-3.820000 tat = 560
: Sonardyne - POSD response: 
POSD S+142.8,N22.4,D-112,U8,Q0.000477

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

: AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202745.00,,,,,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 R64.57,X-0.68,Y3.29,Z-64.48

: Sonardyne - parsing R64.57,X-0.68,Y3.29,Z-64.48

: Sonardyne - read R = 64.570000 from 64.57,X-0.68,Y3.29,Z-64.48

: Sonardyne - got all data, Vehicle coordinates,
    r=64.570000, x=64.480000, y=-0.680000, z=-3.290000 tat = 600
: Sonardyne - POSD response: 
POSD S+144.6,N34.7,D-22,U8,Q0.000104

: AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202746.00,,,,,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 R63.20,X-0.79,Y3.35,Z-63.11

: Sonardyne - parsing R63.20,X-0.79,Y3.35,Z-63.11

: Sonardyne - read R = 63.200000 from 63.20,X-0.79,Y3.35,Z-63.11

: Sonardyne - got all data, Vehicle coordinates,
    r=63.200000, x=63.110000, y=-0.790000, z=-3.350000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N35.6,D-27,U8,Q0.000107

: AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R66.59

: Sonardyne - parsing R66.59

: Sonardyne - read R = 66.590000 from 66.59

: Sonardyne - got range only (66.590000), tat = 540
: Sonardyne - POSD response: 
POSD S137.5,N27.1,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.5,N27.1,D-22,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R59.97,X-0.06,Y3.78,Z-59.85

: Sonardyne - parsing R59.97,X-0.06,Y3.78,Z-59.85

: Sonardyne - read R = 59.970000 from 59.97,X-0.06,Y3.78,Z-59.85

: Sonardyne - got all data, Vehicle coordinates,
    r=59.970000, x=59.850000, y=-0.060000, z=-3.780000 tat = 550
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202749.00,,,,,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 R58.08

: Sonardyne - parsing R58.08

: Sonardyne - read R = 58.080000 from 58.08

: Sonardyne - got range only (58.080000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D-29,U5,Q0.000068

: Sonardyne - POSD response: 
POSD S+144.7,N29.1,D-29,U5,Q0.000068

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202750.00,,,,,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 R56.27

: Sonardyne - parsing R56.27

: Sonardyne - read R = 56.270000 from 56.27

: Sonardyne - got range only (56.270000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.9,N38.4,D79,U3,Q0.000045

: Sonardyne - POSD response: 
POSD S+144.9,N38.4,D79,U3,Q0.000045

: AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202751.00,,,,,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 R57.79

: Sonardyne - parsing R57.79

: Sonardyne - read R = 57.790000 from 57.79

: Sonardyne - got range only (57.790000), tat = 520
: Sonardyne - POSD response: 
POSD S134.3,N24.1,D-46,U1,Q0.007037

: Sonardyne - POSD response: 
POSD S134.3,N24.1,D-46,U1,Q0.007037

: AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202752.00,,,,,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 R52.94,X-0.17,Y1.03,Z-52.93

: Sonardyne - parsing R52.94,X-0.17,Y1.03,Z-52.93

: Sonardyne - read R = 52.940000 from 52.94,X-0.17,Y1.03,Z-52.93

: Sonardyne - got all data, Vehicle coordinates,
    r=52.940000, x=52.930000, y=-0.170000, z=-1.030000 tat = 540
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R51.53,X0.15,Y2.20,Z-51.48

: Sonardyne - parsing R51.53,X0.15,Y2.20,Z-51.48

: Sonardyne - read R = 51.530000 from 51.53,X0.15,Y2.20,Z-51.48

: Sonardyne - got all data, Vehicle coordinates,
    r=51.530000, x=51.480000, y=0.150000, z=-2.200000 tat = 540
: AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.45 16.89 3.98 4.01 0   199.37 02:59:02 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 R50.14,X0.03,Y2.09,Z-50.10

: Sonardyne - parsing R50.14,X0.03,Y2.09,Z-50.10

: Sonardyne - read R = 50.140000 from 50.14,X0.03,Y2.09,Z-50.10

: Sonardyne - got all data, Vehicle coordinates,
    r=50.140000, x=50.100000, y=0.030000, z=-2.090000 tat = 540
: AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: Sonardyne - POS response: 
POS V4,1 R52.65

: Sonardyne - parsing R52.65

: Sonardyne - read R = 52.650000 from 52.65

: Sonardyne - got range only (52.650000), tat = 520
: Sonardyne - POSD response: 
POSD S128.6,N21.2,D16,U4,Q0.004560

: Sonardyne - POSD response: 
POSD S128.6,N21.2,D16,U4,Q0.004560

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R47.14

: Sonardyne - parsing R47.14

: Sonardyne - read R = 47.140000 from 47.14

: Sonardyne - got range only (47.140000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N29.6,D-40,U5,Q0.000054

: Sonardyne - POSD response: 
POSD S+144.8,N29.6,D-40,U5,Q0.000054

: AshtechGps::processRecord() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 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 S+144.9,N35.4,D23,U4,Q0.000048

: Sonardyne - POSD response: 
POSD S+144.9,N35.4,D23,U4,Q0.000048

: AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R43.91,X-0.20,Y1.92,Z-43.87

: Sonardyne - parsing R43.91,X-0.20,Y1.92,Z-43.87

: Sonardyne - read R = 43.910000 from 43.91,X-0.20,Y1.92,Z-43.87

: Sonardyne - got all data, Vehicle coordinates,
    r=43.910000, x=43.870000, y=-0.200000, z=-1.920000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.7,N25.3,D-76,U8,Q0.000057

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202759.00,,,,,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 R41.96,X-0.27,Y1.75,Z-41.93

: Sonardyne - parsing R41.96,X-0.27,Y1.75,Z-41.93

: Sonardyne - read R = 41.960000 from 41.96,X-0.27,Y1.75,Z-41.93

: Sonardyne - got all data, Vehicle coordinates,
    r=41.960000, x=41.930000, y=-0.270000, z=-1.750000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.4,N25.7,D-64,U8,Q0.000065

: AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202800.00,,,,,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 R40.45,X-0.17,Y1.60,Z-40.42

: Sonardyne - parsing R40.45,X-0.17,Y1.60,Z-40.42

: Sonardyne - read R = 40.450000 from 40.45,X-0.17,Y1.60,Z-40.42

: Sonardyne - got all data, Vehicle coordinates,
    r=40.450000, x=40.420000, y=-0.170000, z=-1.600000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.5,N23.5,D-93,U8,Q0.000062

: AshtechGps::processRecord() - $GPGGA,202801.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202801.00,,,,,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 R38.81,X-0.03,Y1.41,Z-38.79

: Sonardyne - parsing R38.81,X-0.03,Y1.41,Z-38.79

: Sonardyne - read R = 38.810000 from 38.81,X-0.03,Y1.41,Z-38.79

: Sonardyne - got all data, Vehicle coordinates,
    r=38.810000, x=38.790000, y=-0.030000, z=-1.410000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.5,N28.3,D-54,U8,Q0.000061

: AshtechGps::processRecord() - $GPGGA,202802.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202802.00,,,,,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 R37.27,X-0.15,Y1.35,Z-37.24

: Sonardyne - parsing R37.27,X-0.15,Y1.35,Z-37.24

: Sonardyne - read R = 37.270000 from 37.27,X-0.15,Y1.35,Z-37.24

: Sonardyne - got all data, Vehicle coordinates,
    r=37.270000, x=37.240000, y=-0.150000, z=-1.350000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N28.8,D50,U7,Q0.000048

: AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202803.00,,,,,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 R35.78,X-0.14,Y1.05,Z-35.76

: Sonardyne - parsing R35.78,X-0.14,Y1.05,Z-35.76

: Sonardyne - read R = 35.780000 from 35.78,X-0.14,Y1.05,Z-35.76

: Sonardyne - got all data, Vehicle coordinates,
    r=35.780000, x=35.760000, y=-0.140000, z=-1.050000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N39.4,D-8,U8,Q0.000057

: BluefinBatt Reply: $aaq0 d- 31.91  8.35 16.99 3.98 4.01 0   198.48 02:59:12 m

: AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202804.00,,,,,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 R34.25,X-0.07,Y0.96,Z-34.23

: Sonardyne - parsing R34.25,X-0.07,Y0.96,Z-34.23

: Sonardyne - read R = 34.250000 from 34.25,X-0.07,Y0.96,Z-34.23

: Sonardyne - got all data, Vehicle coordinates,
    r=34.250000, x=34.230000, y=-0.070000, z=-0.960000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N25.9,D-74,U8,Q0.000054

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

: AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202805.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R32.68,X0.02,Y0.77,Z-32.67

: Sonardyne - parsing R32.68,X0.02,Y0.77,Z-32.67

: Sonardyne - read R = 32.680000 from 32.68,X0.02,Y0.77,Z-32.67

: Sonardyne - got all data, Vehicle coordinates,
    r=32.680000, x=32.670000, y=0.020000, z=-0.770000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N22.4,D-102,U8,Q0.000057

: AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.00,X0.10,Y0.58,Z-31.00

: Sonardyne - parsing R31.00,X0.10,Y0.58,Z-31.00

: Sonardyne - read R = 31.000000 from 31.00,X0.10,Y0.58,Z-31.00

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

: Sonardyne - got all data, Vehicle coordinates,
    r=31.000000, x=31.000000, y=0.100000, z=-0.580000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N29.4,D-49,U8,Q0.000056

: AshtechGps::processRecord() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.32,X0.05,Y0.57,Z-29.32

: Sonardyne - parsing R29.32,X0.05,Y0.57,Z-29.32

: Sonardyne - read R = 29.320000 from 29.32,X0.05,Y0.57,Z-29.32

: Sonardyne - got all data, Vehicle coordinates,
    r=29.320000, x=29.320000, y=0.050000, z=-0.570000 tat = 509
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N32.8,D-37,U8,Q0.000048

: AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.67,X-0.04,Y0.64,Z-27.66

: Sonardyne - parsing R27.67,X-0.04,Y0.64,Z-27.66

: Sonardyne - read R = 27.670000 from 27.67,X-0.04,Y0.64,Z-27.66

: Sonardyne - got all data, Vehicle coordinates,
    r=27.670000, x=27.660000, y=-0.040000, z=-0.640000 tat = 500
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N28.0,D-48,U8,Q0.000047

: AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.96,X-0.09,Y0.63,Z-25.96

: Sonardyne - parsing R25.96,X-0.09,Y0.63,Z-25.96

: Sonardyne - read R = 25.960000 from 25.96,X-0.09,Y0.63,Z-25.96

: Sonardyne - got all data, Vehicle coordinates,
    r=25.960000, x=25.960000, y=-0.090000, z=-0.630000 tat = 500
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N22.8,D-47,U8,Q0.000088

: AshtechGps::processRecord() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.28,X-0.06,Y0.29,Z-24.28

: Sonardyne - parsing R24.28,X-0.06,Y0.29,Z-24.28

: Sonardyne - read R = 24.280000 from 24.28,X-0.06,Y0.29,Z-24.28

: Sonardyne - got all data, Vehicle coordinates,
    r=24.280000, x=24.280000, y=-0.060000, z=-0.290000 tat = 500
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N28.6,D-47,U8,Q0.000064

: AshtechGps::processRecord() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.51,X0.00,Y0.11,Z-22.51

: Sonardyne - parsing R22.51,X0.00,Y0.11,Z-22.51

: Sonardyne - read R = 22.510000 from 22.51,X0.00,Y0.11,Z-22.51

: Sonardyne - got all data, Vehicle coordinates,
    r=22.510000, x=22.510000, y=0.000000, z=-0.110000 tat = 500
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N34.3,D-46,U8,Q0.000066

: AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.84,X0.06,Y-0.02,Z-20.84

: Sonardyne - parsing R20.84,X0.06,Y-0.02,Z-20.84

: Sonardyne - read R = 20.840000 from 20.84,X0.06,Y-0.02,Z-20.84

: Sonardyne - got all data, Vehicle coordinates,
    r=20.840000, x=20.840000, y=0.060000, z=0.020000 tat = 500
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N28.9,D-43,U8,Q0.000070

: AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.25,X0.08,Y-0.11,Z-19.25

: Sonardyne - parsing R19.25,X0.08,Y-0.11,Z-19.25

: Sonardyne - read R = 19.250000 from 19.25,X0.08,Y-0.11,Z-19.25

: Sonardyne - got all data, Vehicle coordinates,
    r=19.250000, x=19.250000, y=0.080000, z=0.110000 tat = 490
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N29.9,D-40,U8,Q0.000066

: AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  9.03 16.89 3.98 4.01 0   197.83 02:59:22 m

: Sonardyne - POS response: 
POS V4,1 R17.83,X0.06,Y-0.10,Z-17.83

: Sonardyne - parsing R17.83,X0.06,Y-0.10,Z-17.83

: Sonardyne - read R = 17.830000 from 17.83,X0.06,Y-0.10,Z-17.83

: Sonardyne - got all data, Vehicle coordinates,
    r=17.830000, x=17.830000, y=0.060000, z=0.100000 tat = 490
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N29.7,D-40,U8,Q0.000045

: AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R16.32,X0.01,Y-0.13,Z-16.32

: Sonardyne - parsing R16.32,X0.01,Y-0.13,Z-16.32

: Sonardyne - read R = 16.320000 from 16.32,X0.01,Y-0.13,Z-16.32

: Sonardyne - got all data, Vehicle coordinates,
    r=16.320000, x=16.320000, y=0.010000, z=0.130000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-42,U8,Q0.000080

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

: AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.78,X-0.02,Y-0.24,Z-14.78

: Sonardyne - parsing R14.78,X-0.02,Y-0.24,Z-14.78

: Sonardyne - read R = 14.780000 from 14.78,X-0.02,Y-0.24,Z-14.78

: Sonardyne - got all data, Vehicle coordinates,
    r=14.780000, x=14.780000, y=-0.020000, z=0.240000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-43,U8,Q0.000108

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

: AshtechGps::processRecord() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.14,X-0.02,Y-0.35,Z-13.13

: Sonardyne - parsing R13.14,X-0.02,Y-0.35,Z-13.13

: Sonardyne - read R = 13.140000 from 13.14,X-0.02,Y-0.35,Z-13.13

: Sonardyne - got all data, Vehicle coordinates,
    r=13.140000, x=13.130000, y=-0.020000, z=0.350000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N29.3,D-45,U8,Q0.000133

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

: AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.48,X-0.05,Y-0.43,Z-11.47

: Sonardyne - parsing R11.48,X-0.05,Y-0.43,Z-11.47

: Sonardyne - read R = 11.480000 from 11.48,X-0.05,Y-0.43,Z-11.47

: Sonardyne - got all data, Vehicle coordinates,
    r=11.480000, x=11.470000, y=-0.050000, z=0.430000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N29.8,D-42,U8,Q0.000063

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

: AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.82,X-0.04,Y-0.67,Z-9.79

: Sonardyne - parsing R9.82,X-0.04,Y-0.67,Z-9.79

: Sonardyne - read R = 9.820000 from 9.82,X-0.04,Y-0.67,Z-9.79

: Sonardyne - got all data, Vehicle coordinates,
    r=9.820000, x=9.790000, y=-0.040000, z=0.670000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N30.4,D-41,U8,Q0.000230

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

: AshtechGps::processRecord() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.16,X-0.09,Y-0.87,Z-8.12

: Sonardyne - parsing R8.16,X-0.09,Y-0.87,Z-8.12

: Sonardyne - read R = 8.160000 from 8.16,X-0.09,Y-0.87,Z-8.12

: Sonardyne - got all data, Vehicle coordinates,
    r=8.160000, x=8.120000, y=-0.090000, z=0.870000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-44,U8,Q0.000464

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

: AshtechGps::processRecord() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.63,X-0.06,Y-1.14,Z-6.53

: Sonardyne - parsing R6.63,X-0.06,Y-1.14,Z-6.53

: Sonardyne - read R = 6.630000 from 6.63,X-0.06,Y-1.14,Z-6.53

: Sonardyne - got all data, Vehicle coordinates,
    r=6.630000, x=6.530000, y=-0.060000, z=1.140000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N29.3,D-46,U8,Q0.002438

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

: AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.10

: Sonardyne - parsing R5.10

: Sonardyne - read R = 5.100000 from 5.10

: Sonardyne - got range only (5.100000), tat = 449
: Sonardyne - POSD response: 
POSD S+144.7,N24.3,D-75,U4,Q0.012170

: Sonardyne - POSD response: 
POSD S+144.7,N24.3,D-75,U4,Q0.012170

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.58

: Sonardyne - parsing R3.58

: Sonardyne - read R = 3.580000 from 3.58

: Sonardyne - got range only (3.580000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D-46,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,202824.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.25 16.99 3.98 4.01 0   196.94 02:59:32 m

: Sonardyne - POS response: 
POS V4,1 R2.19,X-0.04,Y2.18,Z0.00

: Sonardyne - parsing R2.19,X-0.04,Y2.18,Z0.00

: Sonardyne - read R = 2.190000 from 2.19,X-0.04,Y2.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=2.190000, x=0.000000, y=-0.040000, z=-2.180000 tat = 470
: Sonardyne - POSD response: 
POSD S+145.0,N32.0,D-31,U7,Q0.006447

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R1.58

: Sonardyne - parsing R1.58

: Sonardyne - read R = 1.580000 from 1.58

: Sonardyne - got range only (1.580000), tat = 450
: Sonardyne - POSD response: 
POSD S+145.0,N39.8,D8,U1,Q0.014513

: Sonardyne - POSD response: 
POSD S+145.0,N39.8,D8,U1,Q0.014513

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.44

: Sonardyne - parsing R2.44

: Sonardyne - read R = 2.440000 from 2.44

: Sonardyne - got range only (2.440000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.5,N30.1,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.5,N30.1,D41,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,202827.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  WaypointHoming has set the state to finished.

: WaypointHoming (4052089.6, 600452.0), 
  reached at t = 901.40                                          (wplog)

: Vehicle Position is error is (0.1, -0.1)

: LayeredControl::execute() -- (t = 901.408249) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 901.41                            (wplog)
  The current location (N,E) = 4052089.5      , 600452.0         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 66.8 Degrees.

: LayeredControl::execute() -- (t = 901.408249) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R3.83

: Sonardyne - parsing R3.83

: Sonardyne - read R = 3.830000 from 3.83

: Sonardyne - got range only (3.830000), tat = 450
: Sonardyne - POSD response: 
POSD S113.9,N18.6,D72,U2,Q0.007346

: Sonardyne - POSD response: 
POSD S113.9,N18.6,D72,U2,Q0.007346

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

: AshtechGps::processRecord() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202829.00,,,,,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,202830.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202830.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202831.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202831.00,,,,,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,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,202832.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.50

: Sonardyne - parsing R10.50

: Sonardyne - read R = 10.500000 from 10.50

: Sonardyne - got range only (10.500000), tat = 460
: Sonardyne - POSD response: 
POSD S121.1,N26.3,D26,U1,Q0.011726

: Sonardyne - POSD response: 
POSD S121.1,N26.3,D26,U1,Q0.011726

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

: AshtechGps::processRecord() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202833.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.94  8.99 16.99 3.98 4.01 0   196.31 02:59:42 m

: AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202834.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,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,202836.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.42,X0.68,Y-2.79,Z-15.15

: Sonardyne - parsing R15.42,X0.68,Y-2.79,Z-15.15

: Sonardyne - read R = 15.420000 from 15.42,X0.68,Y-2.79,Z-15.15

: Sonardyne - got all data, Vehicle coordinates,
    r=15.420000, x=15.150000, y=0.680000, z=2.790000 tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.45

: Sonardyne - parsing R16.45

: Sonardyne - read R = 16.450000 from 16.45

: Sonardyne - got range only (16.450000), tat = 470
: Sonardyne - POSD response: 
POSD S130.2,N31.3,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N31.3,D-21,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,202838.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202838.00,,,,,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,202839.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202839.00,,,,,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,202840.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202840.00,,,,,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,202841.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202841.00,,,,,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,N8.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,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,202842.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202842.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.68,X13.14,Y10.66,Z-5.13

: Sonardyne - parsing R17.68,X13.14,Y10.66,Z-5.13

: Sonardyne - read R = 17.680000 from 17.68,X13.14,Y10.66,Z-5.13

: Sonardyne - got all data, Vehicle coordinates,
    r=17.680000, x=5.130000, y=13.140000, z=-10.660000 tat = 490
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.56,X8.08,Y-14.48,Z-10.37

: Sonardyne - parsing R19.56,X8.08,Y-14.48,Z-10.37

: Sonardyne - read R = 19.560000 from 19.56,X8.08,Y-14.48,Z-10.37

: Sonardyne - got all data, Vehicle coordinates,
    r=19.560000, x=10.370000, y=8.080000, z=14.480000 tat = 490
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.96 16.99 3.98 4.01 0   195.40 02:59:52 m

: Sonardyne - POS response: 
POS V4,1 R18.43,X13.68,Y11.27,Z-5.08

: Sonardyne - parsing R18.43,X13.68,Y11.27,Z-5.08

: Sonardyne - read R = 18.430000 from 18.43,X13.68,Y11.27,Z-5.08

: Sonardyne - got all data, Vehicle coordinates,
    r=18.430000, x=5.080000, y=13.680000, z=-11.270000 tat = 490
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: Sonardyne - POS response: 
POS V4,1 R18.70

: Sonardyne - parsing R18.70

: Sonardyne - read R = 18.700000 from 18.70

: Sonardyne - got range only (18.700000), tat = 470
: Sonardyne - POSD response: 
POSD S136.9,N31.1,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.9,N31.1,D5,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,202846.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.94,X13.94,Y-6.83,Z-10.85

: Sonardyne - parsing R18.94,X13.94,Y-6.83,Z-10.85

: Sonardyne - read R = 18.940000 from 18.94,X13.94,Y-6.83,Z-10.85

: Sonardyne - got all data, Vehicle coordinates,
    r=18.940000, x=10.850000, y=13.940000, z=6.830000 tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.37,X12.87,Y11.09,Z-9.29

: Sonardyne - parsing R19.37,X12.87,Y11.09,Z-9.29

: Sonardyne - read R = 19.370000 from 19.37,X12.87,Y11.09,Z-9.29

: Sonardyne - got all data, Vehicle coordinates,
    r=19.370000, x=9.290000, y=12.870000, z=-11.090000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.89

: Sonardyne - parsing R19.89

: Sonardyne - read R = 19.890000 from 19.89

: Sonardyne - got range only (19.890000), tat = 470
: Sonardyne - POSD response: 
POSD S130.1,N28.5,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.1,N28.5,D28,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,202849.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202849.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.72

: Sonardyne - parsing R20.72

: Sonardyne - read R = 20.720000 from 20.72

: Sonardyne - got range only (20.720000), tat = 470
: Sonardyne - POSD response: 
POSD S130.9,N26.4,D35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.9,N26.4,D35,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,202850.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202850.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.79

: Sonardyne - parsing R21.79

: Sonardyne - read R = 21.790000 from 21.79

: Sonardyne - got range only (21.790000), tat = 470
: Sonardyne - POSD response: 
POSD S123.1,N26.5,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.1,N26.5,D-26,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,202851.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202851.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.51

: Sonardyne - parsing R30.51

: Sonardyne - read R = 30.510000 from 30.51

: Sonardyne - got range only (30.510000), tat = 490
: Sonardyne - POSD response: 
POSD S122.5,N27.9,D100,U2,Q0.006000

: Sonardyne - POSD response: 
POSD S122.5,N27.9,D100,U2,Q0.006000

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

: AshtechGps::processRecord() - $GPGGA,202852.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202852.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.03

: Sonardyne - parsing R24.03

: Sonardyne - read R = 24.030000 from 24.03

: Sonardyne - got range only (24.030000), tat = 480
: Sonardyne - POSD response: 
POSD S125.4,N28.8,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.4,N28.8,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,202853.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202853.00,,,,,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,202854.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.49 16.89 3.98 4.01 0   194.70 03:00:02 m

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

: AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202856.00,,,,,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,202857.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202859.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202859.00,,,,,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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,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,202900.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202900.00,,,,,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,202901.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202901.00,,,,,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,202902.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202902.00,,,,,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,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,202903.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202903.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.91  8.49 16.99 3.98 4.01 0   193.74 03:00:12 m

: AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202904.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202905.00,,,,,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,202906.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202906.00,,,,,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,N10.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,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,202907.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R48.80

: Sonardyne - parsing R48.80

: Sonardyne - read R = 48.800000 from 48.80

: Sonardyne - got range only (48.800000), tat = 510
: Sonardyne - POSD response: 
POSD S111.2,N26.9,D43,U2,Q0.003313

: Sonardyne - POSD response: 
POSD S111.2,N26.9,D43,U2,Q0.003313

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

: AshtechGps::processRecord() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202908.00,,,,,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,202909.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202909.00,,,,,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,202910.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202910.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,202911.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202911.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42

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

: GpsUtils::parseFix() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202913.00,,,,,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,202914.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202914.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.91  8.49 16.99 3.98 4.01 0   193.04 03:00:22 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: LayeredControl::execute() -- (t = 948.595017) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 948.60                            (wplog)
  The current location (N,E) = 4052110.2      , 600499.3         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 346.1 Degrees.

: LayeredControl::execute() -- (t = 948.595017) Behavior waypoint has changed to state Active

: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202915.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202919.00,,,,,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,202920.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202920.00,,,,,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,202921.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202921.00,,,,,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,N8.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202923.00,,,,,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,202924.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.55 16.99 3.98 4.01 0   192.10 03:00:32 m

:  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,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,202925.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202925.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

:  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 R70.80

: Sonardyne - parsing R70.80

: Sonardyne - read R = 70.800000 from 70.80

: Sonardyne - got range only (70.800000), tat = 540
: Sonardyne - POSD response: 
POSD S131.5,N28.4,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N28.4,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202926.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R69.72

: Sonardyne - parsing R69.72

: Sonardyne - read R = 69.720000 from 69.72

: Sonardyne - got range only (69.720000), tat = 590
: Sonardyne - POSD response: 
POSD S120.4,N18.3,D56,U2,Q0.009839

: Sonardyne - POSD response: 
POSD S120.4,N18.3,D56,U2,Q0.009839

: AshtechGps::processRecord() - $GPGGA,202927.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202927.00,,,,,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 R69.65

: Sonardyne - parsing R69.65

: Sonardyne - read R = 69.650000 from 69.65

: Sonardyne - got range only (69.650000), tat = 540
: Sonardyne - POSD response: 
POSD S132.2,N29.3,D-37,U1,Q0.014719

: Sonardyne - POSD response: 
POSD S132.2,N29.3,D-37,U1,Q0.014719

: AshtechGps::processRecord() - $GPGGA,202928.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202928.00,,,,,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 R69.33

: Sonardyne - parsing R69.33

: Sonardyne - read R = 69.330000 from 69.33

: Sonardyne - got range only (69.330000), tat = 540
: Sonardyne - POSD response: 
POSD S130.7,N27.3,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.7,N27.3,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202929.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202929.00,,,,,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 R68.89

: Sonardyne - parsing R68.89

: Sonardyne - read R = 68.890000 from 68.89

: Sonardyne - got range only (68.890000), tat = 540
: Sonardyne - POSD response: 
POSD S134.1,N28.6,D-30,U5,Q0.005127

: Sonardyne - POSD response: 
POSD S134.1,N28.6,D-30,U5,Q0.005127

: AshtechGps::processRecord() - $GPGGA,202930.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202930.00,,,,,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 R68.33

: Sonardyne - parsing R68.33

: Sonardyne - read R = 68.330000 from 68.33

: Sonardyne - got range only (68.330000), tat = 540
: Sonardyne - POSD response: 
POSD S129.2,N28.3,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.2,N28.3,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R67.78

: Sonardyne - parsing R67.78

: Sonardyne - read R = 67.780000 from 67.78

: Sonardyne - got range only (67.780000), tat = 540
: Sonardyne - POSD response: 
POSD S133.4,N31.6,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.4,N31.6,D12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202932.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202932.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R67.18

: Sonardyne - parsing R67.18

: Sonardyne - read R = 67.180000 from 67.18

: Sonardyne - got range only (67.180000), tat = 540
: Sonardyne - POSD response: 
POSD S134.2,N31.4,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.2,N31.4,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202933.00,,,,,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 R67.30

: Sonardyne - parsing R67.30

: Sonardyne - read R = 67.300000 from 67.30

: Sonardyne - got range only (67.300000), tat = 540
: Sonardyne - POSD response: 
POSD S135.7,N27.9,D-56,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.7,N27.9,D-56,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.87 10.48 16.99 3.98 4.01 0   191.41 03:00:42 m

: AshtechGps::processRecord() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202934.00,,,,,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 R66.14

: Sonardyne - parsing R66.14

: Sonardyne - read R = 66.140000 from 66.14

: Sonardyne - got range only (66.140000), tat = 530
: Sonardyne - POSD response: 
POSD S131.2,N24.1,D-40,U1,Q0.014314

: Sonardyne - POSD response: 
POSD S131.2,N24.1,D-40,U1,Q0.014314

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

: AshtechGps::processRecord() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202935.00,,,,,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 R71.10

: Sonardyne - parsing R71.10

: Sonardyne - read R = 71.100000 from 71.10

: Sonardyne - got range only (71.100000), tat = 539
: Sonardyne - POSD response: 
POSD S129.5,N27.1,D-50,U2,Q0.015862

: Sonardyne - POSD response: 
POSD S129.5,N27.1,D-50,U2,Q0.015862

: AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202936.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R65.98

: Sonardyne - parsing R65.98

: Sonardyne - read R = 65.980000 from 65.98

: Sonardyne - got range only (65.980000), tat = 530
: Sonardyne - POSD response: 
POSD S128.9,N28.8,D22,U2,Q0.004299

: Sonardyne - POSD response: 
POSD S128.9,N28.8,D22,U2,Q0.004299

: AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202937.00,,,,,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 R65.78

: Sonardyne - parsing R65.78

: Sonardyne - read R = 65.780000 from 65.78

: Sonardyne - got range only (65.780000), tat = 530
: Sonardyne - POSD response: 
POSD S129.7,N25.2,D52,U2,Q0.000084

: Sonardyne - POSD response: 
POSD S129.7,N25.2,D52,U2,Q0.000084

: AshtechGps::processRecord() - $GPGGA,202938.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202938.00,,,,,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 R65.48

: Sonardyne - parsing R65.48

: Sonardyne - read R = 65.480000 from 65.48

: Sonardyne - got range only (65.480000), tat = 530
: Sonardyne - POSD response: 
POSD S111.2,N19.2,D-72,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.2,N19.2,D-72,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202939.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202939.00,,,,,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 R65.93

: Sonardyne - parsing R65.93

: Sonardyne - read R = 65.930000 from 65.93

: Sonardyne - got range only (65.930000), tat = 530
: Sonardyne - POSD response: 
POSD S124.1,N26.9,D59,U3,Q0.003652

: Sonardyne - POSD response: 
POSD S124.1,N26.9,D59,U3,Q0.003652

: AshtechGps::processRecord() - $GPGGA,202940.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202940.00,,,,,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 R66.27

: Sonardyne - parsing R66.27

: Sonardyne - read R = 66.270000 from 66.27

: Sonardyne - got range only (66.270000), tat = 530
: Sonardyne - POSD response: 
POSD S125.9,N24.6,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N24.6,D-31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202941.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202941.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R65.81

: Sonardyne - parsing R65.81

: Sonardyne - read R = 65.810000 from 65.81

: Sonardyne - got range only (65.810000), tat = 530
: Sonardyne - POSD response: 
POSD S126.9,N26.3,D44,U2,Q0.001589

: Sonardyne - POSD response: 
POSD S126.9,N26.3,D44,U2,Q0.001589

: AshtechGps::processRecord() - $GPGGA,202942.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202942.00,,,,,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 R66.15,X48.32,Y-25.96,Z-36.97

: Sonardyne - parsing R66.15,X48.32,Y-25.96,Z-36.97

: Sonardyne - read R = 66.150000 from 66.15,X48.32,Y-25.96,Z-36.97

: Sonardyne - got all data, Vehicle coordinates,
    r=66.150000, x=36.970000, y=48.320000, z=25.960000 tat = 560
: AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R66.41

: Sonardyne - parsing R66.41

: Sonardyne - read R = 66.410000 from 66.41

: Sonardyne - got range only (66.410000), tat = 540
: Sonardyne - POSD response: 
POSD S125.4,N29.6,D15,U2,Q0.011902

: Sonardyne - POSD response: 
POSD S125.4,N29.6,D15,U2,Q0.011902

: AshtechGps::processRecord() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.66 16.89 3.97 4.00 0   190.45 03:00:52 m

:  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 R66.84

: Sonardyne - parsing R66.84

: Sonardyne - read R = 66.840000 from 66.84

: Sonardyne - got range only (66.840000), tat = 540
: Sonardyne - POSD response: 
POSD S118.7,N20.4,D127,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.7,N20.4,D127,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: Sonardyne - POS response: 
POS V4,1 R71.84

: Sonardyne - parsing R71.84

: Sonardyne - read R = 71.840000 from 71.84

: Sonardyne - got range only (71.840000), tat = 540
: Sonardyne - POSD response: 
POSD S116.2,N19.8,D28,U2,Q0.002767

: Sonardyne - POSD response: 
POSD S116.2,N19.8,D28,U2,Q0.002767

: AshtechGps::processRecord() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R68.07

: Sonardyne - parsing R68.07

: Sonardyne - read R = 68.070000 from 68.07

: Sonardyne - got range only (68.070000), tat = 540
: Sonardyne - POSD response: 
POSD S121.6,N32.0,D-17,U2,Q0.002720

: Sonardyne - POSD response: 
POSD S121.6,N32.0,D-17,U2,Q0.002720

: AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202947.00,,,,,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,202948.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202948.00,,,,,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,202949.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202949.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202950.00,,,,,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

: 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,202951.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202951.00,,,,,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 R72.12

: Sonardyne - parsing R72.12

: Sonardyne - read R = 72.120000 from 72.12

: Sonardyne - got range only (72.120000), tat = 550
: Sonardyne - POSD response: 
POSD S117.8,N23.2,D90,U1,Q0.005721

: Sonardyne - POSD response: 
POSD S117.8,N23.2,D90,U1,Q0.005721

: AshtechGps::processRecord() - $GPGGA,202952.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202952.00,,,,,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 R75.09

: Sonardyne - parsing R75.09

: Sonardyne - read R = 75.090000 from 75.09

: Sonardyne - got range only (75.090000), tat = 550
: Sonardyne - POSD response: 
POSD S113.2,N25.3,D-91,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.2,N25.3,D-91,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202953.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202953.00,,,,,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 R78.17

: Sonardyne - parsing R78.17

: Sonardyne - read R = 78.170000 from 78.17

: Sonardyne - got range only (78.170000), tat = 550
: Sonardyne - POSD response: 
POSD S113.5,N27.0,D27,U2,Q0.003713

: Sonardyne - POSD response: 
POSD S113.5,N27.0,D27,U2,Q0.003713

: AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  9.94 16.99 3.97 4.00 0   189.84 03:01:02 m

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

: AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202957.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202957.00,,,,,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,202958.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202958.00,,,,,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,202959.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202959.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203000.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203000.00,,,,,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,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,203001.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203001.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.08

: Sonardyne - parsing R85.08

: Sonardyne - read R = 85.080000 from 85.08

: Sonardyne - got range only (85.080000), tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S116.4,N22.7,D80,U1,Q0.004572

: Sonardyne - POSD response: 
POSD S116.4,N22.7,D80,U1,Q0.004572

: AshtechGps::processRecord() - $GPGGA,203002.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203002.00,,,,,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,203003.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203003.00,,,,,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,203004.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  9.43 16.99 3.98 4.01 0   188.94 03:01:12 m

:  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,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203006.00,,,,,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,203007.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203007.00,,,,,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,203008.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203008.00,,,,,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
:  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,N7.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,203010.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203010.00,,,,,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,203011.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203011.00,,,,,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,N6.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203012.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203012.00,,,,,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,203013.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203013.00,,,,,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,203014.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.94  8.25 16.99 3.98 4.01 0   188.33 03:01:22 m

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

: AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203016.00,,,,,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,203017.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203017.00,,,,,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,203018.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203020.00,,,,,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,203021.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203021.00,,,,,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,203022.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203022.00,,,,,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,N6.4,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,N6.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  9.16 16.99 3.98 4.01 0   187.41 03:01:32 m

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

: AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203027.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203027.00,,,,,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,203028.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203028.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203030.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203030.00,,,,,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,203031.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203031.00,,,,,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,203032.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203033.00,,,,,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,203034.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203034.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  9.13 16.99 3.98 4.01 0   186.80 03:01:42 m

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

: AshtechGps::processRecord() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203036.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203037.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203037.00,,,,,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,203038.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203038.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 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,203040.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203040.00,,,,,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,203041.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203041.00,,,,,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,203042.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203042.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,203043.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203043.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.91  8.32 16.99 3.98 4.01 0   185.90 03:01:52 m

: AshtechGps::processRecord() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49


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

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

: AshtechGps::processRecord() - $GPGGA,203045.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203045.00,,,,,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,203046.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203049.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203049.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,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,203051.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203051.00,,,,,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,203052.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203052.00,,,,,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,203053.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203053.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203054.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203054.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  9.30 16.99 3.98 4.01 0   185.29 03:02:02 m

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

: AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203056.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203056.00,,,,,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,203057.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203057.00,,,,,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,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,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,203058.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203058.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203100.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203100.00,,,,,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,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,203101.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203101.00,,,,,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,203102.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203102.00,,,,,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,203103.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203103.00,,,,,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,203104.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203104.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  9.40 16.99 3.98 4.01 0   184.34 03:02:12 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,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,203105.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203106.00,,,,,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,203107.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203107.00,,,,,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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,203109.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203109.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,203110.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203110.00,,,,,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,203111.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203111.00,,,,,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,N12.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203112.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203112.00,,,,,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,203113.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203113.00,,,,,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,203114.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  8.69 16.99 3.98 4.01 0   183.75 03:02:22 m

:  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,N7.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203116.00,,,,,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,203117.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203117.00,,,,,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,203118.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203118.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,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,203119.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203119.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,203120.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203120.00,,,,,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,203121.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203122.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203122.00,,,,,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,203123.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203123.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.87  8.99 16.99 3.98 4.01 0   182.87 03:02:32 m

: AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203124.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203125.00,,,,,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,N10.5,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203127.00,,,,,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,203128.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,203130.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203130.00,,,,,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,203131.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203131.00,,,,,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,203132.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203132.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,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,203133.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  9.77 16.99 3.98 4.01 0   182.28 03:02:42 m

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

: AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203137.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203137.00,,,,,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,203138.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203138.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203139.00,,,,,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,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,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,203140.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203140.00,,,,,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,203141.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203141.00,,,,,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,203142.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203142.00,,,,,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 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,203143.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203143.00,,,,,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,203144.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203144.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  9.06 16.99 3.98 4.01 0   181.33 03:02:52 m

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

: AshtechGps::processRecord() - $GPGGA,203145.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203145.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.5,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,203147.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203147.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,203148.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203148.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203149.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203149.00,,,,,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
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: AshtechGps::processRecord() - $GPGGA,203150.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203150.00,,,,,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,203151.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203151.00,,,,,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,203152.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203152.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,203153.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203153.00,,,,,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,N9.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.91  8.15 16.99 3.98 4.01 0   180.70 03:03:02 m

: AshtechGps::processRecord() - $GPGGA,203154.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203154.00,,,,,0,00,,,M,,M,,*49


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

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

: AshtechGps::processRecord() - $GPGGA,203155.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203155.00,,,,,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,203156.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203156.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: AshtechGps::processRecord() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,203158.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203158.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203159.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203159.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203200.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203200.00,,,,,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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203201.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203201.00,,,,,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,203202.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203202.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,203203.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203203.00,,,,,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,N6.8,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.28 16.99 3.97 4.00 0   179.80 03:03:12 m

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

: AshtechGps::processRecord() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203208.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203208.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203209.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203209.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,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,203211.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203211.00,,,,,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,203212.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203212.00,,,,,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,203213.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203213.00,,,,,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,203214.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203214.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  8.52 16.99 3.97 4.00 0   179.18 03:03:22 m

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,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,203215.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203215.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,203219.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203219.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,203220.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203220.00,,,,,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,203221.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203221.00,,,,,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,N8.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203222.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203222.00,,,,,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,203223.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203223.00,,,,,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,203224.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203224.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  9.19 16.99 3.98 4.00 0   178.26 03:03:32 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,N7.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,203226.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203226.00,,,,,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,203227.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203227.00,,,,,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,203228.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203228.00,,,,,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,N6.8,D0,U0,Q0.000000

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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 1143.19                                         (wplog)

: Vehicle Position is error is (0.0, 0.8)

: LayeredControl::execute() -- (t = 1143.191686) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 1143.201685) Behavior ascend has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,203229.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203229.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,203230.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203230.00,,,,,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,203231.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203231.00,,,,,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,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203232.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203232.00,,,,,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,203233.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203233.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.91  7.98 16.99 3.98 4.00 0   177.68 03:03:42 m

: AshtechGps::processRecord() - $GPGGA,203235.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203235.00,,,,,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

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

: 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,203236.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203236.00,,,,,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 R321.06,X96.72,Y306.15,Z0.00

: Sonardyne - parsing R321.06,X96.72,Y306.15,Z0.00

: Sonardyne - read R = 321.060000 from 321.06,X96.72,Y306.15,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=321.060000, x=0.000000, y=96.720000, z=-306.150000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203237.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203237.00,,,,,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,203238.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203238.00,,,,,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,203239.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203239.00,,,,,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

: LayeredControl::execute() -- (t = 1154.000946) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 1154.000946) Behavior getgps has changed to state Active

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203240.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203240.00,,,,,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,203241.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203241.00,,,,,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 R320.97

: Sonardyne - parsing R320.97

: Sonardyne - read R = 320.970000 from 320.97

: Sonardyne - got range only (320.970000), tat = 880
: Sonardyne - POSD response: 
POSD S116.3,N17.8,D-45,U5,Q0.005156

: Sonardyne - POSD response: 
POSD S116.3,N17.8,D-45,U5,Q0.005156

: AshtechGps::processRecord() - $GPGGA,203242.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203242.00,,,,,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 R320.07

: Sonardyne - parsing R320.07

: Sonardyne - read R = 320.070000 from 320.07

: Sonardyne - got range only (320.070000), tat = 890
: Sonardyne - POSD response: 
POSD S122.6,N23.7,D-118,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N23.7,D-118,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203243.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203243.00,,,,,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,203244.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203244.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.06  3.13 16.99 3.98 4.01 0   177.04 03:03:52 m

: Sonardyne - POS response: 
POS V4,1 R319.67

: Sonardyne - parsing R319.67

: Sonardyne - read R = 319.670000 from 319.67

: Sonardyne - got range only (319.670000), tat = 880
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.1,N27.5,D44,U5,Q0.007910

: Sonardyne - POSD response: 
POSD S126.1,N27.5,D44,U5,Q0.007910

: AshtechGps::processRecord() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

:  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 R318.25,X153.88,Y3.92,Z-278.54

: Sonardyne - parsing R318.25,X153.88,Y3.92,Z-278.54

: Sonardyne - read R = 318.250000 from 318.25,X153.88,Y3.92,Z-278.54

: Sonardyne - got all data, Vehicle coordinates,
    r=318.250000, x=278.540000, y=153.880000, z=-3.920000 tat = 909
: AshtechGps::processRecord() - $GPGGA,203246.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203246.00,,,,,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 R320.32

: Sonardyne - parsing R320.32

: Sonardyne - read R = 320.320000 from 320.32

: Sonardyne - got range only (320.320000), tat = 880
: Sonardyne - POSD response: 
POSD S129.7,N26.8,D-55,U3,Q0.002313

: Sonardyne - POSD response: 
POSD S129.7,N26.8,D-55,U3,Q0.002313

: AshtechGps::processRecord() - $GPGGA,203247.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203247.00,,,,,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 R317.73

: Sonardyne - parsing R317.73

: Sonardyne - read R = 317.730000 from 317.73

: Sonardyne - got range only (317.730000), tat = 870
: AshtechGps::processRecord() - $GPGGA,203248.00,3636.72414,N,12152.58521,W,1,08,1.3,-1.42,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,203248.00,3636.72414,N,12152.58521,W,1,08,1.3,-1.42,M,-33.21,M,,*75


: successfully parse sentence at 20:32:48

: AshtechGPS::processRecord -sample time is 1142281968
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S127.9,N22.7,D-47,U5,Q0.002761

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POSD response: 
POSD S127.9,N22.7,D-47,U5,Q0.002761

: AshtechGps::processRecord() - $GPGGA,203249.00,3636.72364,N,12152.58525,W,1,09,1.0,-2.92,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203249.00,3636.72364,N,12152.58525,W,1,09,1.0,-2.92,M,-33.21,M,,*7C


: successfully parse sentence at 20:32:49

: AshtechGPS::processRecord -sample time is 1142281969
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R315.47,X128.24,Y9.09,Z-288.09

: Sonardyne - parsing R315.47,X128.24,Y9.09,Z-288.09

: Sonardyne - read R = 315.470000 from 315.47,X128.24,Y9.09,Z-288.09

: Sonardyne - got all data, Vehicle coordinates,
    r=315.470000, x=288.090000, y=128.240000, z=-9.090000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203250.00,3636.72353,N,12152.58503,W,1,09,1.0,-0.90,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,203250.00,3636.72353,N,12152.58503,W,1,09,1.0,-0.90,M,-33.21,M,,*74


: successfully parse sentence at 20:32:50

: AshtechGPS::processRecord -sample time is 1142281970
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R314.71,X119.77,Y-14.10,Z-290.69

: Sonardyne - parsing R314.71,X119.77,Y-14.10,Z-290.69

: Sonardyne - read R = 314.710000 from 314.71,X119.77,Y-14.10,Z-290.69

: Sonardyne - got all data, Vehicle coordinates,
    r=314.710000, x=290.690000, y=119.770000, z=14.100000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203251.00,3636.72338,N,12152.58455,W,1,09,1.0,-1.87,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203251.00,3636.72338,N,12152.58455,W,1,09,1.0,-1.87,M,-33.21,M,,*7D


: successfully parse sentence at 20:32:51

: AshtechGPS::processRecord -sample time is 1142281971
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R314.25,X118.06,Y3.55,Z-291.21

: Sonardyne - parsing R314.25,X118.06,Y3.55,Z-291.21

: Sonardyne - read R = 314.250000 from 314.25,X118.06,Y3.55,Z-291.21

: Sonardyne - got all data, Vehicle coordinates,
    r=314.250000, x=291.210000, y=118.060000, z=-3.550000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203252.00,3636.72315,N,12152.58445,W,1,09,1.0,-1.17,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203252.00,3636.72315,N,12152.58445,W,1,09,1.0,-1.17,M,-33.21,M,,*79


: successfully parse sentence at 20:32:52

: AshtechGPS::processRecord -sample time is 1142281972
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R315.63,X106.96,Y27.13,Z-295.72

: Sonardyne - parsing R315.63,X106.96,Y27.13,Z-295.72

: Sonardyne - read R = 315.630000 from 315.63,X106.96,Y27.13,Z-295.72

: Sonardyne - got all data, Vehicle coordinates,
    r=315.630000, x=295.720000, y=106.960000, z=-27.130000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203253.00,3636.72286,N,12152.58440,W,1,09,1.0,-1.41,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,203253.00,3636.72286,N,12152.58440,W,1,09,1.0,-1.41,M,-33.21,M,,*75


: successfully parse sentence at 20:32:53

: AshtechGPS::processRecord -sample time is 1142281973
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R315.18,X97.62,Y-18.97,Z-299.08

: Sonardyne - parsing R315.18,X97.62,Y-18.97,Z-299.08

: Sonardyne - read R = 315.180000 from 315.18,X97.62,Y-18.97,Z-299.08

: Sonardyne - got all data, Vehicle coordinates,
    r=315.180000, x=299.080000, y=97.620000, z=18.970000 tat = 900
: BluefinBatt Reply: $aaq0 d- 32.09  3.13 17.08 3.98 4.01 0   176.80 03:04:02 m

: AshtechGps::processRecord() - $GPGGA,203254.00,3636.72226,N,12152.58415,W,1,09,1.0,-2.64,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203254.00,3636.72226,N,12152.58415,W,1,09,1.0,-2.64,M,-33.21,M,,*7C


: successfully parse sentence at 20:32:54

: AshtechGPS::processRecord -sample time is 1142281974
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R315.52,X94.99,Y39.53,Z-298.27

: Sonardyne - parsing R315.52,X94.99,Y39.53,Z-298.27

: Sonardyne - read R = 315.520000 from 315.52,X94.99,Y39.53,Z-298.27

: Sonardyne - got all data, Vehicle coordinates,
    r=315.520000, x=298.270000, y=94.990000, z=-39.530000 tat = 900
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,203255.00,3636.72199,N,12152.58392,W,1,09,1.0,-2.44,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,203255.00,3636.72199,N,12152.58392,W,1,09,1.0,-2.44,M,-33.21,M,,*70


: successfully parse sentence at 20:32:55

: AshtechGPS::processRecord -sample time is 1142281975
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R314.35,X78.34,Y-50.10,Z-300.28

: Sonardyne - parsing R314.35,X78.34,Y-50.10,Z-300.28

: Sonardyne - read R = 314.350000 from 314.35,X78.34,Y-50.10,Z-300.28

: Sonardyne - got all data, Vehicle coordinates,
    r=314.350000, x=300.280000, y=78.340000, z=50.100000 tat = 900
: AshtechGps::processRecord() - $GPGGA,203256.00,3636.72176,N,12152.58377,W,1,09,1.0,-2.44,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203256.00,3636.72176,N,12152.58377,W,1,09,1.0,-2.44,M,-33.21,M,,*79


: successfully parse sentence at 20:32:56

: AshtechGPS::processRecord -sample time is 1142281976
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R312.33,X67.62,Y0.88,Z-304.92

: Sonardyne - parsing R312.33,X67.62,Y0.88,Z-304.92

: Sonardyne - read R = 312.330000 from 312.33,X67.62,Y0.88,Z-304.92

: Sonardyne - got all data, Vehicle coordinates,
    r=312.330000, x=304.920000, y=67.620000, z=-0.880000 tat = 890
: AshtechGps::processRecord() - $GPGGA,203257.00,3636.72158,N,12152.58361,W,1,09,1.0,-2.54,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,203257.00,3636.72158,N,12152.58361,W,1,09,1.0,-2.54,M,-33.21,M,,*72


: successfully parse sentence at 20:32:57

: AshtechGPS::processRecord -sample time is 1142281977
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1171.399754) Behavior getgps has changed to state Finished

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

: LayeredControl::execute() -- (t = 1171.399754) Behavior setpoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R314.84

: Sonardyne - parsing R314.84

: Sonardyne - read R = 314.840000 from 314.84

: Sonardyne - got range only (314.840000), tat = 870
: Sonardyne - POSD response: 
POSD S120.7,N22.7,D-81,U1,Q0.015625

: Sonardyne - POSD response: 
POSD S120.7,N22.7,D-81,U1,Q0.015625

: AshtechGps::processRecord() - $GPGGA,203258.00,3636.72137,N,12152.58355,W,1,09,1.0,-2.50,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,203258.00,3636.72137,N,12152.58355,W,1,09,1.0,-2.50,M,-33.21,M,,*77


: successfully parse sentence at 20:32:58

: AshtechGPS::processRecord -sample time is 1142281978
:  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 R311.94,X47.41,Y-4.63,Z-308.28

: Sonardyne - parsing R311.94,X47.41,Y-4.63,Z-308.28

: Sonardyne - read R = 311.940000 from 311.94,X47.41,Y-4.63,Z-308.28

: Sonardyne - got all data, Vehicle coordinates,
    r=311.940000, x=308.280000, y=47.410000, z=4.630000 tat = 890
: AshtechGps::processRecord() - $GPGGA,203259.00,3636.72112,N,12152.58335,W,1,09,1.0,-2.39,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,203259.00,3636.72112,N,12152.58335,W,1,09,1.0,-2.39,M,-33.21,M,,*78


: successfully parse sentence at 20:32:59

: AshtechGPS::processRecord -sample time is 1142281979
:  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 R310.40,X43.35,Y-12.89,Z-307.08

: Sonardyne - parsing R310.40,X43.35,Y-12.89,Z-307.08

: Sonardyne - read R = 310.400000 from 310.40,X43.35,Y-12.89,Z-307.08

: Sonardyne - got all data, Vehicle coordinates,
    r=310.400000, x=307.080000, y=43.350000, z=12.890000 tat = 890
: AshtechGps::processRecord() - $GPGGA,203300.00,3636.72076,N,12152.58322,W,1,09,1.0,-2.44,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203300.00,3636.72076,N,12152.58322,W,1,09,1.0,-2.44,M,-33.21,M,,*7A


: successfully parse sentence at 20:33:0

: AshtechGPS::processRecord -sample time is 1142281980
:  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 R309.77

: Sonardyne - parsing R309.77

: Sonardyne - read R = 309.770000 from 309.77

: Sonardyne - got range only (309.770000), tat = 860
: Sonardyne - POSD response: 
POSD S132.2,N29.0,D45,U5,Q0.000205

: Sonardyne - POSD response: 
POSD S132.2,N29.0,D45,U5,Q0.000205

: AshtechGps::processRecord() - $GPGGA,203301.00,3636.72042,N,12152.58301,W,1,10,1.0,-2.84,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203301.00,3636.72042,N,12152.58301,W,1,10,1.0,-2.84,M,-33.21,M,,*79


: successfully parse sentence at 20:33:1

: AshtechGPS::processRecord -sample time is 1142281981
:  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 R309.24

: Sonardyne - parsing R309.24

: Sonardyne - read R = 309.240000 from 309.24

: Sonardyne - got range only (309.240000), tat = 860
: Sonardyne - POSD response: 
POSD S137.0,N32.3,D19,U5,Q0.000196

: Sonardyne - POSD response: 
POSD S137.0,N32.3,D19,U5,Q0.000196

: AshtechGps::processRecord() - $GPGGA,203302.00,3636.72000,N,12152.58280,W,1,10,1.0,-2.98,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203302.00,3636.72000,N,12152.58280,W,1,10,1.0,-2.98,M,-33.21,M,,*79


: successfully parse sentence at 20:33:2

: AshtechGPS::processRecord -sample time is 1142281982
:  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 R308.54,X-19.81,Y3.39,Z-307.89

: Sonardyne - parsing R308.54,X-19.81,Y3.39,Z-307.89

: Sonardyne - read R = 308.540000 from 308.54,X-19.81,Y3.39,Z-307.89

: Sonardyne - got all data, Vehicle coordinates,
    r=308.540000, x=307.890000, y=-19.810000, z=-3.390000 tat = 890
: AshtechGps::processRecord() - $GPGGA,203303.00,3636.71958,N,12152.58277,W,1,10,1.0,-3.16,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,203303.00,3636.71958,N,12152.58277,W,1,10,1.0,-3.16,M,-33.21,M,,*70


: successfully parse sentence at 20:33:3

: AshtechGPS::processRecord -sample time is 1142281983
:  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 R308.06,X-37.46,Y26.74,Z-304.60

: Sonardyne - parsing R308.06,X-37.46,Y26.74,Z-304.60

: Sonardyne - read R = 308.060000 from 308.06,X-37.46,Y26.74,Z-304.60

: Sonardyne - got all data, Vehicle coordinates,
    r=308.060000, x=304.600000, y=-37.460000, z=-26.740000 tat = 890
: BluefinBatt Reply: $aaq0 d- 31.87  9.13 16.99 4.00 4.03 0   176.15 03:04:12 m

: AshtechGps::processRecord() - $GPGGA,203304.00,3636.71913,N,12152.58271,W,1,10,1.0,-3.16,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203304.00,3636.71913,N,12152.58271,W,1,10,1.0,-3.16,M,-33.21,M,,*7E


: successfully parse sentence at 20:33:4

: AshtechGPS::processRecord -sample time is 1142281984
:  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 R308.12,X-84.38,Y17.07,Z-295.85

: Sonardyne - parsing R308.12,X-84.38,Y17.07,Z-295.85

: Sonardyne - read R = 308.120000 from 308.12,X-84.38,Y17.07,Z-295.85

: Sonardyne - got all data, Vehicle coordinates,
    r=308.120000, x=295.850000, y=-84.380000, z=-17.070000 tat = 890
: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: AshtechGps::processRecord() - $GPGGA,203305.00,3636.71857,N,12152.58273,W,1,10,1.0,-3.00,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203305.00,3636.71857,N,12152.58273,W,1,10,1.0,-3.00,M,-33.21,M,,*7B


: successfully parse sentence at 20:33:5

: AshtechGPS::processRecord -sample time is 1142281985
:  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 R309.53

: Sonardyne - parsing R309.53

: Sonardyne - read R = 309.530000 from 309.53

: Sonardyne - got range only (309.530000), tat = 860
: Sonardyne - POSD response: 
POSD S119.4,N20.5,D-33,U3,Q0.000661

: Sonardyne - POSD response: 
POSD S119.4,N20.5,D-33,U3,Q0.000661

: AshtechGps::processRecord() - $GPGGA,203306.00,3636.71794,N,12152.58277,W,1,10,1.0,-2.99,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203306.00,3636.71794,N,12152.58277,W,1,10,1.0,-2.99,M,-33.21,M,,*7D


: successfully parse sentence at 20:33:6

: AshtechGPS::processRecord -sample time is 1142281986
:  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 R310.10

: Sonardyne - parsing R310.10

: Sonardyne - read R = 310.100000 from 310.10

: Sonardyne - got range only (310.100000), tat = 870
: Sonardyne - POSD response: 
POSD S116.3,N28.4,D-39,U4,Q0.003127

: Sonardyne - POSD response: 
POSD S116.3,N28.4,D-39,U4,Q0.003127

: AshtechGps::processRecord() - $GPGGA,203307.00,3636.71736,N,12152.58305,W,1,10,1.0,-3.13,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,203307.00,3636.71736,N,12152.58305,W,1,10,1.0,-3.13,M,-33.21,M,,*73


: successfully parse sentence at 20:33:7

: AshtechGPS::processRecord -sample time is 1142281987
:  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 R304.46,X-185.69,Y24.69,Z-240.01

: Sonardyne - parsing R304.46,X-185.69,Y24.69,Z-240.01

: Sonardyne - read R = 304.460000 from 304.46,X-185.69,Y24.69,Z-240.01

: Sonardyne - got all data, Vehicle coordinates,
    r=304.460000, x=240.010000, y=-185.690000, z=-24.690000 tat = 880
: AshtechGps::processRecord() - $GPGGA,203308.00,3636.71681,N,12152.58339,W,1,10,1.0,-3.34,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203308.00,3636.71681,N,12152.58339,W,1,10,1.0,-3.34,M,-33.21,M,,*7B


: successfully parse sentence at 20:33:8

: AshtechGPS::processRecord -sample time is 1142281988
:  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 R304.50

: Sonardyne - parsing R304.50

: Sonardyne - read R = 304.500000 from 304.50

: Sonardyne - got range only (304.500000), tat = 860
: Sonardyne - POSD response: 
POSD S122.9,N19.2,D-85,U1,Q0.007271

: Sonardyne - POSD response: 
POSD S122.9,N19.2,D-85,U1,Q0.007271

: AshtechGps::processRecord() - $GPGGA,203309.00,3636.71631,N,12152.58388,W,1,10,1.0,-3.37,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,203309.00,3636.71631,N,12152.58388,W,1,10,1.0,-3.37,M,-33.21,M,,*78


: successfully parse sentence at 20:33:9

: AshtechGPS::processRecord -sample time is 1142281989
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203310.00,3636.71587,N,12152.58454,W,1,10,1.0,-3.28,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,203310.00,3636.71587,N,12152.58454,W,1,10,1.0,-3.28,M,-33.21,M,,*76


: successfully parse sentence at 20:33:10

: AshtechGPS::processRecord -sample time is 1142281990
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203311.00,3636.71539,N,12152.58526,W,1,10,1.0,-3.12,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203311.00,3636.71539,N,12152.58526,W,1,10,1.0,-3.12,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:11

: AshtechGPS::processRecord -sample time is 1142281991
:  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,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203312.00,3636.71488,N,12152.58600,W,1,10,1.0,-2.85,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203312.00,3636.71488,N,12152.58600,W,1,10,1.0,-2.85,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:12

: AshtechGPS::processRecord -sample time is 1142281992
:  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 R301.39,X-267.84,Y40.93,Z-132.00

: Sonardyne - parsing R301.39,X-267.84,Y40.93,Z-132.00

: Sonardyne - read R = 301.390000 from 301.39,X-267.84,Y40.93,Z-132.00

: Sonardyne - got all data, Vehicle coordinates,
    r=301.390000, x=132.000000, y=-267.840000, z=-40.930000 tat = 880
: AshtechGps::processRecord() - $GPGGA,203313.00,3636.71437,N,12152.58670,W,1,10,1.0,-2.74,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,203313.00,3636.71437,N,12152.58670,W,1,10,1.0,-2.74,M,-33.21,M,,*73


: successfully parse sentence at 20:33:13

: AshtechGPS::processRecord -sample time is 1142281993
:  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 R300.45

: Sonardyne - parsing R300.45

: Sonardyne - read R = 300.450000 from 300.45

: Sonardyne - got range only (300.450000), tat = 850
: BluefinBatt Reply: $aaq0 d- 31.79 11.08 16.99 4.00 4.03 0   175.42 03:04:22 m

: AshtechGps::processRecord() - $GPGGA,203314.00,3636.71388,N,12152.58736,W,1,10,1.0,-2.68,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203314.00,3636.71388,N,12152.58736,W,1,10,1.0,-2.68,M,-33.21,M,,*79


: successfully parse sentence at 20:33:14

: AshtechGPS::processRecord -sample time is 1142281994
: Sonardyne - POSD response: 
POSD S116.3,N28.0,D-26,U1,Q0.010851

: Sonardyne - POSD response: 
POSD S116.3,N28.0,D-26,U1,Q0.010851

:  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 R299.77,X235.54,Y185.41,Z0.00

: Sonardyne - parsing R299.77,X235.54,Y185.41,Z0.00

: batts online 1, min cell voltage 4.000000, mean min cell voltage 4.000000

: Sonardyne - read R = 299.770000 from 299.77,X235.54,Y185.41,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=299.770000, x=0.000000, y=235.540000, z=-185.410000 tat = 870
: AshtechGps::processRecord() - $GPGGA,203315.00,3636.71343,N,12152.58802,W,1,10,1.0,-2.71,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203315.00,3636.71343,N,12152.58802,W,1,10,1.0,-2.71,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:15

: AshtechGPS::processRecord -sample time is 1142281995
:  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 R298.89

: Sonardyne - parsing R298.89

: Sonardyne - read R = 298.890000 from 298.89

: Sonardyne - got range only (298.890000), tat = 850
: AshtechGps::processRecord() - $GPGGA,203316.00,3636.71299,N,12152.58870,W,1,10,1.0,-2.92,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,203316.00,3636.71299,N,12152.58870,W,1,10,1.0,-2.92,M,-33.21,M,,*72


: successfully parse sentence at 20:33:16

: AshtechGPS::processRecord -sample time is 1142281996
: Sonardyne - POSD response: 
POSD S120.3,N28.7,D-7,U2,Q0.011535

: Sonardyne - POSD response: 
POSD S120.3,N28.7,D-7,U2,Q0.011535

:  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 R298.30,X238.71,Y178.89,Z0.00

: Sonardyne - parsing R298.30,X238.71,Y178.89,Z0.00

: Sonardyne - read R = 298.300000 from 298.30,X238.71,Y178.89,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=298.300000, x=0.000000, y=238.710000, z=-178.890000 tat = 870
: AshtechGps::processRecord() - $GPGGA,203317.00,3636.71274,N,12152.58958,W,1,10,1.0,-3.19,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203317.00,3636.71274,N,12152.58958,W,1,10,1.0,-3.19,M,-33.21,M,,*79


: successfully parse sentence at 20:33:17

: AshtechGPS::processRecord -sample time is 1142281997
:  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 R297.77,X-267.20,Y69.69,Z-111.40

: Sonardyne - parsing R297.77,X-267.20,Y69.69,Z-111.40

: Sonardyne - read R = 297.770000 from 297.77,X-267.20,Y69.69,Z-111.40

: Sonardyne - got all data, Vehicle coordinates,
    r=297.770000, x=111.400000, y=-267.200000, z=-69.690000 tat = 870
: AshtechGps::processRecord() - $GPGGA,203318.00,3636.71240,N,12152.59044,W,1,10,1.0,-3.09,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,203318.00,3636.71240,N,12152.59044,W,1,10,1.0,-3.09,M,-33.21,M,,*75


: successfully parse sentence at 20:33:18

: AshtechGPS::processRecord -sample time is 1142281998
:  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 R297.26

: Sonardyne - parsing R297.26

: Sonardyne - read R = 297.260000 from 297.26

: Sonardyne - got range only (297.260000), tat = 850
: AshtechGps::processRecord() - $GPGGA,203319.00,3636.71207,N,12152.59129,W,1,10,1.0,-2.80,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203319.00,3636.71207,N,12152.59129,W,1,10,1.0,-2.80,M,-33.21,M,,*7D


: successfully parse sentence at 20:33:19

: AshtechGPS::processRecord -sample time is 1142281999
: Sonardyne - POSD response: 
POSD S122.6,N26.9,D121,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N26.9,D121,U0,Q0.000000

:  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 R296.74

: Sonardyne - parsing R296.74

: Sonardyne - read R = 296.740000 from 296.74

: Sonardyne - got range only (296.740000), tat = 850
: AshtechGps::processRecord() - $GPGGA,203320.00,3636.71165,N,12152.59204,W,1,10,1.0,-2.78,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203320.00,3636.71165,N,12152.59204,W,1,10,1.0,-2.78,M,-33.21,M,,*7B


: successfully parse sentence at 20:33:20

: AshtechGPS::processRecord -sample time is 1142282000
: Sonardyne - POSD response: 
POSD S123.1,N22.9,D136,U2,Q0.016658

: Sonardyne - POSD response: 
POSD S123.1,N22.9,D136,U2,Q0.016658

:  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 R296.20

: Sonardyne - parsing R296.20

: Sonardyne - read R = 296.200000 from 296.20

: Sonardyne - got range only (296.200000), tat = 850
: AshtechGps::processRecord() - $GPGGA,203321.00,3636.71125,N,12152.59285,W,1,10,1.0,-2.96,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,203321.00,3636.71125,N,12152.59285,W,1,10,1.0,-2.96,M,-33.21,M,,*77


: successfully parse sentence at 20:33:21

: AshtechGPS::processRecord -sample time is 1142282001
: Sonardyne - POSD response: 
POSD S126.8,N34.8,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.8,N34.8,D19,U0,Q0.000000

:  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 R295.74

: Sonardyne - parsing R295.74

: Sonardyne - read R = 295.740000 from 295.74

: Sonardyne - got range only (295.740000), tat = 850
: AshtechGps::processRecord() - $GPGGA,203322.00,3636.71092,N,12152.59372,W,1,10,1.0,-3.01,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203322.00,3636.71092,N,12152.59372,W,1,10,1.0,-3.01,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:22

: AshtechGPS::processRecord -sample time is 1142282002
: Sonardyne - POSD response: 
POSD S126.9,N30.9,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.9,N30.9,D8,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 R295.20

: Sonardyne - parsing R295.20

: Sonardyne - read R = 295.200000 from 295.20

: Sonardyne - got range only (295.200000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203323.00,3636.71050,N,12152.59446,W,1,10,1.0,-2.90,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203323.00,3636.71050,N,12152.59446,W,1,10,1.0,-2.90,M,-33.21,M,,*79


: successfully parse sentence at 20:33:23

: AshtechGPS::processRecord -sample time is 1142282003
: Sonardyne - POSD response: 
POSD S126.3,N27.2,D-79,U1,Q0.008688

: Sonardyne - POSD response: 
POSD S126.3,N27.2,D-79,U1,Q0.008688

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

: BluefinBatt Reply: $aaq0 d- 31.87  8.96 16.99 3.97 4.00 0   174.41 03:04:32 m

: Sonardyne - POS response: 
POS V4,1 R294.57

: Sonardyne - parsing R294.57

: Sonardyne - read R = 294.570000 from 294.57

: Sonardyne - got range only (294.570000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203324.00,3636.71010,N,12152.59524,W,1,10,1.0,-2.90,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203324.00,3636.71010,N,12152.59524,W,1,10,1.0,-2.90,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:24

: AshtechGPS::processRecord -sample time is 1142282004
: Sonardyne - POSD response: 
POSD S123.5,N32.4,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N32.4,D1,U0,Q0.000000

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

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R293.92

: Sonardyne - parsing R293.92

: Sonardyne - read R = 293.920000 from 293.92

: Sonardyne - got range only (293.920000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203325.00,3636.70964,N,12152.59599,W,1,10,1.0,-2.91,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,203325.00,3636.70964,N,12152.59599,W,1,10,1.0,-2.91,M,-33.21,M,,*72


: successfully parse sentence at 20:33:25

: AshtechGPS::processRecord -sample time is 1142282005
: Sonardyne - POSD response: 
POSD S122.4,N27.5,D35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N27.5,D35,U0,Q0.000000

:  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 R293.34

: Sonardyne - parsing R293.34

: Sonardyne - read R = 293.340000 from 293.34

: Sonardyne - got range only (293.340000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203326.00,3636.70927,N,12152.59681,W,1,10,0.9,-2.99,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203326.00,3636.70927,N,12152.59681,W,1,10,0.9,-2.99,M,-33.21,M,,*7C


: successfully parse sentence at 20:33:26

: AshtechGPS::processRecord -sample time is 1142282006
: Sonardyne - POSD response: 
POSD S126.6,N32.1,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N32.1,D-12,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R292.94

: Sonardyne - parsing R292.94

: Sonardyne - read R = 292.940000 from 292.94

: Sonardyne - got range only (292.940000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203327.00,3636.70891,N,12152.59764,W,1,10,0.9,-3.03,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203327.00,3636.70891,N,12152.59764,W,1,10,0.9,-3.03,M,-33.21,M,,*79


: successfully parse sentence at 20:33:27

: AshtechGPS::processRecord -sample time is 1142282007
: Sonardyne - POSD response: 
POSD S123.5,N29.9,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N29.9,D-20,U0,Q0.000000

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

: LayeredControl::execute() -- (t = 1201.597685) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 1201.597685) Behavior descend has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R292.41

: Sonardyne - parsing R292.41

: Sonardyne - read R = 292.410000 from 292.41

: Sonardyne - got range only (292.410000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203328.00,3636.70847,N,12152.59841,W,1,10,0.9,-2.85,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203328.00,3636.70847,N,12152.59841,W,1,10,0.9,-2.85,M,-33.21,M,,*7A


: successfully parse sentence at 20:33:28

: AshtechGPS::processRecord -sample time is 1142282008
: Sonardyne - POSD response: 
POSD S122.1,N23.9,D-123,U4,Q0.009955

: Sonardyne - POSD response: 
POSD S122.1,N23.9,D-123,U4,Q0.009955

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

: AshtechGps::processRecord() - $GPGGA,203329.00,3636.70809,N,12152.59925,W,1,10,0.9,-2.79,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,203329.00,3636.70809,N,12152.59925,W,1,10,0.9,-2.79,M,-33.21,M,,*71


: successfully parse sentence at 20:33:29

: AshtechGPS::processRecord -sample time is 1142282009
: Sonardyne - POS response: 
POS V4,1 R291.82,X236.10,Y163.09,Z-53.11

: Sonardyne - parsing R291.82,X236.10,Y163.09,Z-53.11

: Sonardyne - read R = 291.820000 from 291.82,X236.10,Y163.09,Z-53.11

: Sonardyne - got all data, Vehicle coordinates,
    r=291.820000, x=53.110000, y=236.100000, z=-163.090000 tat = 909
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R290.89

: Sonardyne - parsing R290.89

: Sonardyne - read R = 290.890000 from 290.89

: Sonardyne - got range only (290.890000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203330.00,3636.70760,N,12152.59997,W,1,10,0.9,-2.86,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,203330.00,3636.70760,N,12152.59997,W,1,10,0.9,-2.86,M,-33.21,M,,*70


: successfully parse sentence at 20:33:30

: AshtechGPS::processRecord -sample time is 1142282010
: Sonardyne - POSD response: 
POSD S120.2,N26.6,D-59,U2,Q0.015043

: Sonardyne - POSD response: 
POSD S120.2,N26.6,D-59,U2,Q0.015043

:  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 R290.13

: Sonardyne - parsing R290.13

: Sonardyne - read R = 290.130000 from 290.13

: Sonardyne - got range only (290.130000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203331.00,3636.70715,N,12152.60071,W,1,10,0.9,-2.90,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203331.00,3636.70715,N,12152.60071,W,1,10,0.9,-2.90,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:31

: AshtechGPS::processRecord -sample time is 1142282011
: Sonardyne - POSD response: 
POSD S119.8,N24.9,D-57,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.8,N24.9,D-57,U0,Q0.000000

:  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 R289.61,X228.51,Y175.92,Z-26.67

: Sonardyne - parsing R289.61,X228.51,Y175.92,Z-26.67

: Sonardyne - read R = 289.610000 from 289.61,X228.51,Y175.92,Z-26.67

: Sonardyne - got all data, Vehicle coordinates,
    r=289.610000, x=26.670000, y=228.510000, z=-175.920000 tat = 860
: AshtechGps::processRecord() - $GPGGA,203332.00,3636.70683,N,12152.60154,W,1,10,0.9,-2.92,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,203332.00,3636.70683,N,12152.60154,W,1,10,0.9,-2.92,M,-33.21,M,,*76


: successfully parse sentence at 20:33:32

: AshtechGPS::processRecord -sample time is 1142282012
:  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 R289.15

: Sonardyne - parsing R289.15

: Sonardyne - read R = 289.150000 from 289.15

: Sonardyne - got range only (289.150000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203333.00,3636.70637,N,12152.60236,W,1,10,0.9,-3.00,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,203333.00,3636.70637,N,12152.60236,W,1,10,0.9,-3.00,M,-33.21,M,,*75


: successfully parse sentence at 20:33:33

: AshtechGPS::processRecord -sample time is 1142282013
: Sonardyne - POSD response: 
POSD S119.7,N32.2,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.7,N32.2,D-2,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 R288.85

: Sonardyne - parsing R288.85

: Sonardyne - read R = 288.850000 from 288.85

: Sonardyne - got range only (288.850000), tat = 840
: BluefinBatt Reply: $aaq0 d- 31.87  8.55 16.99 3.97 4.00 0   173.79 03:04:42 m

: AshtechGps::processRecord() - $GPGGA,203334.00,3636.70610,N,12152.60335,W,1,10,0.9,-3.13,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,203334.00,3636.70610,N,12152.60335,W,1,10,0.9,-3.13,M,-33.21,M,,*77


: successfully parse sentence at 20:33:34

: AshtechGPS::processRecord -sample time is 1142282014
: Sonardyne - POSD response: 
POSD S123.1,N27.0,D46,U4,Q0.008020

: Sonardyne - POSD response: 
POSD S123.1,N27.0,D46,U4,Q0.008020

:  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 R288.57

: Sonardyne - parsing R288.57

: Sonardyne - read R = 288.570000 from 288.57

: Sonardyne - got range only (288.570000), tat = 840
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: AshtechGps::processRecord() - $GPGGA,203335.00,3636.70567,N,12152.60416,W,1,10,0.9,-3.05,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,203335.00,3636.70567,N,12152.60416,W,1,10,0.9,-3.05,M,-33.21,M,,*74


: successfully parse sentence at 20:33:35

: AshtechGPS::processRecord -sample time is 1142282015
: Sonardyne - POSD response: 
POSD S120.5,N25.6,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N25.6,D41,U0,Q0.000000

:  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 R288.23,X228.31,Y175.93,Z0.00

: Sonardyne - parsing R288.23,X228.31,Y175.93,Z0.00

: Sonardyne - read R = 288.230000 from 288.23,X228.31,Y175.93,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=288.230000, x=0.000000, y=228.310000, z=-175.930000 tat = 860
: AshtechGps::processRecord() - $GPGGA,203336.00,3636.70540,N,12152.60504,W,1,10,0.9,-2.90,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203336.00,3636.70540,N,12152.60504,W,1,10,0.9,-2.90,M,-33.21,M,,*7D


: successfully parse sentence at 20:33:36

: AshtechGPS::processRecord -sample time is 1142282016
:  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 R287.79

: Sonardyne - parsing R287.79

: Sonardyne - read R = 287.790000 from 287.79

: Sonardyne - got range only (287.790000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203337.00,3636.70488,N,12152.60576,W,1,10,0.9,-2.73,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,203337.00,3636.70488,N,12152.60576,W,1,10,0.9,-2.73,M,-33.21,M,,*71


: successfully parse sentence at 20:33:37

: AshtechGPS::processRecord -sample time is 1142282017
: Sonardyne - POSD response: 
POSD S107.6,N16.1,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S107.6,N16.1,D6,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R287.31,X210.35,Y195.70,Z0.00

: Sonardyne - parsing R287.31,X210.35,Y195.70,Z0.00

: Sonardyne - read R = 287.310000 from 287.31,X210.35,Y195.70,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=287.310000, x=0.000000, y=210.350000, z=-195.700000 tat = 860
: AshtechGps::processRecord() - $GPGGA,203338.00,3636.70442,N,12152.60651,W,1,10,0.9,-2.71,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203338.00,3636.70442,N,12152.60651,W,1,10,0.9,-2.71,M,-33.21,M,,*7C


: successfully parse sentence at 20:33:38

: AshtechGPS::processRecord -sample time is 1142282018
:  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 R286.84,X225.72,Y166.88,Z-58.99

: Sonardyne - parsing R286.84,X225.72,Y166.88,Z-58.99

: Sonardyne - read R = 286.840000 from 286.84,X225.72,Y166.88,Z-58.99

: Sonardyne - got all data, Vehicle coordinates,
    r=286.840000, x=58.990000, y=225.720000, z=-166.880000 tat = 860
: AshtechGps::processRecord() - $GPGGA,203339.00,3636.70407,N,12152.60735,W,1,10,0.9,-2.92,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,203339.00,3636.70407,N,12152.60735,W,1,10,0.9,-2.92,M,-33.21,M,,*72


: successfully parse sentence at 20:33:39

: AshtechGPS::processRecord -sample time is 1142282019
:  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 R286.55

: Sonardyne - parsing R286.55

: Sonardyne - read R = 286.550000 from 286.55

: Sonardyne - got range only (286.550000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203340.00,3636.70362,N,12152.60812,W,1,10,0.9,-3.01,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203340.00,3636.70362,N,12152.60812,W,1,10,0.9,-3.01,M,-33.21,M,,*79


: successfully parse sentence at 20:33:40

: AshtechGPS::processRecord -sample time is 1142282020
: Sonardyne - POSD response: 
POSD S118.6,N28.3,D-46,U1,Q0.007861

: Sonardyne - POSD response: 
POSD S118.6,N28.3,D-46,U1,Q0.007861

:  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 R286.38

: Sonardyne - parsing R286.38

: Sonardyne - read R = 286.380000 from 286.38

: Sonardyne - got range only (286.380000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203341.00,3636.70345,N,12152.60908,W,1,10,0.9,-3.20,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,203341.00,3636.70345,N,12152.60908,W,1,10,0.9,-3.20,M,-33.21,M,,*74


: successfully parse sentence at 20:33:41

: AshtechGPS::processRecord -sample time is 1142282021
: Sonardyne - POSD response: 
POSD S119.5,N30.2,D30,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S119.5,N30.2,D30,U1,Q0.013585

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

: Sonardyne - POS response: 
POS V4,1 R286.20

: Sonardyne - parsing R286.20

: Sonardyne - read R = 286.200000 from 286.20

: Sonardyne - got range only (286.200000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203342.00,3636.70321,N,12152.61002,W,1,10,0.9,-3.19,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203342.00,3636.70321,N,12152.61002,W,1,10,0.9,-3.19,M,-33.21,M,,*7D


: successfully parse sentence at 20:33:42

: AshtechGPS::processRecord -sample time is 1142282022
: Sonardyne - POSD response: 
POSD S110.6,N22.3,D-68,U2,Q0.014218

: Sonardyne - POSD response: 
POSD S110.6,N22.3,D-68,U2,Q0.014218

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

: Sonardyne - POS response: 
POS V4,1 R285.90

: Sonardyne - parsing R285.90

: Sonardyne - read R = 285.900000 from 285.90

: Sonardyne - got range only (285.900000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203343.00,3636.70305,N,12152.61097,W,1,10,0.9,-3.01,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203343.00,3636.70305,N,12152.61097,W,1,10,0.9,-3.01,M,-33.21,M,,*7F


: successfully parse sentence at 20:33:43

: AshtechGPS::processRecord -sample time is 1142282023
: Sonardyne - POSD response: 
POSD S113.6,N20.4,D-123,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.6,N20.4,D-123,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.87  9.19 16.99 3.97 4.00 0   172.86 03:04:52 m

: Sonardyne - POS response: 
POS V4,1 R285.50,X213.32,Y189.75,Z0.00

: Sonardyne - parsing R285.50,X213.32,Y189.75,Z0.00

: Sonardyne - read R = 285.500000 from 285.50,X213.32,Y189.75,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=285.500000, x=0.000000, y=213.320000, z=-189.750000 tat = 849
: AshtechGps::processRecord() - $GPGGA,203344.00,3636.70282,N,12152.61181,W,1,10,0.9,-2.90,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,203344.00,3636.70282,N,12152.61181,W,1,10,0.9,-2.90,M,-33.21,M,,*79


: successfully parse sentence at 20:33:44

: AshtechGPS::processRecord -sample time is 1142282024
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R285.22

: Sonardyne - parsing R285.22

: Sonardyne - read R = 285.220000 from 285.22

: Sonardyne - got range only (285.220000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203345.00,3636.70247,N,12152.61255,W,1,10,0.9,-2.91,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203345.00,3636.70247,N,12152.61255,W,1,10,0.9,-2.91,M,-33.21,M,,*7A


: successfully parse sentence at 20:33:45

: Sonardyne - POSD response: 
POSD S122.1,N28.0,D43,U0,Q0.000000

: AshtechGPS::processRecord -sample time is 1142282025
: Sonardyne - POSD response: 
POSD S122.1,N28.0,D43,U0,Q0.000000

:  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 R284.81,X-251.86,Y68.16,Z-114.17

: Sonardyne - parsing R284.81,X-251.86,Y68.16,Z-114.17

: Sonardyne - read R = 284.810000 from 284.81,X-251.86,Y68.16,Z-114.17

: Sonardyne - got all data, Vehicle coordinates,
    r=284.810000, x=114.170000, y=-251.860000, z=-68.160000 tat = 860
: AshtechGps::processRecord() - $GPGGA,203346.00,3636.70217,N,12152.61327,W,1,10,0.9,-3.10,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,203346.00,3636.70217,N,12152.61327,W,1,10,0.9,-3.10,M,-33.21,M,,*70


: successfully parse sentence at 20:33:46

: AshtechGPS::processRecord -sample time is 1142282026
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203347.00,,,,,0,06,2.6,,M,,M,,*65

: GpsUtils::parseFix() - $GPGGA,203347.00,,,,,0,06,2.6,,M,,M,,*65


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.52,X-225.14,Y126.77,Z-119.15

: Sonardyne - parsing R284.52,X-225.14,Y126.77,Z-119.15

: Sonardyne - read R = 284.520000 from 284.52,X-225.14,Y126.77,Z-119.15

: Sonardyne - got all data, Vehicle coordinates,
    r=284.520000, x=119.150000, y=-225.140000, z=-126.770000 tat = 860
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.86,X-236.76,Y106.22,Z-115.07

: Sonardyne - parsing R283.86,X-236.76,Y106.22,Z-115.07

: Sonardyne - read R = 283.860000 from 283.86,X-236.76,Y106.22,Z-115.07

: Sonardyne - got all data, Vehicle coordinates,
    r=283.860000, x=115.070000, y=-236.760000, z=-106.220000 tat = 860
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.31,X-252.07,Y51.35,Z-118.71

: Sonardyne - parsing R283.31,X-252.07,Y51.35,Z-118.71

: Sonardyne - read R = 283.310000 from 283.31,X-252.07,Y51.35,Z-118.71

: Sonardyne - got all data, Vehicle coordinates,
    r=283.310000, x=118.710000, y=-252.070000, z=-51.350000 tat = 850
:  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 R286.11

: Sonardyne - parsing R286.11

: Sonardyne - read R = 286.110000 from 286.11

: Sonardyne - got range only (286.110000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203350.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203350.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.4,N24.0,D4,U2,Q0.013585

: Sonardyne - POSD response: 
POSD S111.4,N24.0,D4,U2,Q0.013585

:  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 R282.63

: Sonardyne - parsing R282.63

: Sonardyne - read R = 282.630000 from 282.63

: Sonardyne - got range only (282.630000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.3,N30.5,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.3,N30.5,D-27,U0,Q0.000000

:  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 R282.36

: Sonardyne - parsing R282.36

: Sonardyne - read R = 282.360000 from 282.36

: Sonardyne - got range only (282.360000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.8,N28.9,D-16,U4,Q0.017413

: Sonardyne - POSD response: 
POSD S115.8,N28.9,D-16,U4,Q0.017413

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

: AshtechGps::processRecord() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.19,X212.40,Y185.79,Z0.00

: Sonardyne - parsing R282.19,X212.40,Y185.79,Z0.00

: Sonardyne - read R = 282.190000 from 282.19,X212.40,Y185.79,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=282.190000, x=0.000000, y=212.400000, z=-185.790000 tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.83  9.70 16.99 3.97 4.00 0   172.27 03:05:02 m

: Sonardyne - POS response: 
POS V4,1 R282.14

: Sonardyne - parsing R282.14

: Sonardyne - read R = 282.140000 from 282.14

: Sonardyne - got range only (282.140000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.0,N28.7,D30,U1,Q0.014513

: Sonardyne - POSD response: 
POSD S116.0,N28.7,D30,U1,Q0.014513

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

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R282.01

: Sonardyne - parsing R282.01

: Sonardyne - read R = 282.010000 from 282.01

: Sonardyne - got range only (282.010000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.2,N26.7,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.2,N26.7,D13,U0,Q0.000000

:  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 R281.76

: Sonardyne - parsing R281.76

: Sonardyne - read R = 281.760000 from 281.76

: Sonardyne - got range only (281.760000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S104.5,N14.3,D-7,U2,Q0.004448

: Sonardyne - POSD response: 
POSD S104.5,N14.3,D-7,U2,Q0.004448

:  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 R282.88

: Sonardyne - parsing R282.88

: Sonardyne - read R = 282.880000 from 282.88

: Sonardyne - got range only (282.880000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203357.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203357.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.2,N25.9,D-83,U2,Q0.004814

: Sonardyne - POSD response: 
POSD S112.2,N25.9,D-83,U2,Q0.004814

:  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 R282.16

: Sonardyne - parsing R282.16

: Sonardyne - read R = 282.160000 from 282.16

: Sonardyne - got range only (282.160000), tat = 829
: AshtechGps::processRecord() - $GPGGA,203358.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203358.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S107.9,N18.5,D77,U1,Q0.002347

: Sonardyne - POSD response: 
POSD S107.9,N18.5,D77,U1,Q0.002347

:  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 R290.21

: Sonardyne - parsing R290.21

: Sonardyne - read R = 290.210000 from 290.21

: Sonardyne - got range only (290.210000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.6,N16.8,D16,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S112.6,N16.8,D16,U1,Q0.013585

:  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 R282.08

: Sonardyne - parsing R282.08

: Sonardyne - read R = 282.080000 from 282.08

: Sonardyne - got range only (282.080000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203400.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203400.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S107.4,N15.8,D106,U2,Q0.008920

: Sonardyne - POSD response: 
POSD S107.4,N15.8,D106,U2,Q0.008920

:  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 R281.95

: Sonardyne - parsing R281.95

: Sonardyne - read R = 281.950000 from 281.95

: Sonardyne - got range only (281.950000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S109.7,N24.1,D-58,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S109.7,N24.1,D-58,U1,Q0.008222

:  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 R282.21

: Sonardyne - parsing R282.21

: Sonardyne - read R = 282.210000 from 282.21

: Sonardyne - got range only (282.210000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.7,N28.2,D-37,U4,Q0.002007

: Sonardyne - POSD response: 
POSD S117.7,N28.2,D-37,U4,Q0.002007

:  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 R283.42

: Sonardyne - parsing R283.42

: Sonardyne - read R = 283.420000 from 283.42

: Sonardyne - got range only (283.420000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S107.5,N14.1,D-109,U3,Q0.005471

: Sonardyne - POSD response: 
POSD S107.5,N14.1,D-109,U3,Q0.005471

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

: BluefinBatt Reply: $aaq0 d- 31.79 10.21 16.99 3.97 4.00 0   171.26 03:05:12 m

: AshtechGps::processRecord() - $GPGGA,203404.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203404.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.23,X223.58,Y-57.68,Z-158.79

: Sonardyne - parsing R280.23,X223.58,Y-57.68,Z-158.79

: Sonardyne - read R = 280.230000 from 280.23,X223.58,Y-57.68,Z-158.79

: Sonardyne - got all data, Vehicle coordinates,
    r=280.230000, x=158.790000, y=223.580000, z=57.680000 tat = 850
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R281.14

: Sonardyne - parsing R281.14

: Sonardyne - read R = 281.140000 from 281.14

: Sonardyne - got range only (281.140000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203405.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203405.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.5,N30.1,D36,U2,Q0.001260

: Sonardyne - POSD response: 
POSD S116.5,N30.1,D36,U2,Q0.001260

:  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 R280.24

: Sonardyne - parsing R280.24

: Sonardyne - read R = 280.240000 from 280.24

: Sonardyne - got range only (280.240000), tat = 820
: AshtechGps::processRecord() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S110.6,N17.0,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S110.6,N17.0,D-34,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,203407.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203407.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.66,X224.59,Y-54.27,Z-157.56

: Sonardyne - parsing R279.66,X224.59,Y-54.27,Z-157.56

: Sonardyne - read R = 279.660000 from 279.66,X224.59,Y-54.27,Z-157.56

: Sonardyne - got all data, Vehicle coordinates,
    r=279.660000, x=157.560000, y=224.590000, z=54.270000 tat = 850
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203408.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203408.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.61,X223.94,Y-56.44,Z-157.63

: Sonardyne - parsing R279.61,X223.94,Y-56.44,Z-157.63

: Sonardyne - read R = 279.610000 from 279.61,X223.94,Y-56.44,Z-157.63

: Sonardyne - got all data, Vehicle coordinates,
    r=279.610000, x=157.630000, y=223.940000, z=56.440000 tat = 850
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Descend::execute() - Descend terminating on depth 4.000679 > 4.000000 at time 1243.194835

: LayeredControl::execute() -- (t = 1243.194835) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1243.19                           (wplog)
  The current location (N,E) = 4052373.2      , 600409.6         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 286.4 Degrees.

: LayeredControl::execute() -- (t = 1243.194835) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R281.06

: Sonardyne - parsing R281.06

: Sonardyne - read R = 281.060000 from 281.06

: Sonardyne - got range only (281.060000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.6,N24.7,D-88,U1,Q0.008181

: Sonardyne - POSD response: 
POSD S115.6,N24.7,D-88,U1,Q0.008181

:  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 R280.97

: Sonardyne - parsing R280.97

: Sonardyne - read R = 280.970000 from 280.97

: Sonardyne - got range only (280.970000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.4,N27.3,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.4,N27.3,D46,U0,Q0.000000

:  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 R282.76

: Sonardyne - parsing R282.76

: Sonardyne - read R = 282.760000 from 282.76

: Sonardyne - got range only (282.760000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203411.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203411.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S109.7,N26.4,D48,U1,Q0.001367

: Sonardyne - POSD response: 
POSD S109.7,N26.4,D48,U1,Q0.001367

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

: AshtechGps::processRecord() - $GPGGA,203412.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203412.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,203413.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203413.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.87  8.25 16.99 3.97 4.00 0   170.60 03:05:22 m

: AshtechGps::processRecord() - $GPGGA,203414.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203414.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: AshtechGps::processRecord() - $GPGGA,203415.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203415.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,203416.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203416.00,,,,,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,203417.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203417.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203418.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203418.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203419.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203419.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203420.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203420.00,,,,,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,203421.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203421.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203422.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203422.00,,,,,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,203423.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203423.00,,,,,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,203424.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203424.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  8.59 17.08 3.97 4.00 0   169.67 03:05:32 m

:  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,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203426.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203426.00,,,,,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,203427.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203427.00,,,,,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,203428.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203428.00,,,,,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,N5.9,D0,U0,Q0.000000

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

:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 1262.79                                         (wplog)

: Vehicle Position is error is (1.0, 0.4)

: LayeredControl::execute() -- (t = 1262.793493) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1262.80                           (wplog)
  The current location (N,E) = 4052380.4      , 600381.3         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 152.8 Degrees.

: LayeredControl::execute() -- (t = 1262.803492) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,203429.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203429.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203430.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203430.00,,,,,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,203431.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203431.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,203432.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203432.00,,,,,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,203433.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203433.00,,,,,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,203434.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203434.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  8.39 17.08 3.97 4.00 0   169.09 03:05:42 m

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

: AshtechGps::processRecord() - $GPGGA,203435.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203435.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203436.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203436.00,,,,,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,203437.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203437.00,,,,,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,203438.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203438.00,,,,,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

: 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,203439.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203439.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,203440.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203440.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.60,X-184.63,Y42.98,Z-232.00

: Sonardyne - parsing R299.60,X-184.63,Y42.98,Z-232.00

: Sonardyne - read R = 299.600000 from 299.60,X-184.63,Y42.98,Z-232.00

: Sonardyne - got all data, Vehicle coordinates,
    r=299.600000, x=232.000000, y=-184.630000, z=-42.980000 tat = 880
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203441.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203441.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.57,X-133.94,Y36.32,Z-264.35

: Sonardyne - parsing R298.57,X-133.94,Y36.32,Z-264.35

: Sonardyne - read R = 298.570000 from 298.57,X-133.94,Y36.32,Z-264.35

: Sonardyne - got all data, Vehicle coordinates,
    r=298.570000, x=264.350000, y=-133.940000, z=-36.320000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203442.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203442.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.44,X-75.17,Y29.81,Z-286.24

: Sonardyne - parsing R297.44,X-75.17,Y29.81,Z-286.24

: Sonardyne - read R = 297.440000 from 297.44,X-75.17,Y29.81,Z-286.24

: Sonardyne - got all data, Vehicle coordinates,
    r=297.440000, x=286.240000, y=-75.170000, z=-29.810000 tat = 869
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203443.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203443.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R296.21,X-18.74,Y21.50,Z-294.83

: Sonardyne - parsing R296.21,X-18.74,Y21.50,Z-294.83

: Sonardyne - read R = 296.210000 from 296.21,X-18.74,Y21.50,Z-294.83

: Sonardyne - got all data, Vehicle coordinates,
    r=296.210000, x=294.830000, y=-18.740000, z=-21.500000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203444.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203444.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.87  8.96 17.08 3.97 4.00 0   168.13 03:05:52 m

: Sonardyne - POS response: 
POS V4,1 R295.02,X25.71,Y9.87,Z-293.73

: Sonardyne - parsing R295.02,X25.71,Y9.87,Z-293.73

: Sonardyne - read R = 295.020000 from 295.02,X25.71,Y9.87,Z-293.73

: Sonardyne - got all data, Vehicle coordinates,
    r=295.020000, x=293.730000, y=25.710000, z=-9.870000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203445.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203445.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.87,X80.33,Y-5.10,Z-282.63

: Sonardyne - parsing R293.87,X80.33,Y-5.10,Z-282.63

: Sonardyne - read R = 293.870000 from 293.87,X80.33,Y-5.10,Z-282.63

: Sonardyne - got all data, Vehicle coordinates,
    r=293.870000, x=282.630000, y=80.330000, z=5.100000 tat = 870
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203446.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203446.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.80,X127.81,Y-14.80,Z-263.01

: Sonardyne - parsing R292.80,X127.81,Y-14.80,Z-263.01

: Sonardyne - read R = 292.800000 from 292.80,X127.81,Y-14.80,Z-263.01

: Sonardyne - got all data, Vehicle coordinates,
    r=292.800000, x=263.010000, y=127.810000, z=14.800000 tat = 870
:  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 R291.84

: Sonardyne - parsing R291.84

: Sonardyne - read R = 291.840000 from 291.84

: Sonardyne - got range only (291.840000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203447.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203447.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S134.2,N25.0,D-85,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.2,N25.0,D-85,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R291.22

: Sonardyne - parsing R291.22

: Sonardyne - read R = 291.220000 from 291.22

: Sonardyne - got range only (291.220000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203448.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203448.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S125.7,N25.4,D-48,U1,Q0.004928

: Sonardyne - POSD response: 
POSD S125.7,N25.4,D-48,U1,Q0.004928

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

: AshtechGps::processRecord() - $GPGGA,203449.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203449.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R290.73,X238.02,Y0.16,Z-166.94

: Sonardyne - parsing R290.73,X238.02,Y0.16,Z-166.94

: Sonardyne - read R = 290.730000 from 290.73,X238.02,Y0.16,Z-166.94

: Sonardyne - got all data, Vehicle coordinates,
    r=290.730000, x=166.940000, y=238.020000, z=-0.160000 tat = 860
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203450.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203450.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R290.26,X244.24,Y-14.63,Z-156.16

: Sonardyne - parsing R290.26,X244.24,Y-14.63,Z-156.16

: Sonardyne - read R = 290.260000 from 290.26,X244.24,Y-14.63,Z-156.16

: Sonardyne - got all data, Vehicle coordinates,
    r=290.260000, x=156.160000, y=244.240000, z=14.630000 tat = 860
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R289.69

: Sonardyne - parsing R289.69

: Sonardyne - read R = 289.690000 from 289.69

: Sonardyne - got range only (289.690000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203451.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203451.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.2,N20.0,D-11,U1,Q0.018576

: Sonardyne - POSD response: 
POSD S117.2,N20.0,D-11,U1,Q0.018576

:  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 R290.01

: Sonardyne - parsing R290.01

: Sonardyne - read R = 290.010000 from 290.01

: Sonardyne - got range only (290.010000), tat = 840
: AshtechGps::processRecord() - $GPGGA,203452.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203452.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.2,N19.1,D-121,U1,Q0.010404

: Sonardyne - POSD response: 
POSD S119.2,N19.1,D-121,U1,Q0.010404

:  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 R288.30

: Sonardyne - parsing R288.30

: Sonardyne - read R = 288.300000 from 288.30

: Sonardyne - got range only (288.300000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203453.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203453.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.3,N28.6,D43,U3,Q0.008717

: Sonardyne - POSD response: 
POSD S128.3,N28.6,D43,U3,Q0.008717

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

: AshtechGps::processRecord() - $GPGGA,203454.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203454.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.51,X233.68,Y7.05,Z-167.34

: Sonardyne - parsing R287.51,X233.68,Y7.05,Z-167.34

: Sonardyne - read R = 287.510000 from 287.51,X233.68,Y7.05,Z-167.34

: Sonardyne - got all data, Vehicle coordinates,
    r=287.510000, x=167.340000, y=233.680000, z=-7.050000 tat = 860
: BluefinBatt Reply: $aaq0 d- 31.83  9.63 17.08 3.97 4.00 0   167.47 03:06:02 m

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

: AshtechGps::processRecord() - $GPGGA,203455.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203455.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.76,X227.93,Y10.71,Z-173.68

: Sonardyne - parsing R286.76,X227.93,Y10.71,Z-173.68

: Sonardyne - read R = 286.760000 from 286.76,X227.93,Y10.71,Z-173.68

: Sonardyne - got all data, Vehicle coordinates,
    r=286.760000, x=173.680000, y=227.930000, z=-10.710000 tat = 860
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,203456.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203456.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.09,X217.82,Y13.74,Z-184.97

: Sonardyne - parsing R286.09,X217.82,Y13.74,Z-184.97

: Sonardyne - read R = 286.090000 from 286.09,X217.82,Y13.74,Z-184.97

: Sonardyne - got all data, Vehicle coordinates,
    r=286.090000, x=184.970000, y=217.820000, z=-13.740000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.30,X211.74,Y38.55,Z-187.29

: Sonardyne - parsing R285.30,X211.74,Y38.55,Z-187.29

: Sonardyne - read R = 285.300000 from 285.30,X211.74,Y38.55,Z-187.29

: Sonardyne - got all data, Vehicle coordinates,
    r=285.300000, x=187.290000, y=211.740000, z=-38.550000 tat = 859
:  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 R285.36

: Sonardyne - parsing R285.36

: Sonardyne - read R = 285.360000 from 285.36

: AshtechGps::processRecord() - $GPGGA,203458.00,,,,,0,00,,,M,,M,,*40

: Sonardyne - got range only (285.360000), tat = 830
: GpsUtils::parseFix() - $GPGGA,203458.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S126.9,N25.9,D-29,U1,Q0.000365

: Sonardyne - POSD response: 
POSD S126.9,N25.9,D-29,U1,Q0.000365

:  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 R286.10

: Sonardyne - parsing R286.10

: Sonardyne - read R = 286.100000 from 286.10

: Sonardyne - got range only (286.100000), tat = 830
: AshtechGps::processRecord() - $GPGGA,203459.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203459.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.5,N25.1,D-110,U1,Q0.012645

: Sonardyne - POSD response: 
POSD S121.5,N25.1,D-110,U1,Q0.012645

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

: AshtechGps::processRecord() - $GPGGA,203500.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203500.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.42,X181.92,Y30.06,Z-213.92

: Sonardyne - parsing R282.42,X181.92,Y30.06,Z-213.92

: Sonardyne - read R = 282.420000 from 282.42,X181.92,Y30.06,Z-213.92

: Sonardyne - got all data, Vehicle coordinates,
    r=282.420000, x=213.920000, y=181.920000, z=-30.060000 tat = 850
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203501.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203501.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.73,X168.82,Y19.49,Z-223.45

: Sonardyne - parsing R280.73,X168.82,Y19.49,Z-223.45

: Sonardyne - read R = 280.730000 from 280.73,X168.82,Y19.49,Z-223.45

: Sonardyne - got all data, Vehicle coordinates,
    r=280.730000, x=223.450000, y=168.820000, z=-19.490000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203502.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203502.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.51,X161.56,Y28.32,Z-226.33

: Sonardyne - parsing R279.51,X161.56,Y28.32,Z-226.33

: Sonardyne - read R = 279.510000 from 279.51,X161.56,Y28.32,Z-226.33

: Sonardyne - got all data, Vehicle coordinates,
    r=279.510000, x=226.330000, y=161.560000, z=-28.320000 tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203503.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203503.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.44,X155.24,Y28.38,Z-229.40

: Sonardyne - parsing R278.44,X155.24,Y28.38,Z-229.40

: Sonardyne - read R = 278.440000 from 278.44,X155.24,Y28.38,Z-229.40

: Sonardyne - got all data, Vehicle coordinates,
    r=278.440000, x=229.400000, y=155.240000, z=-28.380000 tat = 850
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203504.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203504.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R277.21,X150.04,Y25.41,Z-231.70

: Sonardyne - parsing R277.21,X150.04,Y25.41,Z-231.70

: Sonardyne - read R = 277.210000 from 277.21,X150.04,Y25.41,Z-231.70

: Sonardyne - got all data, Vehicle coordinates,
    r=277.210000, x=231.700000, y=150.040000, z=-25.410000 tat = 850
: BluefinBatt Reply: $aaq0 d- 31.79  9.57 16.99 3.96 4.00 0   166.45 03:06:12 m

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

: AshtechGps::processRecord() - $GPGGA,203505.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203505.00,,,,,0,00,,,M,,M,,*49


: Sonardyne - POS response: 
POS V4,1 R276.21,X144.83,Y22.98,Z-234.07

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R276.21,X144.83,Y22.98,Z-234.07

: Sonardyne - read R = 276.210000 from 276.21,X144.83,Y22.98,Z-234.07

: Sonardyne - got all data, Vehicle coordinates,
    r=276.210000, x=234.070000, y=144.830000, z=-22.980000 tat = 850
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,203506.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203506.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R274.95,X137.26,Y21.71,Z-237.24

: Sonardyne - parsing R274.95,X137.26,Y21.71,Z-237.24

: Sonardyne - read R = 274.950000 from 274.95,X137.26,Y21.71,Z-237.24

: Sonardyne - got all data, Vehicle coordinates,
    r=274.950000, x=237.240000, y=137.260000, z=-21.710000 tat = 840
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203507.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203507.00,,,,,0,00,,,M,,M,,*4B


: Sonardyne - POS response: 
POS V4,1 R273.63,X131.49,Y23.64,Z-238.80

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R273.63,X131.49,Y23.64,Z-238.80

: Sonardyne - read R = 273.630000 from 273.63,X131.49,Y23.64,Z-238.80

: Sonardyne - got all data, Vehicle coordinates,
    r=273.630000, x=238.800000, y=131.490000, z=-23.640000 tat = 840
:  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 R272.05,X129.97,Y27.58,Z-237.40

: AshtechGps::processRecord() - $GPGGA,203508.00,,,,,0,00,,,M,,M,,*44

: Sonardyne - parsing R272.05,X129.97,Y27.58,Z-237.40

: GpsUtils::parseFix() - $GPGGA,203508.00,,,,,0,00,,,M,,M,,*44


: Sonardyne - read R = 272.050000 from 272.05,X129.97,Y27.58,Z-237.40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - got all data, Vehicle coordinates,
    r=272.050000, x=237.400000, y=129.970000, z=-27.580000 tat = 840
:  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 R270.61,X122.09,Y10.08,Z-241.29

: Sonardyne - parsing R270.61,X122.09,Y10.08,Z-241.29

: Sonardyne - read R = 270.610000 from 270.61,X122.09,Y10.08,Z-241.29

: AshtechGps::processRecord() - $GPGGA,203509.00,,,,,0,00,,,M,,M,,*45

: Sonardyne - got all data, Vehicle coordinates,
    r=270.610000, x=241.290000, y=122.090000, z=-10.080000 tat = 840
: GpsUtils::parseFix() - $GPGGA,203509.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R287.87

: Sonardyne - parsing R287.87

: Sonardyne - read R = 287.870000 from 287.87

: AshtechGps::processRecord() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D

: Sonardyne - got range only (287.870000), tat = 830
: GpsUtils::parseFix() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.0,N19.2,D-60,U1,Q0.001834

: Sonardyne - POSD response: 
POSD S117.0,N19.2,D-60,U1,Q0.001834

:  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 R267.70,X113.95,Y17.20,Z-241.63

: Sonardyne - parsing R267.70,X113.95,Y17.20,Z-241.63

: Sonardyne - read R = 267.700000 from 267.70,X113.95,Y17.20,Z-241.63

: AshtechGps::processRecord() - $GPGGA,203511.00,,,,,0,00,,,M,,M,,*4C

: Sonardyne - got all data, Vehicle coordinates,
    r=267.700000, x=241.630000, y=113.950000, z=-17.200000 tat = 839
: GpsUtils::parseFix() - $GPGGA,203511.00,,,,,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 R266.33,X109.14,Y16.75,Z-242.37

: Sonardyne - parsing R266.33,X109.14,Y16.75,Z-242.37

: Sonardyne - read R = 266.330000 from 266.33,X109.14,Y16.75,Z-242.37

: Sonardyne - got all data, Vehicle coordinates,
    r=266.330000, x=242.370000, y=109.140000, z=-16.750000 tat = 830
: AshtechGps::processRecord() - $GPGGA,203512.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203512.00,,,,,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 R264.98,X103.25,Y12.76,Z-243.71

: Sonardyne - parsing R264.98,X103.25,Y12.76,Z-243.71

: Sonardyne - read R = 264.980000 from 264.98,X103.25,Y12.76,Z-243.71

: Sonardyne - got all data, Vehicle coordinates,
    r=264.980000, x=243.710000, y=103.250000, z=-12.760000 tat = 830
: AshtechGps::processRecord() - $GPGGA,203513.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203513.00,,,,,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 R263.66,X101.76,Y10.61,Z-243.01

: Sonardyne - parsing R263.66,X101.76,Y10.61,Z-243.01

: Sonardyne - read R = 263.660000 from 263.66,X101.76,Y10.61,Z-243.01

: Sonardyne - got all data, Vehicle coordinates,
    r=263.660000, x=243.010000, y=101.760000, z=-10.610000 tat = 830
: AshtechGps::processRecord() - $GPGGA,203514.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203514.00,,,,,0,00,,,M,,M,,*49


: BluefinBatt Reply: $aaq0 d- 31.79  9.36 16.99 3.96 4.00 0   165.81 03:06:22 m

: 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 R262.31,X100.67,Y19.58,Z-241.42

: Sonardyne - parsing R262.31,X100.67,Y19.58,Z-241.42

: Sonardyne - read R = 262.310000 from 262.31,X100.67,Y19.58,Z-241.42

: Sonardyne - got all data, Vehicle coordinates,
    r=262.310000, x=241.420000, y=100.670000, z=-19.580000 tat = 830
: AshtechGps::processRecord() - $GPGGA,203515.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203515.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

:  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 R260.86,X98.84,Y16.08,Z-240.87

: Sonardyne - parsing R260.86,X98.84,Y16.08,Z-240.87

: Sonardyne - read R = 260.860000 from 260.86,X98.84,Y16.08,Z-240.87

: Sonardyne - got all data, Vehicle coordinates,
    r=260.860000, x=240.870000, y=98.840000, z=-16.080000 tat = 820
: AshtechGps::processRecord() - $GPGGA,203516.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203516.00,,,,,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 R259.51,X98.46,Y15.36,Z-239.61

: Sonardyne - parsing R259.51,X98.46,Y15.36,Z-239.61

: Sonardyne - read R = 259.510000 from 259.51,X98.46,Y15.36,Z-239.61

: Sonardyne - got all data, Vehicle coordinates,
    r=259.510000, x=239.610000, y=98.460000, z=-15.360000 tat = 820
: AshtechGps::processRecord() - $GPGGA,203517.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203517.00,,,,,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 R258.15,X95.21,Y12.83,Z-239.61

: Sonardyne - parsing R258.15,X95.21,Y12.83,Z-239.61

: Sonardyne - read R = 258.150000 from 258.15,X95.21,Y12.83,Z-239.61

: Sonardyne - got all data, Vehicle coordinates,
    r=258.150000, x=239.610000, y=95.210000, z=-12.830000 tat = 820
: AshtechGps::processRecord() - $GPGGA,203518.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203518.00,,,,,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 R256.62,X93.14,Y12.40,Z-238.80

: Sonardyne - parsing R256.62,X93.14,Y12.40,Z-238.80

: Sonardyne - read R = 256.620000 from 256.62,X93.14,Y12.40,Z-238.80

: Sonardyne - got all data, Vehicle coordinates,
    r=256.620000, x=238.800000, y=93.140000, z=-12.400000 tat = 820
: AshtechGps::processRecord() - $GPGGA,203519.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203519.00,,,,,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 R255.14,X91.22,Y12.95,Z-237.92

: Sonardyne - parsing R255.14,X91.22,Y12.95,Z-237.92

: Sonardyne - read R = 255.140000 from 255.14,X91.22,Y12.95,Z-237.92

: Sonardyne - got all data, Vehicle coordinates,
    r=255.140000, x=237.920000, y=91.220000, z=-12.950000 tat = 810
: AshtechGps::processRecord() - $GPGGA,203520.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203520.00,,,,,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 R253.50,X89.31,Y14.53,Z-236.80

: Sonardyne - parsing R253.50,X89.31,Y14.53,Z-236.80

: Sonardyne - read R = 253.500000 from 253.50,X89.31,Y14.53,Z-236.80

: Sonardyne - got all data, Vehicle coordinates,
    r=253.500000, x=236.800000, y=89.310000, z=-14.530000 tat = 810
: AshtechGps::processRecord() - $GPGGA,203521.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203521.00,,,,,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 R251.83,X88.62,Y13.82,Z-235.32

: Sonardyne - parsing R251.83,X88.62,Y13.82,Z-235.32

: Sonardyne - read R = 251.830000 from 251.83,X88.62,Y13.82,Z-235.32

: Sonardyne - got all data, Vehicle coordinates,
    r=251.830000, x=235.320000, y=88.620000, z=-13.820000 tat = 810
: AshtechGps::processRecord() - $GPGGA,203522.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203522.00,,,,,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 R250.12,X85.74,Y3.15,Z-234.94

: Sonardyne - parsing R250.12,X85.74,Y3.15,Z-234.94

: Sonardyne - read R = 250.120000 from 250.12,X85.74,Y3.15,Z-234.94

: Sonardyne - got all data, Vehicle coordinates,
    r=250.120000, x=234.940000, y=85.740000, z=-3.150000 tat = 810
: AshtechGps::processRecord() - $GPGGA,203523.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203523.00,,,,,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 R248.46,X83.96,Y-0.38,Z-233.85

: Sonardyne - parsing R248.46,X83.96,Y-0.38,Z-233.85

: Sonardyne - read R = 248.460000 from 248.46,X83.96,Y-0.38,Z-233.85

: Sonardyne - got all data, Vehicle coordinates,
    r=248.460000, x=233.850000, y=83.960000, z=0.380000 tat = 810
: AshtechGps::processRecord() - $GPGGA,203524.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203524.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  8.92 16.99 3.97 4.00 0   164.91 03:06:32 m

:  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 R249.88

: Sonardyne - parsing R249.88

: Sonardyne - read R = 249.880000 from 249.88

: Sonardyne - got range only (249.880000), tat = 780
: AshtechGps::processRecord() - $GPGGA,203525.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203525.00,,,,,0,00,,,M,,M,,*4B


: Sonardyne - POSD response: 
POSD S133.0,N25.5,D59,U1,Q0.019270

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POSD response: 
POSD S133.0,N25.5,D59,U1,Q0.019270

:  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 R245.62,X84.70,Y-0.40,Z-230.55

: Sonardyne - parsing R245.62,X84.70,Y-0.40,Z-230.55

: Sonardyne - read R = 245.620000 from 245.62,X84.70,Y-0.40,Z-230.55

: Sonardyne - got all data, Vehicle coordinates,
    r=245.620000, x=230.550000, y=84.700000, z=0.400000 tat = 799
: AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203526.00,,,,,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,203527.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203527.00,,,,,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,203528.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203528.00,,,,,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,203529.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203529.00,,,,,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,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.70,X84.63,Y6.42,Z-224.17

: Sonardyne - parsing R239.70,X84.63,Y6.42,Z-224.17

: Sonardyne - read R = 239.700000 from 239.70,X84.63,Y6.42,Z-224.17

: Sonardyne - got all data, Vehicle coordinates,
    r=239.700000, x=224.170000, y=84.630000, z=-6.420000 tat = 790
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.15,X83.87,Y3.86,Z-222.85

: Sonardyne - parsing R238.15,X83.87,Y3.86,Z-222.85

: Sonardyne - read R = 238.150000 from 238.15,X83.87,Y3.86,Z-222.85

: Sonardyne - got all data, Vehicle coordinates,
    r=238.150000, x=222.850000, y=83.870000, z=-3.860000 tat = 790
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.46,X83.71,Y14.02,Z-220.71

: Sonardyne - parsing R236.46,X83.71,Y14.02,Z-220.71

: Sonardyne - read R = 236.460000 from 236.46,X83.71,Y14.02,Z-220.71

: Sonardyne - got all data, Vehicle coordinates,
    r=236.460000, x=220.710000, y=83.710000, z=-14.020000 tat = 790
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.67,X82.21,Y9.81,Z-219.58

: Sonardyne - parsing R234.67,X82.21,Y9.81,Z-219.58

: Sonardyne - read R = 234.670000 from 234.67,X82.21,Y9.81,Z-219.58

: Sonardyne - got all data, Vehicle coordinates,
    r=234.670000, x=219.580000, y=82.210000, z=-9.810000 tat = 790
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  8.52 16.99 3.97 4.00 0   164.31 03:06:42 m

: Sonardyne - POS response: 
POS V4,1 R233.11,X82.34,Y12.25,Z-217.74

: Sonardyne - parsing R233.11,X82.34,Y12.25,Z-217.74

: Sonardyne - read R = 233.110000 from 233.11,X82.34,Y12.25,Z-217.74

: Sonardyne - got all data, Vehicle coordinates,
    r=233.110000, x=217.740000, y=82.340000, z=-12.250000 tat = 790
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R231.38,X80.99,Y13.08,Z-216.35

: Sonardyne - parsing R231.38,X80.99,Y13.08,Z-216.35

: Sonardyne - read R = 231.380000 from 231.38,X80.99,Y13.08,Z-216.35

: Sonardyne - got all data, Vehicle coordinates,
    r=231.380000, x=216.350000, y=80.990000, z=-13.080000 tat = 780
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.00,X80.86,Y13.60,Z-214.89

: Sonardyne - parsing R230.00,X80.86,Y13.60,Z-214.89

: Sonardyne - read R = 230.000000 from 230.00,X80.86,Y13.60,Z-214.89

: Sonardyne - got all data, Vehicle coordinates,
    r=230.000000, x=214.890000, y=80.860000, z=-13.600000 tat = 780
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R228.43,X80.00,Y9.99,Z-213.73

: Sonardyne - parsing R228.43,X80.00,Y9.99,Z-213.73

: Sonardyne - read R = 228.430000 from 228.43,X80.00,Y9.99,Z-213.73

: Sonardyne - got all data, Vehicle coordinates,
    r=228.430000, x=213.730000, y=80.000000, z=-9.990000 tat = 780
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R226.85,X80.74,Y7.03,Z-211.88

: Sonardyne - parsing R226.85,X80.74,Y7.03,Z-211.88

: Sonardyne - read R = 226.850000 from 226.85,X80.74,Y7.03,Z-211.88

: Sonardyne - got all data, Vehicle coordinates,
    r=226.850000, x=211.880000, y=80.740000, z=-7.030000 tat = 780
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.33,X81.46,Y8.42,Z-209.93

: Sonardyne - parsing R225.33,X81.46,Y8.42,Z-209.93

: Sonardyne - read R = 225.330000 from 225.33,X81.46,Y8.42,Z-209.93

: Sonardyne - got all data, Vehicle coordinates,
    r=225.330000, x=209.930000, y=81.460000, z=-8.420000 tat = 770
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R223.89,X80.05,Y4.86,Z-209.04

: Sonardyne - parsing R223.89,X80.05,Y4.86,Z-209.04

: Sonardyne - read R = 223.890000 from 223.89,X80.05,Y4.86,Z-209.04

: Sonardyne - got all data, Vehicle coordinates,
    r=223.890000, x=209.040000, y=80.050000, z=-4.860000 tat = 769
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R222.47,X82.31,Y13.24,Z-206.26

: Sonardyne - parsing R222.47,X82.31,Y13.24,Z-206.26

: Sonardyne - read R = 222.470000 from 222.47,X82.31,Y13.24,Z-206.26

: Sonardyne - got all data, Vehicle coordinates,
    r=222.470000, x=206.260000, y=82.310000, z=-13.240000 tat = 770
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R224.49

: Sonardyne - parsing R224.49

: Sonardyne - read R = 224.490000 from 224.49

: Sonardyne - got range only (224.490000), tat = 750
: Sonardyne - POSD response: 
POSD S121.3,N20.8,D-61,U4,Q0.007098

: Sonardyne - POSD response: 
POSD S121.3,N20.8,D-61,U4,Q0.007098

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

: AshtechGps::processRecord() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R219.54,X79.42,Y6.72,Z-204.56

: Sonardyne - parsing R219.54,X79.42,Y6.72,Z-204.56

: Sonardyne - read R = 219.540000 from 219.54,X79.42,Y6.72,Z-204.56

: Sonardyne - got all data, Vehicle coordinates,
    r=219.540000, x=204.560000, y=79.420000, z=-6.720000 tat = 770
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  9.19 16.99 3.97 4.00 0   163.35 03:06:52 m

: Sonardyne - POS response: 
POS V4,1 R217.94,X77.15,Y-2.00,Z-203.82

: Sonardyne - parsing R217.94,X77.15,Y-2.00,Z-203.82

: Sonardyne - read R = 217.940000 from 217.94,X77.15,Y-2.00,Z-203.82

: Sonardyne - got all data, Vehicle coordinates,
    r=217.940000, x=203.820000, y=77.150000, z=2.000000 tat = 760
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203545.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203545.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R216.44,X78.29,Y3.87,Z-201.75

: Sonardyne - parsing R216.44,X78.29,Y3.87,Z-201.75

: Sonardyne - read R = 216.440000 from 216.44,X78.29,Y3.87,Z-201.75

: Sonardyne - got all data, Vehicle coordinates,
    r=216.440000, x=201.750000, y=78.290000, z=-3.870000 tat = 760
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R215.02,X79.97,Y2.96,Z-199.57

: Sonardyne - parsing R215.02,X79.97,Y2.96,Z-199.57

: Sonardyne - read R = 215.020000 from 215.02,X79.97,Y2.96,Z-199.57

: Sonardyne - got all data, Vehicle coordinates,
    r=215.020000, x=199.570000, y=79.970000, z=-2.960000 tat = 760
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R213.54,X79.72,Y4.72,Z-198.05

: Sonardyne - parsing R213.54,X79.72,Y4.72,Z-198.05

: Sonardyne - read R = 213.540000 from 213.54,X79.72,Y4.72,Z-198.05

: Sonardyne - got all data, Vehicle coordinates,
    r=213.540000, x=198.050000, y=79.720000, z=-4.720000 tat = 760
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203548.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203548.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.96,X80.84,Y4.00,Z-195.90

: Sonardyne - parsing R211.96,X80.84,Y4.00,Z-195.90

: Sonardyne - read R = 211.960000 from 211.96,X80.84,Y4.00,Z-195.90

: Sonardyne - got all data, Vehicle coordinates,
    r=211.960000, x=195.900000, y=80.840000, z=-4.000000 tat = 760
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.31,X81.72,Y8.05,Z-193.62

: Sonardyne - parsing R210.31,X81.72,Y8.05,Z-193.62

: Sonardyne - read R = 210.310000 from 210.31,X81.72,Y8.05,Z-193.62

: Sonardyne - got all data, Vehicle coordinates,
    r=210.310000, x=193.620000, y=81.720000, z=-8.050000 tat = 750
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.83,X80.28,Y8.99,Z-192.57

: Sonardyne - parsing R208.83,X80.28,Y8.99,Z-192.57

: Sonardyne - read R = 208.830000 from 208.83,X80.28,Y8.99,Z-192.57

: Sonardyne - got all data, Vehicle coordinates,
    r=208.830000, x=192.570000, y=80.280000, z=-8.990000 tat = 750
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R207.51,X80.69,Y12.51,Z-190.77

: Sonardyne - parsing R207.51,X80.69,Y12.51,Z-190.77

: Sonardyne - read R = 207.510000 from 207.51,X80.69,Y12.51,Z-190.77

: Sonardyne - got all data, Vehicle coordinates,
    r=207.510000, x=190.770000, y=80.690000, z=-12.510000 tat = 750
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R205.79

: Sonardyne - parsing R205.79

: Sonardyne - read R = 205.790000 from 205.79

: Sonardyne - got range only (205.790000), tat = 720
: Sonardyne - POSD response: 
POSD S130.0,N24.2,D0,U5,Q0.003784

: Sonardyne - POSD response: 
POSD S130.0,N24.2,D0,U5,Q0.003784

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

: AshtechGps::processRecord() - $GPGGA,203553.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203553.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R204.56,X79.80,Y11.45,Z-188.00

: Sonardyne - parsing R204.56,X79.80,Y11.45,Z-188.00

: Sonardyne - read R = 204.560000 from 204.56,X79.80,Y11.45,Z-188.00

: Sonardyne - got all data, Vehicle coordinates,
    r=204.560000, x=188.000000, y=79.800000, z=-11.450000 tat = 750
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  8.92 16.99 3.97 4.00 0   162.72 03:07:02 m

: Sonardyne - POS response: 
POS V4,1 R203.07,X78.74,Y7.37,Z-187.03

: Sonardyne - parsing R203.07,X78.74,Y7.37,Z-187.03

: Sonardyne - read R = 203.070000 from 203.07,X78.74,Y7.37,Z-187.03

: Sonardyne - got all data, Vehicle coordinates,
    r=203.070000, x=187.030000, y=78.740000, z=-7.370000 tat = 740
: AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C

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

: GpsUtils::parseFix() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R201.44,X77.88,Y3.18,Z-185.75

: Sonardyne - parsing R201.44,X77.88,Y3.18,Z-185.75

: Sonardyne - read R = 201.440000 from 201.44,X77.88,Y3.18,Z-185.75

: Sonardyne - got all data, Vehicle coordinates,
    r=201.440000, x=185.750000, y=77.880000, z=-3.180000 tat = 739
:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 1350.00                                         (wplog)

: Vehicle Position is error is (0.6, 0.4)

: LayeredControl::execute() -- (t = 1349.997519) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 1350.00                           (wplog)
  The current location (N,E) = 4052291.6      , 600426.2         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.0 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 1350.007518) Behavior waypoint_homing has changed to state Active

: AshtechGps::processRecord() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R199.85,X73.41,Y-22.98,Z-184.45

: Sonardyne - parsing R199.85,X73.41,Y-22.98,Z-184.45

: Sonardyne - read R = 199.850000 from 199.85,X73.41,Y-22.98,Z-184.45

: Sonardyne - got all data, Vehicle coordinates,
    r=199.850000, x=184.450000, y=73.410000, z=22.980000 tat = 740
: AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203557.00,,,,,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 R198.50,X64.84,Y2.75,Z-187.59

: Sonardyne - parsing R198.50,X64.84,Y2.75,Z-187.59

: Sonardyne - read R = 198.500000 from 198.50,X64.84,Y2.75,Z-187.59

: Sonardyne - got all data, Vehicle coordinates,
    r=198.500000, x=187.590000, y=64.840000, z=-2.750000 tat = 740
: AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R197.08,X35.76,Y17.04,Z-193.06

: Sonardyne - parsing R197.08,X35.76,Y17.04,Z-193.06

: Sonardyne - read R = 197.080000 from 197.08,X35.76,Y17.04,Z-193.06

: Sonardyne - got all data, Vehicle coordinates,
    r=197.080000, x=193.060000, y=35.760000, z=-17.040000 tat = 740
: AshtechGps::processRecord() - $GPGGA,203559.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203559.00,,,,,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 R195.50,X16.92,Y14.36,Z-194.24

: Sonardyne - parsing R195.50,X16.92,Y14.36,Z-194.24

: Sonardyne - read R = 195.500000 from 195.50,X16.92,Y14.36,Z-194.24

: Sonardyne - got all data, Vehicle coordinates,
    r=195.500000, x=194.240000, y=16.920000, z=-14.360000 tat = 730
: AshtechGps::processRecord() - $GPGGA,203600.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203600.00,,,,,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 R193.97,X6.19,Y14.59,Z-193.32

: Sonardyne - parsing R193.97,X6.19,Y14.59,Z-193.32

: Sonardyne - read R = 193.970000 from 193.97,X6.19,Y14.59,Z-193.32

: Sonardyne - got all data, Vehicle coordinates,
    r=193.970000, x=193.320000, y=6.190000, z=-14.590000 tat = 730
: AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203601.00,,,,,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 R192.22,X-0.95,Y11.46,Z-191.87

: Sonardyne - parsing R192.22,X-0.95,Y11.46,Z-191.87

: Sonardyne - read R = 192.220000 from 192.22,X-0.95,Y11.46,Z-191.87

: Sonardyne - got all data, Vehicle coordinates,
    r=192.220000, x=191.870000, y=-0.950000, z=-11.460000 tat = 730
: AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203602.00,,,,,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 R190.64,X-4.06,Y22.28,Z-189.29

: Sonardyne - parsing R190.64,X-4.06,Y22.28,Z-189.29

: Sonardyne - read R = 190.640000 from 190.64,X-4.06,Y22.28,Z-189.29

: Sonardyne - got all data, Vehicle coordinates,
    r=190.640000, x=189.290000, y=-4.060000, z=-22.280000 tat = 730
: AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203603.00,,,,,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 R188.76,X-6.53,Y20.37,Z-187.54

: Sonardyne - parsing R188.76,X-6.53,Y20.37,Z-187.54

: Sonardyne - read R = 188.760000 from 188.76,X-6.53,Y20.37,Z-187.54

: Sonardyne - got all data, Vehicle coordinates,
    r=188.760000, x=187.540000, y=-6.530000, z=-20.370000 tat = 730
: AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  9.94 17.08 3.97 4.00 0   161.80 03:07:12 m

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

: Sonardyne - POS response: 
POS V4,1 R186.99,X-6.38,Y20.56,Z-185.75

: Sonardyne - parsing R186.99,X-6.38,Y20.56,Z-185.75

: Sonardyne - read R = 186.990000 from 186.99,X-6.38,Y20.56,Z-185.75

: Sonardyne - got all data, Vehicle coordinates,
    r=186.990000, x=185.750000, y=-6.380000, z=-20.560000 tat = 720
: AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  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 R185.14,X-6.57,Y10.05,Z-184.75

: Sonardyne - parsing R185.14,X-6.57,Y10.05,Z-184.75

: Sonardyne - read R = 185.140000 from 185.14,X-6.57,Y10.05,Z-184.75

: Sonardyne - got all data, Vehicle coordinates,
    r=185.140000, x=184.750000, y=-6.570000, z=-10.050000 tat = 720
: AshtechGps::processRecord() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R183.47,X-5.32,Y12.52,Z-182.97

: Sonardyne - parsing R183.47,X-5.32,Y12.52,Z-182.97

: Sonardyne - read R = 183.470000 from 183.47,X-5.32,Y12.52,Z-182.97

: Sonardyne - got all data, Vehicle coordinates,
    r=183.470000, x=182.970000, y=-5.320000, z=-12.520000 tat = 720
: AshtechGps::processRecord() - $GPGGA,203607.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203607.00,,,,,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 R182.14,X-4.08,Y14.83,Z-181.49

: Sonardyne - parsing R182.14,X-4.08,Y14.83,Z-181.49

: Sonardyne - read R = 182.140000 from 182.14,X-4.08,Y14.83,Z-181.49

: Sonardyne - got all data, Vehicle coordinates,
    r=182.140000, x=181.490000, y=-4.080000, z=-14.830000 tat = 720
: AshtechGps::processRecord() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R180.79,X-6.52,Y3.00,Z-180.65

: Sonardyne - parsing R180.79,X-6.52,Y3.00,Z-180.65

: Sonardyne - read R = 180.790000 from 180.79,X-6.52,Y3.00,Z-180.65

: Sonardyne - got all data, Vehicle coordinates,
    r=180.790000, x=180.650000, y=-6.520000, z=-3.000000 tat = 710
: AshtechGps::processRecord() - $GPGGA,203609.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203609.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R179.27

: Sonardyne - parsing R179.27

: Sonardyne - read R = 179.270000 from 179.27

: Sonardyne - got range only (179.270000), tat = 689
: Sonardyne - POSD response: 
POSD S+140.3,N27.2,D-6,U2,Q0.002680

: Sonardyne - POSD response: 
POSD S+140.3,N27.2,D-6,U2,Q0.002680

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203610.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203610.00,,,,,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 R177.97,X-4.97,Y15.69,Z-177.21

: Sonardyne - parsing R177.97,X-4.97,Y15.69,Z-177.21

: Sonardyne - read R = 177.970000 from 177.97,X-4.97,Y15.69,Z-177.21

: Sonardyne - got all data, Vehicle coordinates,
    r=177.970000, x=177.210000, y=-4.970000, z=-15.690000 tat = 710
: Sonardyne - POSD response: 
POSD S+141.3,N26.0,D-61,U8,Q0.000110

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203611.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203611.00,,,,,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 R176.67,X-4.56,Y18.71,Z-175.62

: Sonardyne - parsing R176.67,X-4.56,Y18.71,Z-175.62

: Sonardyne - read R = 176.670000 from 176.67,X-4.56,Y18.71,Z-175.62

: Sonardyne - got all data, Vehicle coordinates,
    r=176.670000, x=175.620000, y=-4.560000, z=-18.710000 tat = 710
: Sonardyne - POSD response: 
POSD S+143.6,N27.9,D-36,U8,Q0.000113

: AshtechGps::processRecord() - $GPGGA,203612.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203612.00,,,,,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 R174.93,X-4.70,Y20.65,Z-173.64

: Sonardyne - parsing R174.93,X-4.70,Y20.65,Z-173.64

: Sonardyne - read R = 174.930000 from 174.93,X-4.70,Y20.65,Z-173.64

: Sonardyne - got all data, Vehicle coordinates,
    r=174.930000, x=173.640000, y=-4.700000, z=-20.650000 tat = 710
: Sonardyne - POSD response: 
POSD S+142.8,N22.3,D-64,U8,Q0.000073

: AshtechGps::processRecord() - $GPGGA,203613.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203613.00,,,,,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 R173.08,X-5.63,Y18.73,Z-171.97

: Sonardyne - parsing R173.08,X-5.63,Y18.73,Z-171.97

: Sonardyne - read R = 173.080000 from 173.08,X-5.63,Y18.73,Z-171.97

: Sonardyne - got all data, Vehicle coordinates,
    r=173.080000, x=171.970000, y=-5.630000, z=-18.730000 tat = 700
: Sonardyne - POSD response: 
POSD S139.3,N25.9,D-53,U8,Q0.000328

: AshtechGps::processRecord() - $GPGGA,203614.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203614.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.76 16.99 3.97 4.00 0   161.16 03:07:22 m

:  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 R171.25

: Sonardyne - parsing R171.25

: Sonardyne - read R = 171.250000 from 171.25

: Sonardyne - got range only (171.250000), tat = 680
: Sonardyne - POSD response: 
POSD S133.6,N20.7,D85,U1,Q0.004572

: Sonardyne - POSD response: 
POSD S133.6,N20.7,D85,U1,Q0.004572

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  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 R169.69,X-2.27,Y14.45,Z-169.06

: Sonardyne - parsing R169.69,X-2.27,Y14.45,Z-169.06

: Sonardyne - read R = 169.690000 from 169.69,X-2.27,Y14.45,Z-169.06

: Sonardyne - got all data, Vehicle coordinates,
    r=169.690000, x=169.060000, y=-2.270000, z=-14.450000 tat = 700
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R168.10,X-2.60,Y11.60,Z-167.68

: Sonardyne - parsing R168.10,X-2.60,Y11.60,Z-167.68

: Sonardyne - read R = 168.100000 from 168.10,X-2.60,Y11.60,Z-167.68

: Sonardyne - got all data, Vehicle coordinates,
    r=168.100000, x=167.680000, y=-2.600000, z=-11.600000 tat = 700
: AshtechGps::processRecord() - $GPGGA,203617.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203617.00,,,,,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 R166.64,X-4.34,Y10.23,Z-166.27

: Sonardyne - parsing R166.64,X-4.34,Y10.23,Z-166.27

: Sonardyne - read R = 166.640000 from 166.64,X-4.34,Y10.23,Z-166.27

: Sonardyne - got all data, Vehicle coordinates,
    r=166.640000, x=166.270000, y=-4.340000, z=-10.230000 tat = 700
: AshtechGps::processRecord() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R165.31,X-3.84,Y17.61,Z-164.32

: Sonardyne - parsing R165.31,X-3.84,Y17.61,Z-164.32

: Sonardyne - read R = 165.310000 from 165.31,X-3.84,Y17.61,Z-164.32

: Sonardyne - got all data, Vehicle coordinates,
    r=165.310000, x=164.320000, y=-3.840000, z=-17.610000 tat = 690
: AshtechGps::processRecord() - $GPGGA,203619.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203619.00,,,,,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 R163.29

: Sonardyne - parsing R163.29

: Sonardyne - read R = 163.290000 from 163.29

: Sonardyne - got range only (163.290000), tat = 670
: Sonardyne - POSD response: 
POSD S134.0,N23.2,D28,U2,Q0.000921

: Sonardyne - POSD response: 
POSD S134.0,N23.2,D28,U2,Q0.000921

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R161.77,X-3.77,Y14.73,Z-161.05

: Sonardyne - parsing R161.77,X-3.77,Y14.73,Z-161.05

: Sonardyne - read R = 161.770000 from 161.77,X-3.77,Y14.73,Z-161.05

: Sonardyne - got all data, Vehicle coordinates,
    r=161.770000, x=161.050000, y=-3.770000, z=-14.730000 tat = 690
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203621.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203621.00,,,,,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 R160.10,X-3.66,Y14.94,Z-159.36

: Sonardyne - parsing R160.10,X-3.66,Y14.94,Z-159.36

: Sonardyne - read R = 160.100000 from 160.10,X-3.66,Y14.94,Z-159.36

: Sonardyne - got all data, Vehicle coordinates,
    r=160.100000, x=159.360000, y=-3.660000, z=-14.940000 tat = 690
: AshtechGps::processRecord() - $GPGGA,203622.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203622.00,,,,,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 R158.52,X-3.33,Y8.99,Z-158.23

: Sonardyne - parsing R158.52,X-3.33,Y8.99,Z-158.23

: Sonardyne - read R = 158.520000 from 158.52,X-3.33,Y8.99,Z-158.23

: Sonardyne - got all data, Vehicle coordinates,
    r=158.520000, x=158.230000, y=-3.330000, z=-8.990000 tat = 680
: AshtechGps::processRecord() - $GPGGA,203623.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203623.00,,,,,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 R156.85,X-2.59,Y15.20,Z-156.09

: Sonardyne - parsing R156.85,X-2.59,Y15.20,Z-156.09

: Sonardyne - read R = 156.850000 from 156.85,X-2.59,Y15.20,Z-156.09

: Sonardyne - got all data, Vehicle coordinates,
    r=156.850000, x=156.090000, y=-2.590000, z=-15.200000 tat = 680
: AshtechGps::processRecord() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  9.40 16.99 3.97 4.00 0   160.24 03:07:32 m

:  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 R155.15,X-4.58,Y7.57,Z-154.90

: Sonardyne - parsing R155.15,X-4.58,Y7.57,Z-154.90

: Sonardyne - read R = 155.150000 from 155.15,X-4.58,Y7.57,Z-154.90

: Sonardyne - got all data, Vehicle coordinates,
    r=155.150000, x=154.900000, y=-4.580000, z=-7.570000 tat = 679
: AshtechGps::processRecord() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

:  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 R153.56,X-3.69,Y11.67,Z-153.07

: Sonardyne - parsing R153.56,X-3.69,Y11.67,Z-153.07

: Sonardyne - read R = 153.560000 from 153.56,X-3.69,Y11.67,Z-153.07

: Sonardyne - got all data, Vehicle coordinates,
    r=153.560000, x=153.070000, y=-3.690000, z=-11.670000 tat = 680
: AshtechGps::processRecord() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R152.07,X-2.34,Y19.15,Z-150.84

: Sonardyne - parsing R152.07,X-2.34,Y19.15,Z-150.84

: Sonardyne - read R = 152.070000 from 152.07,X-2.34,Y19.15,Z-150.84

: Sonardyne - got all data, Vehicle coordinates,
    r=152.070000, x=150.840000, y=-2.340000, z=-19.150000 tat = 680
: AshtechGps::processRecord() - $GPGGA,203627.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203627.00,,,,,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 R150.56,X-0.87,Y29.27,Z-147.68

: Sonardyne - parsing R150.56,X-0.87,Y29.27,Z-147.68

: Sonardyne - read R = 150.560000 from 150.56,X-0.87,Y29.27,Z-147.68

: Sonardyne - got all data, Vehicle coordinates,
    r=150.560000, x=147.680000, y=-0.870000, z=-29.270000 tat = 670
: AshtechGps::processRecord() - $GPGGA,203628.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203628.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R149.02,X-3.24,Y21.67,Z-147.40

: Sonardyne - parsing R149.02,X-3.24,Y21.67,Z-147.40

: Sonardyne - read R = 149.020000 from 149.02,X-3.24,Y21.67,Z-147.40

: Sonardyne - got all data, Vehicle coordinates,
    r=149.020000, x=147.400000, y=-3.240000, z=-21.670000 tat = 670
: AshtechGps::processRecord() - $GPGGA,203629.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203629.00,,,,,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 R147.43,X-4.62,Y13.97,Z-146.69

: Sonardyne - parsing R147.43,X-4.62,Y13.97,Z-146.69

: Sonardyne - read R = 147.430000 from 147.43,X-4.62,Y13.97,Z-146.69

: Sonardyne - got all data, Vehicle coordinates,
    r=147.430000, x=146.690000, y=-4.620000, z=-13.970000 tat = 670
: AshtechGps::processRecord() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R145.79,X-3.46,Y11.79,Z-145.27

: Sonardyne - parsing R145.79,X-3.46,Y11.79,Z-145.27

: Sonardyne - read R = 145.790000 from 145.79,X-3.46,Y11.79,Z-145.27

: Sonardyne - got all data, Vehicle coordinates,
    r=145.790000, x=145.270000, y=-3.460000, z=-11.790000 tat = 670
: AshtechGps::processRecord() - $GPGGA,203631.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203631.00,,,,,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 R144.01,X-3.35,Y6.15,Z-143.84

: Sonardyne - parsing R144.01,X-3.35,Y6.15,Z-143.84

: Sonardyne - read R = 144.010000 from 144.01,X-3.35,Y6.15,Z-143.84

: Sonardyne - got all data, Vehicle coordinates,
    r=144.010000, x=143.840000, y=-3.350000, z=-6.150000 tat = 660
: AshtechGps::processRecord() - $GPGGA,203632.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203632.00,,,,,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 R142.36,X-3.53,Y5.54,Z-142.21

: Sonardyne - parsing R142.36,X-3.53,Y5.54,Z-142.21

: Sonardyne - read R = 142.360000 from 142.36,X-3.53,Y5.54,Z-142.21

: Sonardyne - got all data, Vehicle coordinates,
    r=142.360000, x=142.210000, y=-3.530000, z=-5.540000 tat = 660
: AshtechGps::processRecord() - $GPGGA,203633.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203633.00,,,,,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 R140.65,X-3.25,Y11.45,Z-140.15

: Sonardyne - parsing R140.65,X-3.25,Y11.45,Z-140.15

: Sonardyne - read R = 140.650000 from 140.65,X-3.25,Y11.45,Z-140.15

: Sonardyne - got all data, Vehicle coordinates,
    r=140.650000, x=140.150000, y=-3.250000, z=-11.450000 tat = 660
: BluefinBatt Reply: $aaq0 d- 31.83  8.62 17.08 3.97 4.00 0   159.65 03:07:42 m

: AshtechGps::processRecord() - $GPGGA,203634.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203634.00,,,,,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 R138.96,X-3.43,Y6.43,Z-138.77

: Sonardyne - parsing R138.96,X-3.43,Y6.43,Z-138.77

: Sonardyne - read R = 138.960000 from 138.96,X-3.43,Y6.43,Z-138.77

: Sonardyne - got all data, Vehicle coordinates,
    r=138.960000, x=138.770000, y=-3.430000, z=-6.430000 tat = 660
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: AshtechGps::processRecord() - $GPGGA,203635.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203635.00,,,,,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 R137.49,X-2.81,Y11.30,Z-136.99

: Sonardyne - parsing R137.49,X-2.81,Y11.30,Z-136.99

: Sonardyne - read R = 137.490000 from 137.49,X-2.81,Y11.30,Z-136.99

: Sonardyne - got all data, Vehicle coordinates,
    r=137.490000, x=136.990000, y=-2.810000, z=-11.300000 tat = 660
: AshtechGps::processRecord() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R135.71,X-1.83,Y12.59,Z-135.12

: Sonardyne - parsing R135.71,X-1.83,Y12.59,Z-135.12

: Sonardyne - read R = 135.710000 from 135.71,X-1.83,Y12.59,Z-135.12

: Sonardyne - got all data, Vehicle coordinates,
    r=135.710000, x=135.120000, y=-1.830000, z=-12.590000 tat = 650
: AshtechGps::processRecord() - $GPGGA,203637.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203637.00,,,,,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 R134.04,X-2.24,Y8.17,Z-133.78

: Sonardyne - parsing R134.04,X-2.24,Y8.17,Z-133.78

: Sonardyne - read R = 134.040000 from 134.04,X-2.24,Y8.17,Z-133.78

: Sonardyne - got all data, Vehicle coordinates,
    r=134.040000, x=133.780000, y=-2.240000, z=-8.170000 tat = 650
: AshtechGps::processRecord() - $GPGGA,203638.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203638.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R132.21,X-2.41,Y5.82,Z-132.06

: Sonardyne - parsing R132.21,X-2.41,Y5.82,Z-132.06

: Sonardyne - read R = 132.210000 from 132.21,X-2.41,Y5.82,Z-132.06

: Sonardyne - got all data, Vehicle coordinates,
    r=132.210000, x=132.060000, y=-2.410000, z=-5.820000 tat = 650
: AshtechGps::processRecord() - $GPGGA,203639.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203639.00,,,,,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 R130.46,X-1.30,Y8.03,Z-130.21

: Sonardyne - parsing R130.46,X-1.30,Y8.03,Z-130.21

: Sonardyne - read R = 130.460000 from 130.46,X-1.30,Y8.03,Z-130.21

: Sonardyne - got all data, Vehicle coordinates,
    r=130.460000, x=130.210000, y=-1.300000, z=-8.030000 tat = 650
: AshtechGps::processRecord() - $GPGGA,203640.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203640.00,,,,,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 R128.83,X-1.13,Y12.40,Z-128.22

: Sonardyne - parsing R128.83,X-1.13,Y12.40,Z-128.22

: Sonardyne - read R = 128.830000 from 128.83,X-1.13,Y12.40,Z-128.22

: Sonardyne - got all data, Vehicle coordinates,
    r=128.830000, x=128.220000, y=-1.130000, z=-12.400000 tat = 640
: AshtechGps::processRecord() - $GPGGA,203641.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203641.00,,,,,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 R127.36,X-1.21,Y10.96,Z-126.88

: Sonardyne - parsing R127.36,X-1.21,Y10.96,Z-126.88

: Sonardyne - read R = 127.360000 from 127.36,X-1.21,Y10.96,Z-126.88

: Sonardyne - got all data, Vehicle coordinates,
    r=127.360000, x=126.880000, y=-1.210000, z=-10.960000 tat = 640
: AshtechGps::processRecord() - $GPGGA,203642.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203642.00,,,,,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 R125.99,X-1.57,Y11.54,Z-125.45

: Sonardyne - parsing R125.99,X-1.57,Y11.54,Z-125.45

: Sonardyne - read R = 125.990000 from 125.99,X-1.57,Y11.54,Z-125.45

: Sonardyne - got all data, Vehicle coordinates,
    r=125.990000, x=125.450000, y=-1.570000, z=-11.540000 tat = 640
: AshtechGps::processRecord() - $GPGGA,203643.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203643.00,,,,,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 R124.46,X-2.03,Y12.99,Z-123.77

: Sonardyne - parsing R124.46,X-2.03,Y12.99,Z-123.77

: Sonardyne - read R = 124.460000 from 124.46,X-2.03,Y12.99,Z-123.77

: Sonardyne - got all data, Vehicle coordinates,
    r=124.460000, x=123.770000, y=-2.030000, z=-12.990000 tat = 640
: BluefinBatt Reply: $aaq0 d- 31.79  9.33 16.99 3.96 4.00 0   158.73 03:07:52 m

: AshtechGps::processRecord() - $GPGGA,203644.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203644.00,,,,,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 R122.87,X-2.38,Y12.85,Z-122.17

: Sonardyne - parsing R122.87,X-2.38,Y12.85,Z-122.17

: Sonardyne - read R = 122.870000 from 122.87,X-2.38,Y12.85,Z-122.17

: Sonardyne - got all data, Vehicle coordinates,
    r=122.870000, x=122.170000, y=-2.380000, z=-12.850000 tat = 640
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,203645.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203645.00,,,,,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 R121.17,X-3.90,Y-1.04,Z-121.10

: Sonardyne - parsing R121.17,X-3.90,Y-1.04,Z-121.10

: Sonardyne - read R = 121.170000 from 121.17,X-3.90,Y-1.04,Z-121.10

: Sonardyne - got all data, Vehicle coordinates,
    r=121.170000, x=121.100000, y=-3.900000, z=1.040000 tat = 630
: AshtechGps::processRecord() - $GPGGA,203646.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203646.00,,,,,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 R119.49,X-3.72,Y-1.50,Z-119.43

: Sonardyne - parsing R119.49,X-3.72,Y-1.50,Z-119.43

: Sonardyne - read R = 119.490000 from 119.49,X-3.72,Y-1.50,Z-119.43

: Sonardyne - got all data, Vehicle coordinates,
    r=119.490000, x=119.430000, y=-3.720000, z=1.500000 tat = 630
: AshtechGps::processRecord() - $GPGGA,203647.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203647.00,,,,,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 R117.71,X-1.43,Y10.20,Z-117.26

: Sonardyne - parsing R117.71,X-1.43,Y10.20,Z-117.26

: Sonardyne - read R = 117.710000 from 117.71,X-1.43,Y10.20,Z-117.26

: Sonardyne - got all data, Vehicle coordinates,
    r=117.710000, x=117.260000, y=-1.430000, z=-10.200000 tat = 630
: AshtechGps::processRecord() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R116.18,X-0.27,Y9.76,Z-115.77

: Sonardyne - parsing R116.18,X-0.27,Y9.76,Z-115.77

: Sonardyne - read R = 116.180000 from 116.18,X-0.27,Y9.76,Z-115.77

: Sonardyne - got all data, Vehicle coordinates,
    r=116.180000, x=115.770000, y=-0.270000, z=-9.760000 tat = 630
: AshtechGps::processRecord() - $GPGGA,203649.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203649.00,,,,,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 R114.74,X0.35,Y13.48,Z-113.95

: Sonardyne - parsing R114.74,X0.35,Y13.48,Z-113.95

: Sonardyne - read R = 114.740000 from 114.74,X0.35,Y13.48,Z-113.95

: Sonardyne - got all data, Vehicle coordinates,
    r=114.740000, x=113.950000, y=0.350000, z=-13.480000 tat = 620
: AshtechGps::processRecord() - $GPGGA,203650.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203650.00,,,,,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 R113.37,X-1.54,Y5.31,Z-113.24

: Sonardyne - parsing R113.37,X-1.54,Y5.31,Z-113.24

: Sonardyne - read R = 113.370000 from 113.37,X-1.54,Y5.31,Z-113.24

: Sonardyne - got all data, Vehicle coordinates,
    r=113.370000, x=113.240000, y=-1.540000, z=-5.310000 tat = 620
: AshtechGps::processRecord() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.83

: Sonardyne - parsing R111.83

: Sonardyne - read R = 111.830000 from 111.83

: Sonardyne - got range only (111.830000), tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.6,N25.3,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.6,N25.3,D-5,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.92,X-1.25,Y14.00,Z-109.01

: Sonardyne - parsing R109.92,X-1.25,Y14.00,Z-109.01

: Sonardyne - read R = 109.920000 from 109.92,X-1.25,Y14.00,Z-109.01

: Sonardyne - got all data, Vehicle coordinates,
    r=109.920000, x=109.010000, y=-1.250000, z=-14.000000 tat = 620
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.3,N25.0,D-61,U8,Q0.000077

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.14,X-1.52,Y9.26,Z-107.73

: Sonardyne - parsing R108.14,X-1.52,Y9.26,Z-107.73

: Sonardyne - read R = 108.140000 from 108.14,X-1.52,Y9.26,Z-107.73

: Sonardyne - got all data, Vehicle coordinates,
    r=108.140000, x=107.730000, y=-1.520000, z=-9.260000 tat = 619
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.1,N29.4,D-37,U8,Q0.000075

: AshtechGps::processRecord() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  9.03 17.08 3.96 4.00 0   158.10 03:08:02 m

: Sonardyne - POS response: 
POS V4,1 R106.33,X-1.33,Y12.25,Z-105.62

: Sonardyne - parsing R106.33,X-1.33,Y12.25,Z-105.62

: Sonardyne - read R = 106.330000 from 106.33,X-1.33,Y12.25,Z-105.62

: Sonardyne - got all data, Vehicle coordinates,
    r=106.330000, x=105.620000, y=-1.330000, z=-12.250000 tat = 610
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+141.1,N19.9,D-65,U8,Q0.000381

: AshtechGps::processRecord() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R104.71,X-1.52,Y8.94,Z-104.31

: Sonardyne - parsing R104.71,X-1.52,Y8.94,Z-104.31

: Sonardyne - read R = 104.710000 from 104.71,X-1.52,Y8.94,Z-104.31

: Sonardyne - got all data, Vehicle coordinates,
    r=104.710000, x=104.310000, y=-1.520000, z=-8.940000 tat = 610
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.3,N31.5,D-31,U8,Q0.000137

: AshtechGps::processRecord() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.14,X-1.56,Y12.25,Z-102.40

: Sonardyne - parsing R103.14,X-1.56,Y12.25,Z-102.40

: Sonardyne - read R = 103.140000 from 103.14,X-1.56,Y12.25,Z-102.40

: Sonardyne - got all data, Vehicle coordinates,
    r=103.140000, x=102.400000, y=-1.560000, z=-12.250000 tat = 610
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.9,N23.3,D-89,U8,Q0.000086

: AshtechGps::processRecord() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R101.48,X-2.14,Y3.14,Z-101.41

: Sonardyne - parsing R101.48,X-2.14,Y3.14,Z-101.41

: Sonardyne - read R = 101.480000 from 101.48,X-2.14,Y3.14,Z-101.41

: Sonardyne - got all data, Vehicle coordinates,
    r=101.480000, x=101.410000, y=-2.140000, z=-3.140000 tat = 610
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.5,N27.8,D-40,U8,Q0.000105

: AshtechGps::processRecord() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R99.79,X-1.09,Y8.32,Z-99.43

: Sonardyne - parsing R99.79,X-1.09,Y8.32,Z-99.43

: Sonardyne - read R = 99.790000 from 99.79,X-1.09,Y8.32,Z-99.43

: Sonardyne - got all data, Vehicle coordinates,
    r=99.790000, x=99.430000, y=-1.090000, z=-8.320000 tat = 600
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.4,N27.4,D-86,U8,Q0.000153

: AshtechGps::processRecord() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.71,X0.20,Y15.22,Z-97.53

: Sonardyne - parsing R98.71,X0.20,Y15.22,Z-97.53

: Sonardyne - read R = 98.710000 from 98.71,X0.20,Y15.22,Z-97.53

: Sonardyne - got all data, Vehicle coordinates,
    r=98.710000, x=97.530000, y=0.200000, z=-15.220000 tat = 600
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.3,N29.2,D-23,U8,Q0.000859

: AshtechGps::processRecord() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.39,X-0.41,Y9.54,Z-95.92

: Sonardyne - parsing R96.39,X-0.41,Y9.54,Z-95.92

: Sonardyne - read R = 96.390000 from 96.39,X-0.41,Y9.54,Z-95.92

: Sonardyne - got all data, Vehicle coordinates,
    r=96.390000, x=95.920000, y=-0.410000, z=-9.540000 tat = 600
: Sonardyne - POSD response: 
POSD S+144.6,N36.3,D-16,U8,Q0.000092

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

: AshtechGps::processRecord() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.90

: Sonardyne - parsing R94.90

: Sonardyne - read R = 94.900000 from 94.90

: Sonardyne - got range only (94.900000), tat = 570
: Sonardyne - POSD response: 
POSD S135.4,N28.9,D24,U3,Q0.000066

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

: Sonardyne - POSD response: 
POSD S135.4,N28.9,D24,U3,Q0.000066

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.53,X-1.31,Y7.89,Z-93.19

: Sonardyne - parsing R93.53,X-1.31,Y7.89,Z-93.19

: Sonardyne - read R = 93.530000 from 93.53,X-1.31,Y7.89,Z-93.19

: Sonardyne - got all data, Vehicle coordinates,
    r=93.530000, x=93.190000, y=-1.310000, z=-7.890000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R95.58

: Sonardyne - parsing R95.58

: Sonardyne - read R = 95.580000 from 95.58

: Sonardyne - got range only (95.580000), tat = 570
: Sonardyne - POSD response: 
POSD S139.0,N24.1,D71,U2,Q0.007019

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

: Sonardyne - POSD response: 
POSD S139.0,N24.1,D71,U2,Q0.007019

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  9.53 16.99 3.97 4.00 0   157.13 03:08:12 m

: Sonardyne - POS response: 
POS V4,1 R91.07,X-1.78,Y5.96,Z-90.85

: Sonardyne - parsing R91.07,X-1.78,Y5.96,Z-90.85

: Sonardyne - read R = 91.070000 from 91.07,X-1.78,Y5.96,Z-90.85

: Sonardyne - got all data, Vehicle coordinates,
    r=91.070000, x=90.850000, y=-1.780000, z=-5.960000 tat = 590
: 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,203705.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203705.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R89.58,X-1.28,Y6.41,Z-89.34

: Sonardyne - parsing R89.58,X-1.28,Y6.41,Z-89.34

: Sonardyne - read R = 89.580000 from 89.58,X-1.28,Y6.41,Z-89.34

: Sonardyne - got all data, Vehicle coordinates,
    r=89.580000, x=89.340000, y=-1.280000, z=-6.410000 tat = 590
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.84,X-1.74,Y5.80,Z-87.63

: Sonardyne - parsing R87.84,X-1.74,Y5.80,Z-87.63

: Sonardyne - read R = 87.840000 from 87.84,X-1.74,Y5.80,Z-87.63

: Sonardyne - got all data, Vehicle coordinates,
    r=87.840000, x=87.630000, y=-1.740000, z=-5.800000 tat = 590
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.92,X-1.40,Y7.43,Z-85.59

: Sonardyne - parsing R85.92,X-1.40,Y7.43,Z-85.59

: Sonardyne - read R = 85.920000 from 85.92,X-1.40,Y7.43,Z-85.59

: Sonardyne - got all data, Vehicle coordinates,
    r=85.920000, x=85.590000, y=-1.400000, z=-7.430000 tat = 580
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R84.00,X-0.90,Y5.69,Z-83.80

: Sonardyne - parsing R84.00,X-0.90,Y5.69,Z-83.80

: Sonardyne - read R = 84.000000 from 84.00,X-0.90,Y5.69,Z-83.80

: Sonardyne - got all data, Vehicle coordinates,
    r=84.000000, x=83.800000, y=-0.900000, z=-5.690000 tat = 579
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R82.15,X-0.38,Y5.65,Z-81.95

: Sonardyne - parsing R82.15,X-0.38,Y5.65,Z-81.95

: Sonardyne - read R = 82.150000 from 82.15,X-0.38,Y5.65,Z-81.95

: Sonardyne - got all data, Vehicle coordinates,
    r=82.150000, x=81.950000, y=-0.380000, z=-5.650000 tat = 580
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R80.52

: Sonardyne - parsing R80.52

: Sonardyne - read R = 80.520000 from 80.52

: Sonardyne - got range only (80.520000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.3,N27.3,D38,U3,Q0.000116

: Sonardyne - POSD response: 
POSD S+144.3,N27.3,D38,U3,Q0.000116

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R81.82

: Sonardyne - parsing R81.82

: Sonardyne - read R = 81.820000 from 81.82

: Sonardyne - got range only (81.820000), tat = 560
: Sonardyne - POSD response: 
POSD S135.8,N27.7,D-17,U1,Q0.001797

: Sonardyne - POSD response: 
POSD S135.8,N27.7,D-17,U1,Q0.001797

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

: AshtechGps::processRecord() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R77.22,X46.78,Y-61.44,Z0.00

: Sonardyne - parsing R77.22,X46.78,Y-61.44,Z0.00

: Sonardyne - read R = 77.220000 from 77.22,X46.78,Y-61.44,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=77.220000, x=0.000000, y=46.780000, z=61.440000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R75.62,X-0.56,Y8.81,Z-75.11

: Sonardyne - parsing R75.62,X-0.56,Y8.81,Z-75.11

: Sonardyne - read R = 75.620000 from 75.62,X-0.56,Y8.81,Z-75.11

: Sonardyne - got all data, Vehicle coordinates,
    r=75.620000, x=75.110000, y=-0.560000, z=-8.810000 tat = 570
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  9.06 16.99 3.97 4.00 0   156.55 03:08:22 m

: Sonardyne - POS response: 
POS V4,1 R74.13,X-1.07,Y5.56,Z-73.91

: Sonardyne - parsing R74.13,X-1.07,Y5.56,Z-73.91

: Sonardyne - read R = 74.130000 from 74.13,X-1.07,Y5.56,Z-73.91

: Sonardyne - got all data, Vehicle coordinates,
    r=74.130000, x=73.910000, y=-1.070000, z=-5.560000 tat = 570
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R72.67,X-0.81,Y7.98,Z-72.22

: Sonardyne - parsing R72.67,X-0.81,Y7.98,Z-72.22

: Sonardyne - read R = 72.670000 from 72.67,X-0.81,Y7.98,Z-72.22

: Sonardyne - got all data, Vehicle coordinates,
    r=72.670000, x=72.220000, y=-0.810000, z=-7.980000 tat = 570
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.02,X-0.89,Y5.57,Z-70.80

: Sonardyne - parsing R71.02,X-0.89,Y5.57,Z-70.80

: Sonardyne - read R = 71.020000 from 71.02,X-0.89,Y5.57,Z-70.80

: Sonardyne - got all data, Vehicle coordinates,
    r=71.020000, x=70.800000, y=-0.890000, z=-5.570000 tat = 560
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.54

: Sonardyne - parsing R69.54

: Sonardyne - read R = 69.540000 from 69.54

: Sonardyne - got range only (69.540000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.6,N35.9,D-3,U4,Q0.000053

: Sonardyne - POSD response: 
POSD S+144.6,N35.9,D-3,U4,Q0.000053

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.15,X-0.53,Y2.81,Z-68.09

: Sonardyne - parsing R68.15,X-0.53,Y2.81,Z-68.09

: Sonardyne - read R = 68.150000 from 68.15,X-0.53,Y2.81,Z-68.09

: Sonardyne - got all data, Vehicle coordinates,
    r=68.150000, x=68.090000, y=-0.530000, z=-2.810000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.1,N31.1,D-2,U7,Q0.000068

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.47

: Sonardyne - parsing R66.47

: Sonardyne - read R = 66.470000 from 66.47

: Sonardyne - got range only (66.470000), tat = 540
: Sonardyne - POSD response: 
POSD S+141.3,N30.0,D-8,U4,Q0.000059

: Sonardyne - POSD response: 
POSD S+141.3,N30.0,D-8,U4,Q0.000059

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.96,X-0.51,Y3.34,Z-64.87

: Sonardyne - parsing R64.96,X-0.51,Y3.34,Z-64.87

: Sonardyne - read R = 64.960000 from 64.96,X-0.51,Y3.34,Z-64.87

: Sonardyne - got all data, Vehicle coordinates,
    r=64.960000, x=64.870000, y=-0.510000, z=-3.340000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.6,N38.0,D10,U8,Q0.000463

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.38

: Sonardyne - parsing R63.38

: Sonardyne - read R = 63.380000 from 63.38

: Sonardyne - got range only (63.380000), tat = 530
: Sonardyne - POSD response: 
POSD S+144.4,N25.8,D147,U2,Q0.000054

: Sonardyne - POSD response: 
POSD S+144.4,N25.8,D147,U2,Q0.000054

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R61.77,X-0.12,Y4.60,Z-61.60

: Sonardyne - parsing R61.77,X-0.12,Y4.60,Z-61.60

: Sonardyne - read R = 61.770000 from 61.77,X-0.12,Y4.60,Z-61.60

: Sonardyne - got all data, Vehicle coordinates,
    r=61.770000, x=61.600000, y=-0.120000, z=-4.600000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.7,N28.2,D-51,U8,Q0.000120

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.85

: Sonardyne - parsing R63.85

: Sonardyne - read R = 63.850000 from 63.85

: Sonardyne - got range only (63.850000), tat = 540
: Sonardyne - POSD response: 
POSD S123.6,N25.7,D58,U5,Q0.011389

: Sonardyne - POSD response: 
POSD S123.6,N25.7,D58,U5,Q0.011389

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  8.42 16.99 3.96 4.00 0   155.65 03:08:32 m

: Sonardyne - POS response: 
POS V4,1 R64.50

: Sonardyne - parsing R64.50

: Sonardyne - read R = 64.500000 from 64.50

: Sonardyne - got range only (64.500000), tat = 530
: Sonardyne - POSD response: 
POSD S123.7,N26.5,D12,U1,Q0.008539

: Sonardyne - POSD response: 
POSD S123.7,N26.5,D12,U1,Q0.008539

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

: AshtechGps::processRecord() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R56.39,X-0.57,Y2.26,Z-56.34

: Sonardyne - parsing R56.39,X-0.57,Y2.26,Z-56.34

: Sonardyne - read R = 56.390000 from 56.39,X-0.57,Y2.26,Z-56.34

: Sonardyne - got all data, Vehicle coordinates,
    r=56.390000, x=56.340000, y=-0.570000, z=-2.260000 tat = 550
: 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,203726.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203726.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.51,X-0.20,Y2.61,Z-54.44

: Sonardyne - parsing R54.51,X-0.20,Y2.61,Z-54.44

: Sonardyne - read R = 54.510000 from 54.51,X-0.20,Y2.61,Z-54.44

: Sonardyne - got all data, Vehicle coordinates,
    r=54.510000, x=54.440000, y=-0.200000, z=-2.610000 tat = 540
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.85,X-0.10,Y1.87,Z-52.82

: Sonardyne - parsing R52.85,X-0.10,Y1.87,Z-52.82

: Sonardyne - read R = 52.850000 from 52.85,X-0.10,Y1.87,Z-52.82

: Sonardyne - got all data, Vehicle coordinates,
    r=52.850000, x=52.820000, y=-0.100000, z=-1.870000 tat = 540
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R51.34,X-0.16,Y1.53,Z-51.32

: Sonardyne - parsing R51.34,X-0.16,Y1.53,Z-51.32

: Sonardyne - read R = 51.340000 from 51.34,X-0.16,Y1.53,Z-51.32

: Sonardyne - got all data, Vehicle coordinates,
    r=51.340000, x=51.320000, y=-0.160000, z=-1.530000 tat = 540
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.05,X-0.34,Y1.51,Z-50.02

: Sonardyne - parsing R50.05,X-0.34,Y1.51,Z-50.02

: Sonardyne - read R = 50.050000 from 50.05,X-0.34,Y1.51,Z-50.02

: Sonardyne - got all data, Vehicle coordinates,
    r=50.050000, x=50.020000, y=-0.340000, z=-1.510000 tat = 540
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R48.77

: Sonardyne - parsing R48.77

: Sonardyne - read R = 48.770000 from 48.77

: Sonardyne - got range only (48.770000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N34.7,D41,U5,Q0.000051

: Sonardyne - POSD response: 
POSD S+144.8,N34.7,D41,U5,Q0.000051

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.49,X-0.19,Y3.52,Z-47.36

: Sonardyne - parsing R47.49,X-0.19,Y3.52,Z-47.36

: Sonardyne - read R = 47.490000 from 47.49,X-0.19,Y3.52,Z-47.36

: Sonardyne - got all data, Vehicle coordinates,
    r=47.490000, x=47.360000, y=-0.190000, z=-3.520000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.8,N26.6,D-68,U8,Q0.000063

:  wdt = 00897,  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,203732.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203732.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R46.06

: Sonardyne - parsing R46.06

: Sonardyne - read R = 46.060000 from 46.06

: Sonardyne - got range only (46.060000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.1,N23.5,D105,U4,Q0.000048

: Sonardyne - POSD response: 
POSD S+144.1,N23.5,D105,U4,Q0.000048

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R44.34,X-0.46,Y2.24,Z-44.28

: Sonardyne - parsing R44.34,X-0.46,Y2.24,Z-44.28

: Sonardyne - read R = 44.340000 from 44.34,X-0.46,Y2.24,Z-44.28

: Sonardyne - got all data, Vehicle coordinates,
    r=44.340000, x=44.280000, y=-0.460000, z=-2.240000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.2,N21.4,D-115,U8,Q0.000070

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.89 16.99 3.96 4.00 0   155.05 03:08:42 m

: Sonardyne - POS response: 
POS V4,1 R42.58,X-0.28,Y2.39,Z-42.51

: Sonardyne - parsing R42.58,X-0.28,Y2.39,Z-42.51

: Sonardyne - read R = 42.580000 from 42.58,X-0.28,Y2.39,Z-42.51

: Sonardyne - got all data, Vehicle coordinates,
    r=42.580000, x=42.510000, y=-0.280000, z=-2.390000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D-64,U8,Q0.000066

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

: AshtechGps::processRecord() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R40.81,X-0.19,Y2.61,Z-40.73

: Sonardyne - parsing R40.81,X-0.19,Y2.61,Z-40.73

: Sonardyne - read R = 40.810000 from 40.81,X-0.19,Y2.61,Z-40.73

: Sonardyne - got all data, Vehicle coordinates,
    r=40.810000, x=40.730000, y=-0.190000, z=-2.610000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N25.2,D-103,U6,Q0.000053

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

: AshtechGps::processRecord() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.15

: Sonardyne - parsing R39.15

: Sonardyne - read R = 39.150000 from 39.15

: Sonardyne - got range only (39.150000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.8,N28.8,D79,U5,Q0.000047

: Sonardyne - POSD response: 
POSD S+144.8,N28.8,D79,U5,Q0.000047

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R41.22,X-2.52,Y41.15,Z0.00

: Sonardyne - parsing R41.22,X-2.52,Y41.15,Z0.00

: Sonardyne - read R = 41.220000 from 41.22,X-2.52,Y41.15,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=41.220000, x=0.000000, y=-2.520000, z=-41.150000 tat = 529
: Sonardyne - POSD response: 
POSD S134.8,N31.9,D-16,U6,Q0.005803

: 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,203738.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203738.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R40.25

: Sonardyne - parsing R40.25

: Sonardyne - read R = 40.250000 from 40.25

: Sonardyne - got range only (40.250000), tat = 500
: Sonardyne - POSD response: 
POSD S126.7,N26.4,D53,U2,Q0.000271

: Sonardyne - POSD response: 
POSD S126.7,N26.4,D53,U2,Q0.000271

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.23,X-0.61,Y1.22,Z-34.21

: Sonardyne - parsing R34.23,X-0.61,Y1.22,Z-34.21

: Sonardyne - read R = 34.230000 from 34.23,X-0.61,Y1.22,Z-34.21

: Sonardyne - got all data, Vehicle coordinates,
    r=34.230000, x=34.210000, y=-0.610000, z=-1.220000 tat = 520
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.52,X-0.57,Y0.78,Z-32.50

: Sonardyne - parsing R32.52,X-0.57,Y0.78,Z-32.50

: Sonardyne - read R = 32.520000 from 32.52,X-0.57,Y0.78,Z-32.50

: Sonardyne - got all data, Vehicle coordinates,
    r=32.520000, x=32.500000, y=-0.570000, z=-0.780000 tat = 520
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.86,X-0.23,Y0.67,Z-30.86

: Sonardyne - parsing R30.86,X-0.23,Y0.67,Z-30.86

: Sonardyne - read R = 30.860000 from 30.86,X-0.23,Y0.67,Z-30.86

: Sonardyne - got all data, Vehicle coordinates,
    r=30.860000, x=30.860000, y=-0.230000, z=-0.670000 tat = 510
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.35,X-0.19,Y0.52,Z-29.35

: Sonardyne - parsing R29.35,X-0.19,Y0.52,Z-29.35

: Sonardyne - read R = 29.350000 from 29.35,X-0.19,Y0.52,Z-29.35

: Sonardyne - got all data, Vehicle coordinates,
    r=29.350000, x=29.350000, y=-0.190000, z=-0.520000 tat = 510
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.91,X-0.32,Y0.52,Z-27.90

: Sonardyne - parsing R27.91,X-0.32,Y0.52,Z-27.90

: Sonardyne - read R = 27.910000 from 27.91,X-0.32,Y0.52,Z-27.90

: Sonardyne - got all data, Vehicle coordinates,
    r=27.910000, x=27.900000, y=-0.320000, z=-0.520000 tat = 510
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  9.09 17.08 3.97 4.00 0   154.11 03:08:52 m

: Sonardyne - POS response: 
POS V4,1 R26.51,X-0.45,Y0.60,Z-26.50

: Sonardyne - parsing R26.51,X-0.45,Y0.60,Z-26.50

: Sonardyne - read R = 26.510000 from 26.51,X-0.45,Y0.60,Z-26.50

: Sonardyne - got all data, Vehicle coordinates,
    r=26.510000, x=26.500000, y=-0.450000, z=-0.600000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: Sonardyne - POS response: 
POS V4,1 R25.02,X-0.31,Y0.46,Z-25.01

: Sonardyne - parsing R25.02,X-0.31,Y0.46,Z-25.01

: Sonardyne - read R = 25.020000 from 25.02,X-0.31,Y0.46,Z-25.01

: Sonardyne - got all data, Vehicle coordinates,
    r=25.020000, x=25.010000, y=-0.310000, z=-0.460000 tat = 500
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.23,X-0.06,Y0.40,Z-23.23

: Sonardyne - parsing R23.23,X-0.06,Y0.40,Z-23.23

: Sonardyne - read R = 23.230000 from 23.23,X-0.06,Y0.40,Z-23.23

: Sonardyne - got all data, Vehicle coordinates,
    r=23.230000, x=23.230000, y=-0.060000, z=-0.400000 tat = 500
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.46,X0.14,Y0.31,Z-21.46

: Sonardyne - parsing R21.46,X0.14,Y0.31,Z-21.46

: Sonardyne - read R = 21.460000 from 21.46,X0.14,Y0.31,Z-21.46

: Sonardyne - got all data, Vehicle coordinates,
    r=21.460000, x=21.460000, y=0.140000, z=-0.310000 tat = 500
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.75,X0.19,Y0.21,Z-19.75

: Sonardyne - parsing R19.75,X0.19,Y0.21,Z-19.75

: Sonardyne - read R = 19.750000 from 19.75,X0.19,Y0.21,Z-19.75

: Sonardyne - got all data, Vehicle coordinates,
    r=19.750000, x=19.750000, y=0.190000, z=-0.210000 tat = 490
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.17,X0.05,Y0.18,Z-18.17

: Sonardyne - parsing R18.17,X0.05,Y0.18,Z-18.17

: Sonardyne - read R = 18.170000 from 18.17,X0.05,Y0.18,Z-18.17

: Sonardyne - got all data, Vehicle coordinates,
    r=18.170000, x=18.170000, y=0.050000, z=-0.180000 tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.67,X-0.00,Y-0.03,Z-16.67

: Sonardyne - parsing R16.67,X-0.00,Y-0.03,Z-16.67

: Sonardyne - read R = 16.670000 from 16.67,X-0.00,Y-0.03,Z-16.67

: Sonardyne - got all data, Vehicle coordinates,
    r=16.670000, x=16.670000, y=0.000000, z=0.030000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.09,X-0.01,Y-0.15,Z-15.09

: Sonardyne - parsing R15.09,X-0.01,Y-0.15,Z-15.09

: Sonardyne - read R = 15.090000 from 15.09,X-0.01,Y-0.15,Z-15.09

: Sonardyne - got all data, Vehicle coordinates,
    r=15.090000, x=15.090000, y=-0.010000, z=0.150000 tat = 490
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.47,X0.05,Y-0.32,Z-13.46

: Sonardyne - parsing R13.47,X0.05,Y-0.32,Z-13.46

: Sonardyne - read R = 13.470000 from 13.47,X0.05,Y-0.32,Z-13.46

: Sonardyne - got all data, Vehicle coordinates,
    r=13.470000, x=13.460000, y=0.050000, z=0.320000 tat = 490
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203753.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203753.00,,,,,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,203754.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203754.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.05 16.99 3.97 4.00 0   153.49 03:09:02 m

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

: AshtechGps::processRecord() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

: 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

: 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,203756.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203756.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R7.16,X0.03,Y-0.89,Z-7.10

: Sonardyne - parsing R7.16,X0.03,Y-0.89,Z-7.10

: Sonardyne - read R = 7.160000 from 7.16,X0.03,Y-0.89,Z-7.10

: Sonardyne - got all data, Vehicle coordinates,
    r=7.160000, x=7.100000, y=0.030000, z=0.890000 tat = 480
: 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,203757.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203757.00,,,,,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,203758.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203758.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,203759.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203759.00,,,,,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,N9.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.9,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.42,X0.07,Y-1.37,Z-0.37

: Sonardyne - parsing R1.42,X0.07,Y-1.37,Z-0.37

: Sonardyne - read R = 1.420000 from 1.42,X0.07,Y-1.37,Z-0.37

: Sonardyne - got all data, Vehicle coordinates,
    r=1.420000, x=0.370000, y=0.070000, z=1.370000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,203802.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203802.00,,,,,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,203803.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203803.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.39 17.08 3.96 4.00 0   152.63 03:09:12 m

: Sonardyne - POS response: 
POS V4,1 R6.52

: Sonardyne - parsing R6.52

: Sonardyne - read R = 6.520000 from 6.52

: Sonardyne - got range only (6.520000), tat = 450
: Sonardyne - POSD response: 
POSD S112.3,N16.9,D69,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.3,N16.9,D69,U0,Q0.000000

:  WaypointHoming has set the state to finished.

: WaypointHoming (4052085.5, 600451.3), 
  reached at t = 1478.60                                         (wplog)

: Vehicle Position is error is (0.1, 0.0)

: LayeredControl::execute() -- (t = 1478.598709) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1478.60                           (wplog)
  The current location (N,E) = 4052085.4      , 600451.3         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 65.2 Degrees.

: LayeredControl::execute() -- (t = 1478.608708) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R7.77

: Sonardyne - parsing R7.77

: Sonardyne - read R = 7.770000 from 7.77

: Sonardyne - got range only (7.770000), tat = 460
: Sonardyne - POSD response: 
POSD S112.2,N22.3,D85,U3,Q0.007540

: Sonardyne - POSD response: 
POSD S112.2,N22.3,D85,U3,Q0.007540

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

: AshtechGps::processRecord() - $GPGGA,203806.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203806.00,,,,,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,203807.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203807.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,203808.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203808.00,,,,,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,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,203809.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203809.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.87,X-13.91,Y5.26,Z0.00

: Sonardyne - parsing R14.87,X-13.91,Y5.26,Z0.00

: Sonardyne - read R = 14.870000 from 14.87,X-13.91,Y5.26,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=14.870000, x=0.000000, y=-13.910000, z=-5.260000 tat = 490
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.06

: Sonardyne - parsing R16.06

: Sonardyne - read R = 16.060000 from 16.06

: Sonardyne - got range only (16.060000), tat = 470
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.3,N29.4,D31,U1,Q0.007299

: Sonardyne - POSD response: 
POSD S132.3,N29.4,D31,U1,Q0.007299

: AshtechGps::processRecord() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.17

: Sonardyne - parsing R17.17

: Sonardyne - read R = 17.170000 from 17.17

: Sonardyne - got range only (17.170000), tat = 470
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S124.1,N27.3,D54,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N27.3,D54,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.22

: Sonardyne - parsing R18.22

: Sonardyne - read R = 18.220000 from 18.22

: Sonardyne - got range only (18.220000), tat = 470
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S130.9,N29.8,D7,U2,Q0.009944

: Sonardyne - POSD response: 
POSD S130.9,N29.8,D7,U2,Q0.009944

: AshtechGps::processRecord() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.07

: Sonardyne - parsing R19.07

: Sonardyne - read R = 19.070000 from 19.07

: Sonardyne - got range only (19.070000), tat = 470
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S131.2,N28.7,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.2,N28.7,D15,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.83  7.91 17.08 3.96 4.00 0   152.02 03:09:22 m

: AshtechGps::processRecord() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.97,X-18.65,Y1.71,Z-6.93

: Sonardyne - parsing R19.97,X-18.65,Y1.71,Z-6.93

: Sonardyne - read R = 19.970000 from 19.97,X-18.65,Y1.71,Z-6.93

: Sonardyne - got all data, Vehicle coordinates,
    r=19.970000, x=6.930000, y=-18.650000, z=-1.710000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.26

: Sonardyne - parsing R20.26

: Sonardyne - read R = 20.260000 from 20.26

: Sonardyne - got range only (20.260000), tat = 470
: Sonardyne - POSD response: 
POSD S134.9,N31.7,D-5,U1,Q0.013255

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

: Sonardyne - POSD response: 
POSD S134.9,N31.7,D-5,U1,Q0.013255

: AshtechGps::processRecord() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.31

: Sonardyne - parsing R20.31

: Sonardyne - read R = 20.310000 from 20.31

: Sonardyne - got range only (20.310000), tat = 470
: Sonardyne - POSD response: 
POSD S138.5,N37.8,D-1,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S138.5,N37.8,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.39

: Sonardyne - parsing R20.39

: Sonardyne - read R = 20.390000 from 20.39

: Sonardyne - got range only (20.390000), tat = 470
: Sonardyne - POSD response: 
POSD S128.9,N22.7,D87,U1,Q0.007934

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

: Sonardyne - POSD response: 
POSD S128.9,N22.7,D87,U1,Q0.007934

: AshtechGps::processRecord() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.92

: Sonardyne - parsing R19.92

: Sonardyne - read R = 19.920000 from 19.92

: Sonardyne - got range only (19.920000), tat = 470
: Sonardyne - POSD response: 
POSD S129.2,N28.3,D-25,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S129.2,N28.3,D-25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.96,X15.24,Y11.69,Z-5.44

: Sonardyne - parsing R19.96,X15.24,Y11.69,Z-5.44

: Sonardyne - read R = 19.960000 from 19.96,X15.24,Y11.69,Z-5.44

: Sonardyne - got all data, Vehicle coordinates,
    r=19.960000, x=5.440000, y=15.240000, z=-11.690000 tat = 500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.02,X15.50,Y12.02,Z-4.01

: Sonardyne - parsing R20.02,X15.50,Y12.02,Z-4.01

: Sonardyne - read R = 20.020000 from 20.02,X15.50,Y12.02,Z-4.01

: Sonardyne - got all data, Vehicle coordinates,
    r=20.020000, x=4.010000, y=15.500000, z=-12.020000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.23,X15.62,Y12.34,Z-3.61

: Sonardyne - parsing R20.23,X15.62,Y12.34,Z-3.61

: Sonardyne - read R = 20.230000 from 20.23,X15.62,Y12.34,Z-3.61

: Sonardyne - got all data, Vehicle coordinates,
    r=20.230000, x=3.610000, y=15.620000, z=-12.340000 tat = 500
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.31,X15.39,Y12.30,Z-4.93

: Sonardyne - parsing R20.31,X15.39,Y12.30,Z-4.93

: Sonardyne - read R = 20.310000 from 20.31,X15.39,Y12.30,Z-4.93

: Sonardyne - got all data, Vehicle coordinates,
    r=20.310000, x=4.930000, y=15.390000, z=-12.300000 tat = 500
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.00

: Sonardyne - parsing R22.00

: Sonardyne - read R = 22.000000 from 22.00

: Sonardyne - got range only (22.000000), tat = 480
: Sonardyne - POSD response: 
POSD S134.7,N28.9,D-6,U1,Q0.006194

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

: Sonardyne - POSD response: 
POSD S134.7,N28.9,D-6,U1,Q0.006194

: AshtechGps::processRecord() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76 10.41 16.99 3.96 4.00 0   151.04 03:09:32 m

: Sonardyne - POS response: 
POS V4,1 R20.59,X15.16,Y12.21,Z-6.73

: Sonardyne - parsing R20.59,X15.16,Y12.21,Z-6.73

: Sonardyne - read R = 20.590000 from 20.59,X15.16,Y12.21,Z-6.73

: Sonardyne - got all data, Vehicle coordinates,
    r=20.590000, x=6.730000, y=15.160000, z=-12.210000 tat = 500
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R20.61

: Sonardyne - parsing R20.61

: Sonardyne - read R = 20.610000 from 20.61

: Sonardyne - got range only (20.610000), tat = 470
: Sonardyne - POSD response: 
POSD S132.3,N32.8,D3,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 S132.3,N32.8,D3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203826.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203826.00,,,,,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,203827.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203827.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203828.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203828.00,,,,,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,203829.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203829.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.60

: Sonardyne - parsing R24.60

: Sonardyne - read R = 24.600000 from 24.60

: Sonardyne - got range only (24.600000), tat = 480
: Sonardyne - POSD response: 
POSD S129.2,N29.3,D-18,U4,Q0.000330

: Sonardyne - POSD response: 
POSD S129.2,N29.3,D-18,U4,Q0.000330

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

: AshtechGps::processRecord() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.58

: Sonardyne - parsing R25.58

: Sonardyne - read R = 25.580000 from 25.58

: Sonardyne - got range only (25.580000), tat = 480
: Sonardyne - POSD response: 
POSD S124.2,N25.3,D-87,U1,Q0.004032

: Sonardyne - POSD response: 
POSD S124.2,N25.3,D-87,U1,Q0.004032

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

: AshtechGps::processRecord() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R26.61

: Sonardyne - parsing R26.61

: Sonardyne - read R = 26.610000 from 26.61

: Sonardyne - got range only (26.610000), tat = 480
: Sonardyne - POSD response: 
POSD S121.7,N19.8,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N19.8,D1,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,203833.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203833.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.94

: Sonardyne - parsing R28.94

: Sonardyne - read R = 28.940000 from 28.94

: Sonardyne - got range only (28.940000), tat = 480
: Sonardyne - POSD response: 
POSD S121.4,N26.9,D-41,U1,Q0.019363

: Sonardyne - POSD response: 
POSD S121.4,N26.9,D-41,U1,Q0.019363

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

: AshtechGps::processRecord() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.62 17.08 3.96 4.00 0   150.36 03:09:42 m

: Sonardyne - POS response: 
POS V4,1 R30.42

: Sonardyne - parsing R30.42

: Sonardyne - read R = 30.420000 from 30.42

: Sonardyne - got range only (30.420000), tat = 490
: Sonardyne - POSD response: 
POSD S121.7,N32.3,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N32.3,D-16,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,203835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203835.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R31.77

: Sonardyne - parsing R31.77

: Sonardyne - read R = 31.770000 from 31.77

: Sonardyne - got range only (31.770000), tat = 490
: Sonardyne - POSD response: 
POSD S120.3,N26.7,D49,U1,Q0.008094

: Sonardyne - POSD response: 
POSD S120.3,N26.7,D49,U1,Q0.008094

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

: AshtechGps::processRecord() - $GPGGA,203836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203836.00,,,,,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,203837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203837.00,,,,,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,203838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203838.00,,,,,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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.93

: Sonardyne - parsing R39.93

: Sonardyne - read R = 39.930000 from 39.93

: Sonardyne - got range only (39.930000), tat = 500
: Sonardyne - POSD response: 
POSD S118.5,N26.5,D71,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S118.5,N26.5,D71,U1,Q0.019270

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

: AshtechGps::processRecord() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,203843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203843.00,,,,,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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.79  8.55 17.08 3.96 3.99 0   149.40 03:09:52 m

: AshtechGps::processRecord() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R46.56

: Sonardyne - parsing R46.56

: Sonardyne - read R = 46.560000 from 46.56

: Sonardyne - got range only (46.560000), tat = 510
: Sonardyne - POSD response: 
POSD S109.9,N23.3,D12,U1,Q0.002596

: Sonardyne - POSD response: 
POSD S109.9,N23.3,D12,U1,Q0.002596

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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,203845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203845.00,,,,,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,203846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203846.00,,,,,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,203847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203847.00,,,,,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,N8.4,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,N8.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203849.00,,,,,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,203850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203850.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203851.00,,,,,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,N7.0,D0,U0,Q0.000000

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

: LayeredControl::execute() -- (t = 1525.795476) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 1525.80                           (wplog)
  The current location (N,E) = 4052106.5      , 600496.5         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 346.7 Degrees.

: LayeredControl::execute() -- (t = 1525.795476) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,203852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203852.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203853.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.79  8.05 17.08 3.96 3.99 0   148.79 03:10:02 m

: AshtechGps::processRecord() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

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

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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,203855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203855.00,,,,,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,203856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203856.00,,,,,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,203857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203857.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,203858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203858.00,,,,,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,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,203859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203859.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.55

: Sonardyne - parsing R66.55

: Sonardyne - read R = 66.550000 from 66.55

: Sonardyne - got range only (66.550000), tat = 540
: Sonardyne - POSD response: 
POSD S126.0,N31.9,D18,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S126.0,N31.9,D18,U1,Q0.007495

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

: AshtechGps::processRecord() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.24

: Sonardyne - parsing R67.24

: Sonardyne - read R = 67.240000 from 67.24

: Sonardyne - got range only (67.240000), tat = 540
: Sonardyne - POSD response: 
POSD S128.4,N26.2,D-6,U3,Q0.000064

: Sonardyne - POSD response: 
POSD S128.4,N26.2,D-6,U3,Q0.000064

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

: AshtechGps::processRecord() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.42

: Sonardyne - parsing R67.42

: Sonardyne - read R = 67.420000 from 67.42

: Sonardyne - got range only (67.420000), tat = 540
: Sonardyne - POSD response: 
POSD S127.9,N26.0,D-82,U1,Q0.020306

: Sonardyne - POSD response: 
POSD S127.9,N26.0,D-82,U1,Q0.020306

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

: AshtechGps::processRecord() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.27

: Sonardyne - parsing R68.27

: Sonardyne - read R = 68.270000 from 68.27

: Sonardyne - got range only (68.270000), tat = 540
: Sonardyne - POSD response: 
POSD S133.8,N34.0,D-1,U1,Q0.008592

: Sonardyne - POSD response: 
POSD S133.8,N34.0,D-1,U1,Q0.008592

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

: AshtechGps::processRecord() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.80,X-59.24,Y21.84,Z-24.68

: Sonardyne - parsing R67.80,X-59.24,Y21.84,Z-24.68

: Sonardyne - read R = 67.800000 from 67.80,X-59.24,Y21.84,Z-24.68

: Sonardyne - got all data, Vehicle coordinates,
    r=67.800000, x=24.680000, y=-59.240000, z=-21.840000 tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.69 17.08 3.96 4.00 0   147.90 03:10:12 m

: Sonardyne - POS response: 
POS V4,1 R67.35

: Sonardyne - parsing R67.35

: Sonardyne - read R = 67.350000 from 67.35

: Sonardyne - got range only (67.350000), tat = 540
: Sonardyne - POSD response: 
POSD S123.2,N20.5,D148,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.2,N20.5,D148,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,203905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203905.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R67.12

: Sonardyne - parsing R67.12

: Sonardyne - read R = 67.120000 from 67.12

: Sonardyne - got range only (67.120000), tat = 540
: Sonardyne - POSD response: 
POSD S135.4,N27.6,D13,U4,Q0.005891

: Sonardyne - POSD response: 
POSD S135.4,N27.6,D13,U4,Q0.005891

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

: AshtechGps::processRecord() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.73

: Sonardyne - parsing R66.73

: Sonardyne - read R = 66.730000 from 66.73

: Sonardyne - got range only (66.730000), tat = 540
: Sonardyne - POSD response: 
POSD S128.7,N29.0,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N29.0,D11,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,203907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203907.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.26

: Sonardyne - parsing R66.26

: Sonardyne - read R = 66.260000 from 66.26

: Sonardyne - got range only (66.260000), tat = 540
: Sonardyne - POSD response: 
POSD S136.8,N23.6,D-79,U5,Q0.008521

: Sonardyne - POSD response: 
POSD S136.8,N23.6,D-79,U5,Q0.008521

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

: AshtechGps::processRecord() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.33

: Sonardyne - parsing R66.33

: Sonardyne - read R = 66.330000 from 66.33

: Sonardyne - got range only (66.330000), tat = 540
: Sonardyne - POSD response: 
POSD S139.6,N25.4,D-13,U1,Q0.010759

: Sonardyne - POSD response: 
POSD S139.6,N25.4,D-13,U1,Q0.010759

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

: AshtechGps::processRecord() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.36

: Sonardyne - parsing R65.36

: Sonardyne - read R = 65.360000 from 65.36

: Sonardyne - got range only (65.360000), tat = 530
: Sonardyne - POSD response: 
POSD S+142.5,N38.2,D5,U1,Q0.000665

: Sonardyne - POSD response: 
POSD S+142.5,N38.2,D5,U1,Q0.000665

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

: AshtechGps::processRecord() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.74

: Sonardyne - parsing R64.74

: Sonardyne - read R = 64.740000 from 64.74

: Sonardyne - got range only (64.740000), tat = 530
: Sonardyne - POSD response: 
POSD S136.0,N32.6,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.0,N32.6,D8,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,203911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203911.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.40

: Sonardyne - parsing R64.40

: Sonardyne - read R = 64.400000 from 64.40

: Sonardyne - got range only (64.400000), tat = 530
: Sonardyne - POSD response: 
POSD S130.7,N26.7,D-7,U2,Q0.017568

: Sonardyne - POSD response: 
POSD S130.7,N26.7,D-7,U2,Q0.017568

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

: AshtechGps::processRecord() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.82

: Sonardyne - parsing R63.82

: Sonardyne - read R = 63.820000 from 63.82

: Sonardyne - got range only (63.820000), tat = 530
: Sonardyne - POSD response: 
POSD S126.1,N20.0,D73,U1,Q0.011843

: Sonardyne - POSD response: 
POSD S126.1,N20.0,D73,U1,Q0.011843

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

: AshtechGps::processRecord() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.40

: Sonardyne - parsing R63.40

: Sonardyne - read R = 63.400000 from 63.40

: Sonardyne - got range only (63.400000), tat = 530
: Sonardyne - POSD response: 
POSD S127.7,N23.9,D17,U4,Q0.001338

: Sonardyne - POSD response: 
POSD S127.7,N23.9,D17,U4,Q0.001338

: BluefinBatt Reply: $aaq0 d- 31.79  9.19 17.08 3.96 4.00 0   147.23 03:10:22 m

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

: AshtechGps::processRecord() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.31

: Sonardyne - parsing R63.31

: Sonardyne - read R = 63.310000 from 63.31

: Sonardyne - got range only (63.310000), tat = 530
: Sonardyne - POSD response: 
POSD S131.4,N28.3,D35,U3,Q0.000073

: Sonardyne - POSD response: 
POSD S131.4,N28.3,D35,U3,Q0.000073

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 S129.5,N27.1,D125,U4,Q0.003419

: Sonardyne - POSD response: 
POSD S129.5,N27.1,D125,U4,Q0.003419

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

: AshtechGps::processRecord() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R62.91

: Sonardyne - parsing R62.91

: Sonardyne - read R = 62.910000 from 62.91

: Sonardyne - got range only (62.910000), tat = 530
: Sonardyne - POSD response: 
POSD S122.5,N24.2,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N24.2,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46


:  wdt = 00892,  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 R63.75

: Sonardyne - parsing R63.75

: Sonardyne - read R = 63.750000 from 63.75

: Sonardyne - got range only (63.750000), tat = 530
: Sonardyne - POSD response: 
POSD S128.0,N30.3,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.0,N30.3,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203918.00,,,,,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 R63.25

: Sonardyne - parsing R63.25

: Sonardyne - read R = 63.250000 from 63.25

: Sonardyne - got range only (63.250000), tat = 530
: Sonardyne - POSD response: 
POSD S115.3,N20.3,D-125,U2,Q0.004246

: Sonardyne - POSD response: 
POSD S115.3,N20.3,D-125,U2,Q0.004246

: AshtechGps::processRecord() - $GPGGA,203919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203919.00,,,,,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 R68.85

: Sonardyne - parsing R68.85

: Sonardyne - read R = 68.850000 from 68.85

: Sonardyne - got range only (68.850000), tat = 539
: Sonardyne - POSD response: 
POSD S121.9,N25.5,D86,U3,Q0.003321

: Sonardyne - POSD response: 
POSD S121.9,N25.5,D86,U3,Q0.003321

: AshtechGps::processRecord() - $GPGGA,203920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203920.00,,,,,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 R63.59

: Sonardyne - parsing R63.59

: Sonardyne - read R = 63.590000 from 63.59

: Sonardyne - got range only (63.590000), tat = 530
: Sonardyne - POSD response: 
POSD S127.4,N29.4,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.4,N29.4,D8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R64.00

: Sonardyne - parsing R64.00

: Sonardyne - read R = 64.000000 from 64.00

: Sonardyne - got range only (64.000000), tat = 530
: Sonardyne - POSD response: 
POSD S126.0,N27.8,D26,U2,Q0.002629

: Sonardyne - POSD response: 
POSD S126.0,N27.8,D26,U2,Q0.002629

: AshtechGps::processRecord() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R64.85

: Sonardyne - parsing R64.85

: Sonardyne - read R = 64.850000 from 64.85

: Sonardyne - got range only (64.850000), tat = 530
: Sonardyne - POSD response: 
POSD S122.6,N26.7,D-43,U2,Q0.006659

: Sonardyne - POSD response: 
POSD S122.6,N26.7,D-43,U2,Q0.006659

: AshtechGps::processRecord() - $GPGGA,203923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203923.00,,,,,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 R67.71

: Sonardyne - parsing R67.71

: Sonardyne - read R = 67.710000 from 67.71

: Sonardyne - got range only (67.710000), tat = 590
: Sonardyne - POSD response: 
POSD S121.1,N32.1,D113,U3,Q0.005952

: Sonardyne - POSD response: 
POSD S121.1,N32.1,D113,U3,Q0.005952

: AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.59 17.08 3.96 3.99 0   146.24 03:10:32 m

:  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 R66.59

: Sonardyne - parsing R66.59

: Sonardyne - read R = 66.590000 from 66.59

: Sonardyne - got range only (66.590000), tat = 540
: Sonardyne - POSD response: 
POSD S126.9,N29.1,D22,U4,Q0.007813

: Sonardyne - POSD response: 
POSD S126.9,N29.1,D22,U4,Q0.007813

: AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

:  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 R71.84

: Sonardyne - parsing R71.84

: Sonardyne - read R = 71.840000 from 71.84

: Sonardyne - got range only (71.840000), tat = 540
: Sonardyne - POSD response: 
POSD S113.7,N25.7,D10,U4,Q0.002766

: Sonardyne - POSD response: 
POSD S113.7,N25.7,D10,U4,Q0.002766

: AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203926.00,,,,,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 R67.89,X-36.53,Y57.22,Z0.00

: Sonardyne - parsing R67.89,X-36.53,Y57.22,Z0.00

: Sonardyne - read R = 67.890000 from 67.89,X-36.53,Y57.22,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=67.890000, x=0.000000, y=-36.530000, z=-57.220000 tat = 560
: AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203927.00,,,,,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 R68.84

: Sonardyne - parsing R68.84

: Sonardyne - read R = 68.840000 from 68.84

: Sonardyne - got range only (68.840000), tat = 540
: Sonardyne - POSD response: 
POSD S114.8,N19.0,D144,U1,Q0.001344

: Sonardyne - POSD response: 
POSD S114.8,N19.0,D144,U1,Q0.001344

: AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203928.00,,,,,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 R69.62

: Sonardyne - parsing R69.62

: Sonardyne - read R = 69.620000 from 69.62

: Sonardyne - got range only (69.620000), tat = 540
: Sonardyne - POSD response: 
POSD S121.8,N21.8,D103,U3,Q0.004699

: Sonardyne - POSD response: 
POSD S121.8,N21.8,D103,U3,Q0.004699

: AshtechGps::processRecord() - $GPGGA,203929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203929.00,,,,,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 R70.88

: Sonardyne - parsing R70.88

: Sonardyne - read R = 70.880000 from 70.88

: Sonardyne - got range only (70.880000), tat = 540
: Sonardyne - POSD response: 
POSD S119.7,N20.4,D-33,U1,Q0.007495

: Sonardyne - POSD response: 
POSD S119.7,N20.4,D-33,U1,Q0.007495

: AshtechGps::processRecord() - $GPGGA,203930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203930.00,,,,,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,203931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,203932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203932.00,,,,,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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203933.00,,,,,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 R76.79

: Sonardyne - parsing R76.79

: Sonardyne - read R = 76.790000 from 76.79

: Sonardyne - got range only (76.790000), tat = 549
: Sonardyne - POSD response: 
POSD S117.2,N23.3,D43,U1,Q0.001293

: Sonardyne - POSD response: 
POSD S117.2,N23.3,D43,U1,Q0.001293

: AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  9.23 17.08 3.96 3.99 0   145.64 03:10:42 m

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

: AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203936.00,,,,,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,203937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203937.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203938.00,,,,,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 R81.57,X-81.56,Y0.96,Z0.00

: Sonardyne - parsing R81.57,X-81.56,Y0.96,Z0.00

: Sonardyne - read R = 81.570000 from 81.57,X-81.56,Y0.96,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=81.570000, x=0.000000, y=-81.560000, z=-0.960000 tat = 580
: AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203939.00,,,,,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,203940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203940.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.45 17.08 3.96 3.99 0   144.70 03:10:52 m

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

: AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203946.00,,,,,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 R94.01

: Sonardyne - parsing R94.01

: Sonardyne - read R = 94.010000 from 94.01

: Sonardyne - got range only (94.010000), tat = 570
: Sonardyne - POSD response: 
POSD S115.9,N24.5,D15,U3,Q0.001747

: Sonardyne - POSD response: 
POSD S115.9,N24.5,D15,U3,Q0.001747

: AshtechGps::processRecord() - $GPGGA,203947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203947.00,,,,,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,203948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203948.00,,,,,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,203949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203949.00,,,,,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,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,203950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,203953.00,,,,,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 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

: BluefinBatt Reply: $aaq0 d- 31.76  8.35 17.08 3.96 3.99 0   144.10 03:11:02 m

: AshtechGps::processRecord() - $GPGGA,203954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203954.00,,,,,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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,203955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203955.00,,,,,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,203956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203956.00,,,,,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,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203957.00,,,,,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,203958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203958.00,,,,,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,203959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204000.00,,,,,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,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,204001.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204001.00,,,,,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,204002.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204002.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204003.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.28 17.08 3.96 3.99 0   143.15 03:11:12 m

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

: AshtechGps::processRecord() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,204008.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,204008.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204010.00,,,,,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,N6.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204011.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204011.00,,,,,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,204012.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204012.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204013.00,,,,,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,204014.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  8.79 17.08 3.96 3.99 0   142.52 03:11:22 m

: 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,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,204015.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204016.00,,,,,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,204017.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,204018.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,204018.00,,,,,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,204019.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,204019.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204020.00,,,,,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,204021.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204021.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204022.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204022.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.26

: Sonardyne - parsing R154.26

: Sonardyne - read R = 154.260000 from 154.26

: Sonardyne - got range only (154.260000), tat = 650
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S105.2,N17.7,D38,U1,Q0.002016

: Sonardyne - POSD response: 
POSD S105.2,N17.7,D38,U1,Q0.002016

: AshtechGps::processRecord() - $GPGGA,204023.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204023.00,,,,,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,204024.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.69 17.08 3.96 3.99 0   141.63 03:11:32 m

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

: AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204026.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204026.00,,,,,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,204027.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204027.00,,,,,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,204028.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204028.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,204029.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204029.00,,,,,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,N5.6,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204030.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204030.00,,,,,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,204031.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204031.00,,,,,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,204032.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204032.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,204033.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204033.00,,,,,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,204034.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  9.30 17.08 3.96 3.99 0   141.01 03:11:42 m

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

: AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204036.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204036.00,,,,,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,N8.6,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204037.00,,,,,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,204038.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204038.00,,,,,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,204039.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204039.00,,,,,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

: 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,204040.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204040.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204041.00,,,,,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,204042.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204042.00,,,,,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,204043.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.79  8.49 17.08 3.96 3.99 0   140.12 03:11:52 m

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

: AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,204047.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204047.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,204050.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204050.00,,,,,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,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204052.00,,,,,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,204053.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204053.00,,,,,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,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.76  9.16 17.08 3.96 3.99 0   139.48 03:12:02 m

: AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204054.00,,,,,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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204055.00,,,,,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,204056.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,204057.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204057.00,,,,,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,N7.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.5,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,204058.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,204058.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,204100.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204100.00,,,,,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,N7.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204101.00,,,,,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,204102.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204103.00,,,,,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,204104.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204104.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.72  9.26 17.08 3.96 3.99 0   138.53 03:12:12 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204105.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204105.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204106.00,,,,,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,204107.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204107.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204108.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,204108.00,,,,,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,204109.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204110.00,,,,,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,204111.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204111.00,,,,,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,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,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,204112.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204112.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204113.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.76  8.89 17.08 3.96 3.99 0   137.90 03:12:22 m

: AshtechGps::processRecord() - $GPGGA,204114.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204114.00,,,,,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 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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,204115.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204115.00,,,,,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,204116.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204116.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,204118.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,204118.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204119.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,204119.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,204120.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204120.00,,,,,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,204121.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204121.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204122.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204122.00,,,,,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,204123.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204123.00,,,,,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,204124.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204124.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.72  8.92 17.08 3.96 3.99 0   136.97 03:12:32 m

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

: AshtechGps::processRecord() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: 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,204126.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204126.00,,,,,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,204127.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204127.00,,,,,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,204128.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204128.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 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,204129.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204129.00,,,,,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,204130.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204130.00,,,,,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,204131.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204131.00,,,,,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,204132.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204132.00,,,,,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,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,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,204133.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204133.00,,,,,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,204134.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204134.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  9.40 17.08 3.96 3.99 0   136.40 03:12:42 m

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

: AshtechGps::processRecord() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

:  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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204136.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204136.00,,,,,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,204137.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204137.00,,,,,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,204138.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204138.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,204139.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204139.00,,,,,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,N9.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,204140.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204140.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,204142.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204142.00,,,,,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,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,204143.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204143.00,,,,,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,204144.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204144.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  9.16 17.08 3.96 3.99 0   135.50 03:12:52 m

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

: AshtechGps::processRecord() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204147.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204147.00,,,,,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,204148.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,204148.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,204149.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,204149.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N9.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204150.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204150.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,204151.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204151.00,,,,,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,204152.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204152.00,,,,,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,204153.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204153.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.76  9.16 17.08 3.96 3.99 0   134.86 03:13:02 m

: AshtechGps::processRecord() - $GPGGA,204154.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204154.00,,,,,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

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,204156.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204156.00,,,,,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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,204158.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,204158.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,204200.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204200.00,,,,,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,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204201.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204201.00,,,,,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,204202.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204202.00,,,,,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,204203.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204203.00,,,,,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,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.76  7.98 17.08 3.96 3.99 0   133.93 03:13:12 m

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

: AshtechGps::processRecord() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

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

: AshtechGps::processRecord() - $GPGGA,204206.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204206.00,,,,,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,204207.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204207.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 1721.79                                         (wplog)

: Vehicle Position is error is (-0.1, 0.7)

: LayeredControl::execute() -- (t = 1721.792049) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 1721.792049) Behavior ascend has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,204209.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204209.00,,,,,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,204210.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204210.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

: AshtechGps::processRecord() - $GPGGA,204211.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204211.00,,,,,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,204212.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204212.00,,,,,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,204213.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204213.00,,,,,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,204214.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204214.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.83  6.97 17.08 3.96 3.99 0   133.34 03:13:22 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: Sonardyne - POS response: 
POS V4,1 R324.45

: Sonardyne - parsing R324.45

: Sonardyne - read R = 324.450000 from 324.45

: Sonardyne - got range only (324.450000), tat = 890
: Sonardyne - POSD response: 
POSD S116.3,N27.0,D16,U1,Q0.005823

: Sonardyne - POSD response: 
POSD S116.3,N27.0,D16,U1,Q0.005823

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

: AshtechGps::processRecord() - $GPGGA,204216.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204216.00,,,,,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,204217.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204217.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R325.41

: Sonardyne - parsing R325.41

: Sonardyne - read R = 325.410000 from 325.41

: Sonardyne - got range only (325.410000), tat = 890
: Sonardyne - POSD response: 
POSD S110.5,N17.3,D30,U1,Q0.006268

: Sonardyne - POSD response: 
POSD S110.5,N17.3,D30,U1,Q0.006268

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

: AshtechGps::processRecord() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 1732.801295) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 1732.801295) Behavior getgps has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R323.13,X295.20,Y-17.44,Z-130.25

: Sonardyne - parsing R323.13,X295.20,Y-17.44,Z-130.25

: Sonardyne - read R = 323.130000 from 323.13,X295.20,Y-17.44,Z-130.25

: Sonardyne - got all data, Vehicle coordinates,
    r=323.130000, x=130.250000, y=295.200000, z=17.440000 tat = 910
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R322.69,X269.61,Y-53.28,Z-169.11

: Sonardyne - parsing R322.69,X269.61,Y-53.28,Z-169.11

: Sonardyne - read R = 322.690000 from 322.69,X269.61,Y-53.28,Z-169.11

: Sonardyne - got all data, Vehicle coordinates,
    r=322.690000, x=169.110000, y=269.610000, z=53.280000 tat = 910
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R322.04

: Sonardyne - parsing R322.04

: Sonardyne - read R = 322.040000 from 322.04

: Sonardyne - got range only (322.040000), tat = 880
: Sonardyne - POSD response: 
POSD S124.1,N27.4,D19,U2,Q0.007832

: Sonardyne - POSD response: 
POSD S124.1,N27.4,D19,U2,Q0.007832

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

: AshtechGps::processRecord() - $GPGGA,204221.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,204221.00,,,,,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,204222.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,204222.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R320.91

: Sonardyne - parsing R320.91

: Sonardyne - read R = 320.910000 from 320.91

: Sonardyne - got range only (320.910000), tat = 880
: Sonardyne - POSD response: 
POSD S129.4,N25.4,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.4,N25.4,D-46,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,204223.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,204223.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.81,X163.15,Y0.64,Z-275.07

: Sonardyne - parsing R319.81,X163.15,Y0.64,Z-275.07

: Sonardyne - read R = 319.810000 from 319.81,X163.15,Y0.64,Z-275.07

: Sonardyne - got all data, Vehicle coordinates,
    r=319.810000, x=275.070000, y=163.150000, z=-0.640000 tat = 900
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.94  3.30 17.08 3.96 3.99 0   132.58 03:13:32 m

: AshtechGps::processRecord() - $GPGGA,204224.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,204224.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.17,X153.81,Y8.06,Z-279.55

: Sonardyne - parsing R319.17,X153.81,Y8.06,Z-279.55

: Sonardyne - read R = 319.170000 from 319.17,X153.81,Y8.06,Z-279.55

: Sonardyne - got all data, Vehicle coordinates,
    r=319.170000, x=279.550000, y=153.810000, z=-8.060000 tat = 900
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.58,X138.02,Y-18.49,Z-286.53

: Sonardyne - parsing R318.58,X138.02,Y-18.49,Z-286.53

: Sonardyne - read R = 318.580000 from 318.58,X138.02,Y-18.49,Z-286.53

: Sonardyne - got all data, Vehicle coordinates,
    r=318.580000, x=286.530000, y=138.020000, z=18.490000 tat = 910
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.78

: Sonardyne - parsing R318.78

: Sonardyne - read R = 318.780000 from 318.78

: Sonardyne - got range only (318.780000), tat = 880
: Sonardyne - POSD response: 
POSD S130.7,N20.1,D116,U4,Q0.000981

: Sonardyne - POSD response: 
POSD S130.7,N20.1,D116,U4,Q0.000981

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

: AshtechGps::processRecord() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R317.40,X122.77,Y-11.48,Z-292.46

: Sonardyne - parsing R317.40,X122.77,Y-11.48,Z-292.46

: Sonardyne - read R = 317.400000 from 317.40,X122.77,Y-11.48,Z-292.46

: Sonardyne - got all data, Vehicle coordinates,
    r=317.400000, x=292.460000, y=122.770000, z=11.480000 tat = 900
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R317.43,X110.92,Y-10.47,Z-297.23

: Sonardyne - parsing R317.43,X110.92,Y-10.47,Z-297.23

: Sonardyne - read R = 317.430000 from 317.43,X110.92,Y-10.47,Z-297.23

: Sonardyne - got all data, Vehicle coordinates,
    r=317.430000, x=297.230000, y=110.920000, z=10.470000 tat = 899
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204230.00,3636.72412,N,12152.58293,W,1,10,0.9,-1.88,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204230.00,3636.72412,N,12152.58293,W,1,10,0.9,-1.88,M,-33.21,M,,*71


: successfully parse sentence at 20:42:30

: AshtechGPS::processRecord -sample time is 1142282550
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204231.00,3636.72365,N,12152.58259,W,1,10,0.9,-2.59,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,204231.00,3636.72365,N,12152.58259,W,1,10,0.9,-2.59,M,-33.21,M,,*7E


: successfully parse sentence at 20:42:31

: AshtechGPS::processRecord -sample time is 1142282551
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204232.00,3636.72320,N,12152.58241,W,1,10,0.9,-3.63,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204232.00,3636.72320,N,12152.58241,W,1,10,0.9,-3.63,M,-33.21,M,,*7D


: successfully parse sentence at 20:42:32

: AshtechGPS::processRecord -sample time is 1142282552
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,204233.00,3636.72287,N,12152.58218,W,1,10,0.9,-3.32,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204233.00,3636.72287,N,12152.58218,W,1,10,0.9,-3.32,M,-33.21,M,,*78


: successfully parse sentence at 20:42:33

: AshtechGPS::processRecord -sample time is 1142282553
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R314.20,X79.31,Y14.37,Z-303.68

: Sonardyne - parsing R314.20,X79.31,Y14.37,Z-303.68

: Sonardyne - read R = 314.200000 from 314.20,X79.31,Y14.37,Z-303.68

: Sonardyne - got all data, Vehicle coordinates,
    r=314.200000, x=303.680000, y=79.310000, z=-14.370000 tat = 900
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.91  4.00 17.08 3.96 3.99 0   132.31 03:13:42 m

: AshtechGps::processRecord() - $GPGGA,204234.00,3636.72259,N,12152.58209,W,1,10,0.9,-3.30,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,204234.00,3636.72259,N,12152.58209,W,1,10,0.9,-3.30,M,-33.21,M,,*7E


: successfully parse sentence at 20:42:34

: AshtechGPS::processRecord -sample time is 1142282554
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R313.62,X63.65,Y-1.25,Z-307.09

: Sonardyne - parsing R313.62,X63.65,Y-1.25,Z-307.09

: Sonardyne - read R = 313.620000 from 313.62,X63.65,Y-1.25,Z-307.09

: Sonardyne - got all data, Vehicle coordinates,
    r=313.620000, x=307.090000, y=63.650000, z=1.250000 tat = 900
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.960000, mean min cell voltage 3.960000

: AshtechGps::processRecord() - $GPGGA,204235.00,3636.72241,N,12152.58199,W,1,10,0.9,-3.38,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204235.00,3636.72241,N,12152.58199,W,1,10,0.9,-3.38,M,-33.21,M,,*74


: successfully parse sentence at 20:42:35

: AshtechGPS::processRecord -sample time is 1142282555
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R313.23,X66.03,Y4.69,Z-306.16

: Sonardyne - parsing R313.23,X66.03,Y4.69,Z-306.16

: Sonardyne - read R = 313.230000 from 313.23,X66.03,Y4.69,Z-306.16

: Sonardyne - got all data, Vehicle coordinates,
    r=313.230000, x=306.160000, y=66.030000, z=-4.690000 tat = 890
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204236.00,3636.72223,N,12152.58196,W,1,10,0.9,-3.33,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204236.00,3636.72223,N,12152.58196,W,1,10,0.9,-3.33,M,-33.21,M,,*77


: successfully parse sentence at 20:42:36

: AshtechGPS::processRecord -sample time is 1142282556
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R314.04,X48.28,Y-5.96,Z-310.25

: Sonardyne - parsing R314.04,X48.28,Y-5.96,Z-310.25

: Sonardyne - read R = 314.040000 from 314.04,X48.28,Y-5.96,Z-310.25

: Sonardyne - got all data, Vehicle coordinates,
    r=314.040000, x=310.250000, y=48.280000, z=5.960000 tat = 900
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204237.00,3636.72200,N,12152.58179,W,1,10,0.9,-3.16,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204237.00,3636.72200,N,12152.58179,W,1,10,0.9,-3.16,M,-33.21,M,,*71


: successfully parse sentence at 20:42:37

: AshtechGPS::processRecord -sample time is 1142282557
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204238.00,3636.72171,N,12152.58165,W,1,10,0.9,-2.99,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,204238.00,3636.72171,N,12152.58165,W,1,10,0.9,-2.99,M,-33.21,M,,*70


: successfully parse sentence at 20:42:38

: AshtechGPS::processRecord -sample time is 1142282558
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204239.00,3636.72141,N,12152.58142,W,1,10,0.9,-3.11,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204239.00,3636.72141,N,12152.58142,W,1,10,0.9,-3.11,M,-33.21,M,,*76


: successfully parse sentence at 20:42:39

: AshtechGPS::processRecord -sample time is 1142282559
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1753.399884) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 1753.599870) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 1753.599870) Behavior missionTimer has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,204240.00,3636.72118,N,12152.58127,W,1,10,0.9,-3.43,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,204240.00,3636.72118,N,12152.58127,W,1,10,0.9,-3.43,M,-33.21,M,,*70


: successfully parse sentence at 20:42:40

: AshtechGPS::processRecord -sample time is 1142282560
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204241.00,3636.72110,N,12152.58126,W,1,10,0.9,-3.43,M,-33.21,M,,*78

: Sonardyne - POS response: 
POS V4,1 R310.82,X26.49,Y16.41,Z-309.26

: GpsUtils::parseFix() - $GPGGA,204241.00,3636.72110,N,12152.58126,W,1,10,0.9,-3.43,M,-33.21,M,,*78


: Sonardyne - parsing R310.82,X26.49,Y16.41,Z-309.26

: successfully parse sentence at 20:42:41

: Sonardyne - read R = 310.820000 from 310.82,X26.49,Y16.41,Z-309.26

: AshtechGPS::processRecord -sample time is 1142282561
: Sonardyne - got all data, Vehicle coordinates,
    r=310.820000, x=309.260000, y=26.490000, z=-16.410000 tat = 890
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204242.00,3636.72092,N,12152.58115,W,1,10,0.9,-3.09,M,-33.21,M,,*7E

: Sonardyne - POS response: 
POS V4,1 R311.21,X16.71,Y8.67,Z-310.64

: GpsUtils::parseFix() - $GPGGA,204242.00,3636.72092,N,12152.58115,W,1,10,0.9,-3.09,M,-33.21,M,,*7E


: Sonardyne - parsing R311.21,X16.71,Y8.67,Z-310.64

: successfully parse sentence at 20:42:42

: Sonardyne - read R = 311.210000 from 311.21,X16.71,Y8.67,Z-310.64

: AshtechGPS::processRecord -sample time is 1142282562
: Sonardyne - got all data, Vehicle coordinates,
    r=311.210000, x=310.640000, y=16.710000, z=-8.670000 tat = 890
:  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 R311.08

: Sonardyne - parsing R311.08

: Sonardyne - read R = 311.080000 from 311.08

: Sonardyne - got range only (311.080000), tat = 870
: AshtechGps::processRecord() - $GPGGA,204243.00,3636.72069,N,12152.58108,W,1,10,0.9,-2.77,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204243.00,3636.72069,N,12152.58108,W,1,10,0.9,-2.77,M,-33.21,M,,*7F


: successfully parse sentence at 20:42:43

: AshtechGPS::processRecord -sample time is 1142282563
: Sonardyne - POSD response: 
POSD S129.4,N16.0,D106,U4,Q0.012149

: Sonardyne - POSD response: 
POSD S129.4,N16.0,D106,U4,Q0.012149

: BluefinBatt Reply: $aaq0 d- 31.94  3.46 17.08 3.98 4.01 0   131.97 03:13:52 m

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

: AshtechGps::processRecord() - $GPGGA,204244.00,3636.72044,N,12152.58090,W,1,10,0.9,-2.86,M,-33.21,M,,*79

: Sonardyne - POS response: 
POS V4,1 R309.67,X8.14,Y19.21,Z-308.96

: GpsUtils::parseFix() - $GPGGA,204244.00,3636.72044,N,12152.58090,W,1,10,0.9,-2.86,M,-33.21,M,,*79


: Sonardyne - parsing R309.67,X8.14,Y19.21,Z-308.96

: successfully parse sentence at 20:42:44

: Sonardyne - read R = 309.670000 from 309.67,X8.14,Y19.21,Z-308.96

: AshtechGPS::processRecord -sample time is 1142282564
: Sonardyne - got all data, Vehicle coordinates,
    r=309.670000, x=308.960000, y=8.140000, z=-19.210000 tat = 889
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

:  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 R309.36,X14.15,Y0.36,Z-309.03

: AshtechGps::processRecord() - $GPGGA,204245.00,3636.72023,N,12152.58081,W,1,10,0.9,-3.12,M,-33.21,M,,*75

: Sonardyne - parsing R309.36,X14.15,Y0.36,Z-309.03

: GpsUtils::parseFix() - $GPGGA,204245.00,3636.72023,N,12152.58081,W,1,10,0.9,-3.12,M,-33.21,M,,*75


: Sonardyne - read R = 309.360000 from 309.36,X14.15,Y0.36,Z-309.03

: successfully parse sentence at 20:42:45

: Sonardyne - got all data, Vehicle coordinates,
    r=309.360000, x=309.030000, y=14.150000, z=-0.360000 tat = 890
: AshtechGPS::processRecord -sample time is 1142282565
: Sonardyne - POS response: 
POS V4,1 R309.34

: Sonardyne - parsing R309.34

: Sonardyne - read R = 309.340000 from 309.34

: Sonardyne - got range only (309.340000), tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,204246.00,3636.72008,N,12152.58080,W,1,10,0.9,-3.26,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204246.00,3636.72008,N,12152.58080,W,1,10,0.9,-3.26,M,-33.21,M,,*79


: successfully parse sentence at 20:42:46

: AshtechGPS::processRecord -sample time is 1142282566
: Sonardyne - POSD response: 
POSD S134.0,N24.4,D110,U1,Q0.000464

: Sonardyne - POSD response: 
POSD S134.0,N24.4,D110,U1,Q0.000464

:  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 R310.03,X11.53,Y-13.89,Z-309.51

: Sonardyne - parsing R310.03,X11.53,Y-13.89,Z-309.51

: AshtechGps::processRecord() - $GPGGA,204247.00,3636.72000,N,12152.58081,W,1,10,0.9,-3.30,M,-33.21,M,,*76

: Sonardyne - read R = 310.030000 from 310.03,X11.53,Y-13.89,Z-309.51

: GpsUtils::parseFix() - $GPGGA,204247.00,3636.72000,N,12152.58081,W,1,10,0.9,-3.30,M,-33.21,M,,*76


: Sonardyne - got all data, Vehicle coordinates,
    r=310.030000, x=309.510000, y=11.530000, z=13.890000 tat = 900
: successfully parse sentence at 20:42:47

: AshtechGPS::processRecord -sample time is 1142282567
: Sonardyne - POS response: 
POS V4,1 R312.04

: Sonardyne - parsing R312.04

: Sonardyne - read R = 312.040000 from 312.04

: Sonardyne - got range only (312.040000), tat = 870
: AshtechGps::processRecord() - $GPGGA,204248.00,3636.71987,N,12152.58086,W,1,10,0.9,-2.98,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204248.00,3636.71987,N,12152.58086,W,1,10,0.9,-2.98,M,-33.21,M,,*78


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

: successfully parse sentence at 20:42:48

: AshtechGPS::processRecord -sample time is 1142282568
: Sonardyne - POSD response: 
POSD S124.5,N22.4,D52,U1,Q0.020187

: Sonardyne - POSD response: 
POSD S124.5,N22.4,D52,U1,Q0.020187

: Sonardyne - POS response: 
POS V4,1 R309.90,X-2.09,Y-1.41,Z-309.89

: Sonardyne - parsing R309.90,X-2.09,Y-1.41,Z-309.89

: AshtechGps::processRecord() - $GPGGA,204249.00,3636.71966,N,12152.58081,W,1,10,0.9,-2.89,M,-33.21,M,,*71

: Sonardyne - read R = 309.900000 from 309.90,X-2.09,Y-1.41,Z-309.89

: GpsUtils::parseFix() - $GPGGA,204249.00,3636.71966,N,12152.58081,W,1,10,0.9,-2.89,M,-33.21,M,,*71


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

: Sonardyne - got all data, Vehicle coordinates,
    r=309.900000, x=309.890000, y=-2.090000, z=1.410000 tat = 890
: successfully parse sentence at 20:42:49

: AshtechGPS::processRecord -sample time is 1142282569
: Sonardyne - POS response: 
POS V4,1 R309.84,X-0.87,Y30.31,Z-308.36

: AshtechGps::processRecord() - $GPGGA,204250.00,3636.71945,N,12152.58078,W,1,10,0.9,-2.82,M,-33.21,M,,*75

: Sonardyne - parsing R309.84,X-0.87,Y30.31,Z-308.36

: GpsUtils::parseFix() - $GPGGA,204250.00,3636.71945,N,12152.58078,W,1,10,0.9,-2.82,M,-33.21,M,,*75


: Sonardyne - read R = 309.840000 from 309.84,X-0.87,Y30.31,Z-308.36

: successfully parse sentence at 20:42:50

: Sonardyne - got all data, Vehicle coordinates,
    r=309.840000, x=308.360000, y=-0.870000, z=-30.310000 tat = 890
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGPS::processRecord -sample time is 1142282570
: Sonardyne - POS response: 
POS V4,1 R307.15,X5.10,Y6.81,Z-307.03

: Sonardyne - parsing R307.15,X5.10,Y6.81,Z-307.03

: Sonardyne - read R = 307.150000 from 307.15,X5.10,Y6.81,Z-307.03

: Sonardyne - got all data, Vehicle coordinates,
    r=307.150000, x=307.030000, y=5.100000, z=-6.810000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204251.00,3636.71925,N,12152.58069,W,1,10,0.9,-2.87,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204251.00,3636.71925,N,12152.58069,W,1,10,0.9,-2.87,M,-33.21,M,,*77


: successfully parse sentence at 20:42:51

: AshtechGPS::processRecord -sample time is 1142282571
:  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 R306.77,X6.03,Y10.20,Z-306.54

: Sonardyne - parsing R306.77,X6.03,Y10.20,Z-306.54

: Sonardyne - read R = 306.770000 from 306.77,X6.03,Y10.20,Z-306.54

: AshtechGps::processRecord() - $GPGGA,204252.00,3636.71908,N,12152.58059,W,1,10,0.9,-2.73,M,-33.21,M,,*73

: Sonardyne - got all data, Vehicle coordinates,
    r=306.770000, x=306.540000, y=6.030000, z=-10.200000 tat = 880
: GpsUtils::parseFix() - $GPGGA,204252.00,3636.71908,N,12152.58059,W,1,10,0.9,-2.73,M,-33.21,M,,*73


: successfully parse sentence at 20:42:52

: AshtechGPS::processRecord -sample time is 1142282572
:  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 R307.27,X0.94,Y-5.64,Z-307.21

: Sonardyne - parsing R307.27,X0.94,Y-5.64,Z-307.21

: Sonardyne - read R = 307.270000 from 307.27,X0.94,Y-5.64,Z-307.21

: AshtechGps::processRecord() - $GPGGA,204253.00,3636.71890,N,12152.58054,W,1,11,0.9,-2.71,M,-33.21,M,,*7C

: Sonardyne - got all data, Vehicle coordinates,
    r=307.270000, x=307.210000, y=0.940000, z=5.640000 tat = 880
: GpsUtils::parseFix() - $GPGGA,204253.00,3636.71890,N,12152.58054,W,1,11,0.9,-2.71,M,-33.21,M,,*7C


: successfully parse sentence at 20:42:53

: AshtechGPS::processRecord -sample time is 1142282573
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.98  3.06 17.08 3.98 4.01 0   131.71 03:14:02 m

: Sonardyne - POS response: 
POS V4,1 R309.08

: Sonardyne - parsing R309.08

: Sonardyne - read R = 309.080000 from 309.08

: Sonardyne - got range only (309.080000), tat = 860
: AshtechGps::processRecord() - $GPGGA,204254.00,3636.71869,N,12152.58053,W,1,11,0.9,-2.63,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204254.00,3636.71869,N,12152.58053,W,1,11,0.9,-2.63,M,-33.21,M,,*79


: successfully parse sentence at 20:42:54

: AshtechGPS::processRecord -sample time is 1142282574
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.6,N21.5,D-71,U4,Q0.008945

: Sonardyne - POSD response: 
POSD S123.6,N21.5,D-71,U4,Q0.008945

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

: AshtechGps::processRecord() - $GPGGA,204255.00,3636.71848,N,12152.58048,W,1,11,0.9,-2.74,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204255.00,3636.71848,N,12152.58048,W,1,11,0.9,-2.74,M,-33.21,M,,*77


: successfully parse sentence at 20:42:55

: AshtechGPS::processRecord -sample time is 1142282575
:  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 R305.86,X2.98,Y1.31,Z-305.85

: Sonardyne - parsing R305.86,X2.98,Y1.31,Z-305.85

: Sonardyne - read R = 305.860000 from 305.86,X2.98,Y1.31,Z-305.85

: Sonardyne - got all data, Vehicle coordinates,
    r=305.860000, x=305.850000, y=2.980000, z=-1.310000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204256.00,3636.71830,N,12152.58043,W,1,11,0.9,-2.84,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204256.00,3636.71830,N,12152.58043,W,1,11,0.9,-2.84,M,-33.21,M,,*7F


: successfully parse sentence at 20:42:56

: AshtechGPS::processRecord -sample time is 1142282576
:  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 R305.95,X0.90,Y-0.42,Z-305.95

: Sonardyne - parsing R305.95,X0.90,Y-0.42,Z-305.95

: Sonardyne - read R = 305.950000 from 305.95,X0.90,Y-0.42,Z-305.95

: Sonardyne - got all data, Vehicle coordinates,
    r=305.950000, x=305.950000, y=0.900000, z=0.420000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204257.00,3636.71818,N,12152.58041,W,1,11,0.9,-3.01,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204257.00,3636.71818,N,12152.58041,W,1,11,0.9,-3.01,M,-33.21,M,,*7A


: successfully parse sentence at 20:42:57

: AshtechGPS::processRecord -sample time is 1142282577
:  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 R305.26,X7.34,Y14.83,Z-304.81

: Sonardyne - parsing R305.26,X7.34,Y14.83,Z-304.81

: Sonardyne - read R = 305.260000 from 305.26,X7.34,Y14.83,Z-304.81

: Sonardyne - got all data, Vehicle coordinates,
    r=305.260000, x=304.810000, y=7.340000, z=-14.830000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204258.00,3636.71809,N,12152.58043,W,1,11,0.9,-2.99,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204258.00,3636.71809,N,12152.58043,W,1,11,0.9,-2.99,M,-33.21,M,,*77


: successfully parse sentence at 20:42:58

: AshtechGPS::processRecord -sample time is 1142282578
:  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 R313.91

: Sonardyne - parsing R313.91

: Sonardyne - read R = 313.910000 from 313.91

: Sonardyne - got range only (313.910000), tat = 869
: Sonardyne - POSD response: 
POSD S116.9,N23.3,D-64,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S116.9,N23.3,D-64,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,204259.00,3636.71794,N,12152.58034,W,1,11,0.9,-2.88,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204259.00,3636.71794,N,12152.58034,W,1,11,0.9,-2.88,M,-33.21,M,,*7D


: successfully parse sentence at 20:42:59

: AshtechGPS::processRecord -sample time is 1142282579
:  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 R304.56,X-0.73,Y10.13,Z-304.40

: Sonardyne - parsing R304.56,X-0.73,Y10.13,Z-304.40

: Sonardyne - read R = 304.560000 from 304.56,X-0.73,Y10.13,Z-304.40

: Sonardyne - got all data, Vehicle coordinates,
    r=304.560000, x=304.400000, y=-0.730000, z=-10.130000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204300.00,3636.71776,N,12152.58026,W,1,11,0.9,-3.00,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,204300.00,3636.71776,N,12152.58026,W,1,11,0.9,-3.00,M,-33.21,M,,*7E


: successfully parse sentence at 20:43:0

: AshtechGPS::processRecord -sample time is 1142282580
:  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 R304.24,X5.12,Y0.85,Z-304.19

: Sonardyne - parsing R304.24,X5.12,Y0.85,Z-304.19

: Sonardyne - read R = 304.240000 from 304.24,X5.12,Y0.85,Z-304.19

: Sonardyne - got all data, Vehicle coordinates,
    r=304.240000, x=304.190000, y=5.120000, z=-0.850000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204301.00,3636.71767,N,12152.58031,W,1,11,0.9,-3.24,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204301.00,3636.71767,N,12152.58031,W,1,11,0.9,-3.24,M,-33.21,M,,*7F


: successfully parse sentence at 20:43:1

: AshtechGPS::processRecord -sample time is 1142282581
:  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 R304.16,X4.16,Y12.93,Z-303.85

: Sonardyne - parsing R304.16,X4.16,Y12.93,Z-303.85

: Sonardyne - read R = 304.160000 from 304.16,X4.16,Y12.93,Z-303.85

: Sonardyne - got all data, Vehicle coordinates,
    r=304.160000, x=303.850000, y=4.160000, z=-12.930000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204302.00,3636.71767,N,12152.58040,W,1,11,0.9,-3.18,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,204302.00,3636.71767,N,12152.58040,W,1,11,0.9,-3.18,M,-33.21,M,,*75


: successfully parse sentence at 20:43:2

: AshtechGPS::processRecord -sample time is 1142282582
:  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 R305.49,X7.17,Y-11.06,Z-305.20

: Sonardyne - parsing R305.49,X7.17,Y-11.06,Z-305.20

: Sonardyne - read R = 305.490000 from 305.49,X7.17,Y-11.06,Z-305.20

: Sonardyne - got all data, Vehicle coordinates,
    r=305.490000, x=305.200000, y=7.170000, z=11.060000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204303.00,3636.71758,N,12152.58040,W,1,11,0.9,-2.91,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204303.00,3636.71758,N,12152.58040,W,1,11,0.9,-2.91,M,-33.21,M,,*78


: successfully parse sentence at 20:43:3

: AshtechGPS::processRecord -sample time is 1142282583
:  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 R304.95,X-5.30,Y-3.27,Z-304.89

: Sonardyne - parsing R304.95,X-5.30,Y-3.27,Z-304.89

: Sonardyne - read R = 304.950000 from 304.95,X-5.30,Y-3.27,Z-304.89

: Sonardyne - got all data, Vehicle coordinates,
    r=304.950000, x=304.890000, y=-5.300000, z=3.270000 tat = 880
: BluefinBatt Reply: $aaq0 d- 31.98  3.23 17.08 3.98 4.01 0   131.35 03:14:12 m

: AshtechGps::processRecord() - $GPGGA,204304.00,3636.71739,N,12152.58027,W,1,11,0.9,-2.65,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,204304.00,3636.71739,N,12152.58027,W,1,11,0.9,-2.65,M,-33.21,M,,*72


: successfully parse sentence at 20:43:4

: AshtechGPS::processRecord -sample time is 1142282584
:  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 R303.90,X2.28,Y5.69,Z-303.84

: Sonardyne - parsing R303.90,X2.28,Y5.69,Z-303.84

: Sonardyne - read R = 303.900000 from 303.90,X2.28,Y5.69,Z-303.84

: Sonardyne - got all data, Vehicle coordinates,
    r=303.900000, x=303.840000, y=2.280000, z=-5.690000 tat = 880
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,204305.00,3636.71717,N,12152.58015,W,1,11,0.9,-2.75,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204305.00,3636.71717,N,12152.58015,W,1,11,0.9,-2.75,M,-33.21,M,,*7F


: successfully parse sentence at 20:43:5

: AshtechGPS::processRecord -sample time is 1142282585
:  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 R303.50,X2.44,Y1.92,Z-303.48

: Sonardyne - parsing R303.50,X2.44,Y1.92,Z-303.48

: Sonardyne - read R = 303.500000 from 303.50,X2.44,Y1.92,Z-303.48

: Sonardyne - got all data, Vehicle coordinates,
    r=303.500000, x=303.480000, y=2.440000, z=-1.920000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204306.00,3636.71701,N,12152.58008,W,1,11,0.9,-2.93,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204306.00,3636.71701,N,12152.58008,W,1,11,0.9,-2.93,M,-33.21,M,,*7F


: successfully parse sentence at 20:43:6

: AshtechGPS::processRecord -sample time is 1142282586
:  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 R303.12,X0.95,Y3.80,Z-303.09

: Sonardyne - parsing R303.12,X0.95,Y3.80,Z-303.09

: Sonardyne - read R = 303.120000 from 303.12,X0.95,Y3.80,Z-303.09

: Sonardyne - got all data, Vehicle coordinates,
    r=303.120000, x=303.090000, y=0.950000, z=-3.800000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204307.00,3636.71692,N,12152.58005,W,1,11,0.9,-3.08,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204307.00,3636.71692,N,12152.58005,W,1,11,0.9,-3.08,M,-33.21,M,,*7B


: successfully parse sentence at 20:43:7

: AshtechGPS::processRecord -sample time is 1142282587
:  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 R302.92,X2.68,Y4.30,Z-302.88

: Sonardyne - parsing R302.92,X2.68,Y4.30,Z-302.88

: Sonardyne - read R = 302.920000 from 302.92,X2.68,Y4.30,Z-302.88

: Sonardyne - got all data, Vehicle coordinates,
    r=302.920000, x=302.880000, y=2.680000, z=-4.300000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204308.00,3636.71685,N,12152.58004,W,1,11,0.9,-3.02,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204308.00,3636.71685,N,12152.58004,W,1,11,0.9,-3.02,M,-33.21,M,,*79


: successfully parse sentence at 20:43:8

: AshtechGPS::processRecord -sample time is 1142282588
:  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 R302.73,X-4.54,Y3.81,Z-302.67

: Sonardyne - parsing R302.73,X-4.54,Y3.81,Z-302.67

: Sonardyne - read R = 302.730000 from 302.73,X-4.54,Y3.81,Z-302.67

: Sonardyne - got all data, Vehicle coordinates,
    r=302.730000, x=302.670000, y=-4.540000, z=-3.810000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204309.00,3636.71673,N,12152.57999,W,1,11,0.9,-2.89,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204309.00,3636.71673,N,12152.57999,W,1,11,0.9,-2.89,M,-33.21,M,,*71


: successfully parse sentence at 20:43:9

: AshtechGPS::processRecord -sample time is 1142282589
:  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 R302.47,X-9.18,Y3.52,Z-302.31

: Sonardyne - parsing R302.47,X-9.18,Y3.52,Z-302.31

: Sonardyne - read R = 302.470000 from 302.47,X-9.18,Y3.52,Z-302.31

: Sonardyne - got all data, Vehicle coordinates,
    r=302.470000, x=302.310000, y=-9.180000, z=-3.520000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204310.00,3636.71656,N,12152.57996,W,1,11,0.9,-2.92,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204310.00,3636.71656,N,12152.57996,W,1,11,0.9,-2.92,M,-33.21,M,,*7B


: successfully parse sentence at 20:43:10

: AshtechGPS::processRecord -sample time is 1142282590
:  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 R302.17,X-5.29,Y-0.33,Z-302.13

: Sonardyne - parsing R302.17,X-5.29,Y-0.33,Z-302.13

: Sonardyne - read R = 302.170000 from 302.17,X-5.29,Y-0.33,Z-302.13

: Sonardyne - got all data, Vehicle coordinates,
    r=302.170000, x=302.130000, y=-5.290000, z=0.330000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204311.00,3636.71645,N,12152.57995,W,1,11,0.9,-2.93,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204311.00,3636.71645,N,12152.57995,W,1,11,0.9,-2.93,M,-33.21,M,,*7A


: successfully parse sentence at 20:43:11

: AshtechGPS::processRecord -sample time is 1142282591
:  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 R302.09,X-10.68,Y12.83,Z-301.63

: Sonardyne - parsing R302.09,X-10.68,Y12.83,Z-301.63

: Sonardyne - read R = 302.090000 from 302.09,X-10.68,Y12.83,Z-301.63

: Sonardyne - got all data, Vehicle coordinates,
    r=302.090000, x=301.630000, y=-10.680000, z=-12.830000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204312.00,3636.71632,N,12152.57995,W,1,11,0.9,-2.93,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204312.00,3636.71632,N,12152.57995,W,1,11,0.9,-2.93,M,-33.21,M,,*79


: successfully parse sentence at 20:43:12

: AshtechGPS::processRecord -sample time is 1142282592
:  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 R301.88,X-15.23,Y-0.26,Z-301.49

: Sonardyne - parsing R301.88,X-15.23,Y-0.26,Z-301.49

: Sonardyne - read R = 301.880000 from 301.88,X-15.23,Y-0.26,Z-301.49

: Sonardyne - got all data, Vehicle coordinates,
    r=301.880000, x=301.490000, y=-15.230000, z=0.260000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204313.00,3636.71619,N,12152.57997,W,1,11,0.9,-2.87,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204313.00,3636.71619,N,12152.57997,W,1,11,0.9,-2.87,M,-33.21,M,,*76


: successfully parse sentence at 20:43:13

: AshtechGPS::processRecord -sample time is 1142282593
:  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 R301.81,X-16.45,Y13.15,Z-301.07

: Sonardyne - parsing R301.81,X-16.45,Y13.15,Z-301.07

: Sonardyne - read R = 301.810000 from 301.81,X-16.45,Y13.15,Z-301.07

: Sonardyne - got all data, Vehicle coordinates,
    r=301.810000, x=301.070000, y=-16.450000, z=-13.150000 tat = 880
: BluefinBatt Reply: $aaq0 d- 31.98  3.19 16.99 3.98 4.01 0   131.11 03:14:22 m

: AshtechGps::processRecord() - $GPGGA,204314.00,3636.71606,N,12152.57988,W,1,11,0.9,-2.81,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204314.00,3636.71606,N,12152.57988,W,1,11,0.9,-2.81,M,-33.21,M,,*77


: successfully parse sentence at 20:43:14

: AshtechGPS::processRecord -sample time is 1142282594
:  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 R301.62,X-19.29,Y0.42,Z-301.01

: Sonardyne - parsing R301.62,X-19.29,Y0.42,Z-301.01

: Sonardyne - read R = 301.620000 from 301.62,X-19.29,Y0.42,Z-301.01

: Sonardyne - got all data, Vehicle coordinates,
    r=301.620000, x=301.010000, y=-19.290000, z=-0.420000 tat = 880
: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

: AshtechGps::processRecord() - $GPGGA,204315.00,3636.71595,N,12152.57993,W,1,11,0.9,-2.91,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204315.00,3636.71595,N,12152.57993,W,1,11,0.9,-2.91,M,-33.21,M,,*74


: successfully parse sentence at 20:43:15

: AshtechGPS::processRecord -sample time is 1142282595
:  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 R301.38,X-21.48,Y3.63,Z-300.59

: Sonardyne - parsing R301.38,X-21.48,Y3.63,Z-300.59

: Sonardyne - read R = 301.380000 from 301.38,X-21.48,Y3.63,Z-300.59

: Sonardyne - got all data, Vehicle coordinates,
    r=301.380000, x=300.590000, y=-21.480000, z=-3.630000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204316.00,3636.71589,N,12152.57986,W,1,11,0.9,-3.01,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204316.00,3636.71589,N,12152.57986,W,1,11,0.9,-3.01,M,-33.21,M,,*76


: successfully parse sentence at 20:43:16

: AshtechGPS::processRecord -sample time is 1142282596
:  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 R301.24,X-20.77,Y10.01,Z-300.36

: Sonardyne - parsing R301.24,X-20.77,Y10.01,Z-300.36

: Sonardyne - read R = 301.240000 from 301.24,X-20.77,Y10.01,Z-300.36

: Sonardyne - got all data, Vehicle coordinates,
    r=301.240000, x=300.360000, y=-20.770000, z=-10.010000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204317.00,3636.71583,N,12152.57988,W,1,11,0.9,-2.99,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,204317.00,3636.71583,N,12152.57988,W,1,11,0.9,-2.99,M,-33.21,M,,*73


: successfully parse sentence at 20:43:17

: AshtechGPS::processRecord -sample time is 1142282597
:  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 R301.17,X-20.70,Y8.43,Z-300.34

: Sonardyne - parsing R301.17,X-20.70,Y8.43,Z-300.34

: Sonardyne - read R = 301.170000 from 301.17,X-20.70,Y8.43,Z-300.34

: Sonardyne - got all data, Vehicle coordinates,
    r=301.170000, x=300.340000, y=-20.700000, z=-8.430000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204318.00,3636.71576,N,12152.57993,W,1,11,0.9,-2.85,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204318.00,3636.71576,N,12152.57993,W,1,11,0.9,-2.85,M,-33.21,M,,*71


: successfully parse sentence at 20:43:18

: AshtechGPS::processRecord -sample time is 1142282598
:  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 R301.02,X-22.08,Y3.14,Z-300.19

: Sonardyne - parsing R301.02,X-22.08,Y3.14,Z-300.19

: Sonardyne - read R = 301.020000 from 301.02,X-22.08,Y3.14,Z-300.19

: Sonardyne - got all data, Vehicle coordinates,
    r=301.020000, x=300.190000, y=-22.080000, z=-3.140000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204319.00,3636.71566,N,12152.57991,W,1,11,0.9,-2.94,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,204319.00,3636.71566,N,12152.57991,W,1,11,0.9,-2.94,M,-33.21,M,,*73


: successfully parse sentence at 20:43:19

: AshtechGPS::processRecord -sample time is 1142282599
:  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 R300.84,X-28.16,Y9.73,Z-299.36

: Sonardyne - parsing R300.84,X-28.16,Y9.73,Z-299.36

: Sonardyne - read R = 300.840000 from 300.84,X-28.16,Y9.73,Z-299.36

: Sonardyne - got all data, Vehicle coordinates,
    r=300.840000, x=299.360000, y=-28.160000, z=-9.730000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204320.00,3636.71557,N,12152.57993,W,1,11,0.9,-2.91,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,204320.00,3636.71557,N,12152.57993,W,1,11,0.9,-2.91,M,-33.21,M,,*7C


: successfully parse sentence at 20:43:20

: AshtechGPS::processRecord -sample time is 1142282600
:  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 R300.63,X-25.25,Y6.65,Z-299.49

: Sonardyne - parsing R300.63,X-25.25,Y6.65,Z-299.49

: Sonardyne - read R = 300.630000 from 300.63,X-25.25,Y6.65,Z-299.49

: Sonardyne - got all data, Vehicle coordinates,
    r=300.630000, x=299.490000, y=-25.250000, z=-6.650000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204321.00,3636.71547,N,12152.57989,W,1,11,0.9,-2.88,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,204321.00,3636.71547,N,12152.57989,W,1,11,0.9,-2.88,M,-33.21,M,,*7F


: successfully parse sentence at 20:43:21

: AshtechGPS::processRecord -sample time is 1142282601
:  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 R300.40,X-29.16,Y13.27,Z-298.68

: Sonardyne - parsing R300.40,X-29.16,Y13.27,Z-298.68

: Sonardyne - read R = 300.400000 from 300.40,X-29.16,Y13.27,Z-298.68

: Sonardyne - got all data, Vehicle coordinates,
    r=300.400000, x=298.680000, y=-29.160000, z=-13.270000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204322.00,3636.71537,N,12152.57991,W,1,11,0.9,-2.78,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204322.00,3636.71537,N,12152.57991,W,1,11,0.9,-2.78,M,-33.21,M,,*7D


: successfully parse sentence at 20:43:22

: AshtechGPS::processRecord -sample time is 1142282602
:  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 R300.22,X-28.54,Y9.39,Z-298.71

: Sonardyne - parsing R300.22,X-28.54,Y9.39,Z-298.71

: Sonardyne - read R = 300.220000 from 300.22,X-28.54,Y9.39,Z-298.71

: Sonardyne - got all data, Vehicle coordinates,
    r=300.220000, x=298.710000, y=-28.540000, z=-9.390000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204323.00,3636.71523,N,12152.57991,W,1,11,0.9,-2.83,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204323.00,3636.71523,N,12152.57991,W,1,11,0.9,-2.83,M,-33.21,M,,*7D


: successfully parse sentence at 20:43:23

: AshtechGPS::processRecord -sample time is 1142282603
:  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 R299.98,X-33.79,Y10.11,Z-297.90

: Sonardyne - parsing R299.98,X-33.79,Y10.11,Z-297.90

: Sonardyne - read R = 299.980000 from 299.98,X-33.79,Y10.11,Z-297.90

: Sonardyne - got all data, Vehicle coordinates,
    r=299.980000, x=297.900000, y=-33.790000, z=-10.110000 tat = 880
: BluefinBatt Reply: $aaq0 d- 31.98  3.57 16.99 3.99 4.02 0   130.81 03:14:32 m

: AshtechGps::processRecord() - $GPGGA,204324.00,3636.71511,N,12152.57988,W,1,11,0.9,-2.79,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204324.00,3636.71511,N,12152.57988,W,1,11,0.9,-2.79,M,-33.21,M,,*76


: successfully parse sentence at 20:43:24

: AshtechGPS::processRecord -sample time is 1142282604
:  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 R299.65,X-40.02,Y11.86,Z-296.73

: Sonardyne - parsing R299.65,X-40.02,Y11.86,Z-296.73

: Sonardyne - read R = 299.650000 from 299.65,X-40.02,Y11.86,Z-296.73

: Sonardyne - got all data, Vehicle coordinates,
    r=299.650000, x=296.730000, y=-40.020000, z=-11.860000 tat = 880
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,204325.00,3636.71500,N,12152.57986,W,1,11,0.9,-2.79,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204325.00,3636.71500,N,12152.57986,W,1,11,0.9,-2.79,M,-33.21,M,,*79


: successfully parse sentence at 20:43:25

: AshtechGPS::processRecord -sample time is 1142282605
:  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 R299.35,X-40.53,Y4.36,Z-296.56

: Sonardyne - parsing R299.35,X-40.53,Y4.36,Z-296.56

: Sonardyne - read R = 299.350000 from 299.35,X-40.53,Y4.36,Z-296.56

: Sonardyne - got all data, Vehicle coordinates,
    r=299.350000, x=296.560000, y=-40.530000, z=-4.360000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204326.00,3636.71489,N,12152.57988,W,1,11,0.9,-2.86,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204326.00,3636.71489,N,12152.57988,W,1,11,0.9,-2.86,M,-33.21,M,,*74


: successfully parse sentence at 20:43:26

: AshtechGPS::processRecord -sample time is 1142282606
:  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 R299.17,X-44.69,Y11.09,Z-295.61

: Sonardyne - parsing R299.17,X-44.69,Y11.09,Z-295.61

: Sonardyne - read R = 299.170000 from 299.17,X-44.69,Y11.09,Z-295.61

: Sonardyne - got all data, Vehicle coordinates,
    r=299.170000, x=295.610000, y=-44.690000, z=-11.090000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204327.00,3636.71476,N,12152.57978,W,1,11,0.9,-2.78,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204327.00,3636.71476,N,12152.57978,W,1,11,0.9,-2.78,M,-33.21,M,,*7B


: successfully parse sentence at 20:43:27

: AshtechGPS::processRecord -sample time is 1142282607
:  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 R299.00,X-45.00,Y8.65,Z-295.46

: Sonardyne - parsing R299.00,X-45.00,Y8.65,Z-295.46

: Sonardyne - read R = 299.000000 from 299.00,X-45.00,Y8.65,Z-295.46

: Sonardyne - got all data, Vehicle coordinates,
    r=299.000000, x=295.460000, y=-45.000000, z=-8.650000 tat = 869
: AshtechGps::processRecord() - $GPGGA,204328.00,3636.71464,N,12152.57980,W,1,11,0.9,-2.74,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,204328.00,3636.71464,N,12152.57980,W,1,11,0.9,-2.74,M,-33.21,M,,*7C


: successfully parse sentence at 20:43:28

: AshtechGPS::processRecord -sample time is 1142282608
:  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 R298.84,X-54.14,Y11.65,Z-293.67

: Sonardyne - parsing R298.84,X-54.14,Y11.65,Z-293.67

: Sonardyne - read R = 298.840000 from 298.84,X-54.14,Y11.65,Z-293.67

: Sonardyne - got all data, Vehicle coordinates,
    r=298.840000, x=293.670000, y=-54.140000, z=-11.650000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204329.00,3636.71452,N,12152.57970,W,1,11,0.9,-2.94,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204329.00,3636.71452,N,12152.57970,W,1,11,0.9,-2.94,M,-33.21,M,,*79


: successfully parse sentence at 20:43:29

: AshtechGPS::processRecord -sample time is 1142282609
:  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 R298.77,X-45.93,Y10.32,Z-295.04

: Sonardyne - parsing R298.77,X-45.93,Y10.32,Z-295.04

: Sonardyne - read R = 298.770000 from 298.77,X-45.93,Y10.32,Z-295.04

: Sonardyne - got all data, Vehicle coordinates,
    r=298.770000, x=295.040000, y=-45.930000, z=-10.320000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204330.00,3636.71448,N,12152.57979,W,1,11,0.9,-3.09,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204330.00,3636.71448,N,12152.57979,W,1,11,0.9,-3.09,M,-33.21,M,,*76


: successfully parse sentence at 20:43:30

: AshtechGPS::processRecord -sample time is 1142282610
:  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 R298.75,X-55.55,Y6.44,Z-293.47

: Sonardyne - parsing R298.75,X-55.55,Y6.44,Z-293.47

: Sonardyne - read R = 298.750000 from 298.75,X-55.55,Y6.44,Z-293.47

: Sonardyne - got all data, Vehicle coordinates,
    r=298.750000, x=293.470000, y=-55.550000, z=-6.440000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204331.00,3636.71446,N,12152.57984,W,1,11,0.9,-3.06,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204331.00,3636.71446,N,12152.57984,W,1,11,0.9,-3.06,M,-33.21,M,,*74


: successfully parse sentence at 20:43:31

: AshtechGPS::processRecord -sample time is 1142282611
:  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 R298.72,X-58.53,Y8.93,Z-292.79

: Sonardyne - parsing R298.72,X-58.53,Y8.93,Z-292.79

: Sonardyne - read R = 298.720000 from 298.72,X-58.53,Y8.93,Z-292.79

: Sonardyne - got all data, Vehicle coordinates,
    r=298.720000, x=292.790000, y=-58.530000, z=-8.930000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204332.00,3636.71438,N,12152.57978,W,1,11,0.9,-3.01,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204332.00,3636.71438,N,12152.57978,W,1,11,0.9,-3.01,M,-33.21,M,,*7A


: successfully parse sentence at 20:43:32

: AshtechGPS::processRecord -sample time is 1142282612
:  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 R300.10,X-63.20,Y-32.15,Z-291.61

: Sonardyne - parsing R300.10,X-63.20,Y-32.15,Z-291.61

: Sonardyne - read R = 300.100000 from 300.10,X-63.20,Y-32.15,Z-291.61

: Sonardyne - got all data, Vehicle coordinates,
    r=300.100000, x=291.610000, y=-63.200000, z=32.150000 tat = 880
: AshtechGps::processRecord() - $GPGGA,204333.00,3636.71434,N,12152.57982,W,1,11,0.9,-2.96,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204333.00,3636.71434,N,12152.57982,W,1,11,0.9,-2.96,M,-33.21,M,,*7D


: successfully parse sentence at 20:43:33

: AshtechGPS::processRecord -sample time is 1142282613
:  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 R298.38,X-59.31,Y18.52,Z-291.84

: Sonardyne - parsing R298.38,X-59.31,Y18.52,Z-291.84

: Sonardyne - read R = 298.380000 from 298.38,X-59.31,Y18.52,Z-291.84

: Sonardyne - got all data, Vehicle coordinates,
    r=298.380000, x=291.840000, y=-59.310000, z=-18.520000 tat = 870
: BluefinBatt Reply: $aaq0 d- 31.98  2.49 16.99 3.99 4.02 0   130.60 03:14:42 m

: AshtechGps::processRecord() - $GPGGA,204334.00,3636.71424,N,12152.57970,W,1,11,0.9,-3.03,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204334.00,3636.71424,N,12152.57970,W,1,11,0.9,-3.03,M,-33.21,M,,*7B


: successfully parse sentence at 20:43:34

: AshtechGPS::processRecord -sample time is 1142282614
:  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 R298.13,X-60.05,Y5.37,Z-291.97

: Sonardyne - parsing R298.13,X-60.05,Y5.37,Z-291.97

: Sonardyne - read R = 298.130000 from 298.13,X-60.05,Y5.37,Z-291.97

: Sonardyne - got all data, Vehicle coordinates,
    r=298.130000, x=291.970000, y=-60.050000, z=-5.370000 tat = 870
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,204335.00,3636.71420,N,12152.57976,W,1,11,0.9,-3.03,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204335.00,3636.71420,N,12152.57976,W,1,11,0.9,-3.03,M,-33.21,M,,*78


: successfully parse sentence at 20:43:35

: AshtechGPS::processRecord -sample time is 1142282615
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.03,X-66.82,Y11.72,Z-290.21

: Sonardyne - parsing R298.03,X-66.82,Y11.72,Z-290.21

: Sonardyne - read R = 298.030000 from 298.03,X-66.82,Y11.72,Z-290.21

: Sonardyne - got all data, Vehicle coordinates,
    r=298.030000, x=290.210000, y=-66.820000, z=-11.720000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204336.00,3636.71415,N,12152.57974,W,1,11,0.9,-2.86,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,204336.00,3636.71415,N,12152.57974,W,1,11,0.9,-2.86,M,-33.21,M,,*73


: successfully parse sentence at 20:43:36

: AshtechGPS::processRecord -sample time is 1142282616
:  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 R298.55,X-81.41,Y19.39,Z-286.59

: Sonardyne - parsing R298.55,X-81.41,Y19.39,Z-286.59

: Sonardyne - read R = 298.550000 from 298.55,X-81.41,Y19.39,Z-286.59

: Sonardyne - got all data, Vehicle coordinates,
    r=298.550000, x=286.590000, y=-81.410000, z=-19.390000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204337.00,3636.71405,N,12152.57976,W,1,11,0.9,-2.67,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,204337.00,3636.71405,N,12152.57976,W,1,11,0.9,-2.67,M,-33.21,M,,*7E


: successfully parse sentence at 20:43:37

: AshtechGPS::processRecord -sample time is 1142282617
:  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 R298.64

: Sonardyne - parsing R298.64

: Sonardyne - read R = 298.640000 from 298.64

: Sonardyne - got range only (298.640000), tat = 850
: Sonardyne - POSD response: 
POSD S132.8,N23.1,D129,U3,Q0.005255

: Sonardyne - POSD response: 
POSD S132.8,N23.1,D129,U3,Q0.005255

: AshtechGps::processRecord() - $GPGGA,204338.00,3636.71388,N,12152.57968,W,1,11,0.9,-2.44,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204338.00,3636.71388,N,12152.57968,W,1,11,0.9,-2.44,M,-33.21,M,,*7D


: successfully parse sentence at 20:43:38

: AshtechGPS::processRecord -sample time is 1142282618
:  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 R298.70,X-90.50,Y19.33,Z-284.00

: Sonardyne - parsing R298.70,X-90.50,Y19.33,Z-284.00

: Sonardyne - read R = 298.700000 from 298.70,X-90.50,Y19.33,Z-284.00

: Sonardyne - got all data, Vehicle coordinates,
    r=298.700000, x=284.000000, y=-90.500000, z=-19.330000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204339.00,3636.71364,N,12152.57948,W,1,11,0.9,-2.51,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204339.00,3636.71364,N,12152.57948,W,1,11,0.9,-2.51,M,-33.21,M,,*78


: successfully parse sentence at 20:43:39

: AshtechGPS::processRecord -sample time is 1142282619
:  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 R297.23,X-89.70,Y4.34,Z-283.34

: Sonardyne - parsing R297.23,X-89.70,Y4.34,Z-283.34

: Sonardyne - read R = 297.230000 from 297.23,X-89.70,Y4.34,Z-283.34

: Sonardyne - got all data, Vehicle coordinates,
    r=297.230000, x=283.340000, y=-89.700000, z=-4.340000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204340.00,3636.71352,N,12152.57950,W,1,11,0.9,-2.80,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204340.00,3636.71352,N,12152.57950,W,1,11,0.9,-2.80,M,-33.21,M,,*76


: successfully parse sentence at 20:43:40

: AshtechGPS::processRecord -sample time is 1142282620
:  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 R296.84,X-87.28,Y14.65,Z-283.34

: Sonardyne - parsing R296.84,X-87.28,Y14.65,Z-283.34

: Sonardyne - read R = 296.840000 from 296.84,X-87.28,Y14.65,Z-283.34

: Sonardyne - got all data, Vehicle coordinates,
    r=296.840000, x=283.340000, y=-87.280000, z=-14.650000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204341.00,3636.71349,N,12152.57947,W,1,11,0.9,-3.04,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204341.00,3636.71349,N,12152.57947,W,1,11,0.9,-3.04,M,-33.21,M,,*76


: successfully parse sentence at 20:43:41

: AshtechGPS::processRecord -sample time is 1142282621
:  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 R296.77,X-87.91,Y17.89,Z-282.88

: Sonardyne - parsing R296.77,X-87.91,Y17.89,Z-282.88

: Sonardyne - read R = 296.770000 from 296.77,X-87.91,Y17.89,Z-282.88

: Sonardyne - got all data, Vehicle coordinates,
    r=296.770000, x=282.880000, y=-87.910000, z=-17.890000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204342.00,3636.71348,N,12152.57962,W,1,11,0.9,-2.95,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204342.00,3636.71348,N,12152.57962,W,1,11,0.9,-2.95,M,-33.21,M,,*7A


: successfully parse sentence at 20:43:42

: AshtechGPS::processRecord -sample time is 1142282622
:  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 R296.75,X-88.91,Y-0.24,Z-283.11

: Sonardyne - parsing R296.75,X-88.91,Y-0.24,Z-283.11

: Sonardyne - read R = 296.750000 from 296.75,X-88.91,Y-0.24,Z-283.11

: Sonardyne - got all data, Vehicle coordinates,
    r=296.750000, x=283.110000, y=-88.910000, z=0.240000 tat = 869
: AshtechGps::processRecord() - $GPGGA,204343.00,3636.71343,N,12152.57970,W,1,11,0.9,-2.93,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,204343.00,3636.71343,N,12152.57970,W,1,11,0.9,-2.93,M,-33.21,M,,*75


: successfully parse sentence at 20:43:43

: AshtechGPS::processRecord -sample time is 1142282623
:  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 R296.72,X-96.86,Y17.06,Z-279.95

: Sonardyne - parsing R296.72,X-96.86,Y17.06,Z-279.95

: Sonardyne - read R = 296.720000 from 296.72,X-96.86,Y17.06,Z-279.95

: Sonardyne - got all data, Vehicle coordinates,
    r=296.720000, x=279.950000, y=-96.860000, z=-17.060000 tat = 870
: BluefinBatt Reply: $aaq0 d- 32.02  2.39 16.99 3.99 4.02 0   130.29 03:14:52 m

: AshtechGps::processRecord() - $GPGGA,204344.00,3636.71342,N,12152.57978,W,1,11,0.9,-2.81,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204344.00,3636.71342,N,12152.57978,W,1,11,0.9,-2.81,M,-33.21,M,,*78


: successfully parse sentence at 20:43:44

: AshtechGPS::processRecord -sample time is 1142282624
:  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 R296.80,X-107.17,Y32.77,Z-274.82

: Sonardyne - parsing R296.80,X-107.17,Y32.77,Z-274.82

: Sonardyne - read R = 296.800000 from 296.80,X-107.17,Y32.77,Z-274.82

: Sonardyne - got all data, Vehicle coordinates,
    r=296.800000, x=274.820000, y=-107.170000, z=-32.770000 tat = 870
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,204345.00,3636.71328,N,12152.57966,W,1,11,0.9,-2.61,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204345.00,3636.71328,N,12152.57966,W,1,11,0.9,-2.61,M,-33.21,M,,*74


: successfully parse sentence at 20:43:45

: AshtechGPS::processRecord -sample time is 1142282625
:  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 R296.63,X-113.03,Y5.16,Z-274.20

: Sonardyne - parsing R296.63,X-113.03,Y5.16,Z-274.20

: Sonardyne - read R = 296.630000 from 296.63,X-113.03,Y5.16,Z-274.20

: Sonardyne - got all data, Vehicle coordinates,
    r=296.630000, x=274.200000, y=-113.030000, z=-5.160000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204346.00,3636.71314,N,12152.57959,W,1,11,0.9,-2.72,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,204346.00,3636.71314,N,12152.57959,W,1,11,0.9,-2.72,M,-33.21,M,,*76


: successfully parse sentence at 20:43:46

: AshtechGPS::processRecord -sample time is 1142282626
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R296.38,X-114.09,Y3.78,Z-273.51

: Sonardyne - parsing R296.38,X-114.09,Y3.78,Z-273.51

: Sonardyne - read R = 296.380000 from 296.38,X-114.09,Y3.78,Z-273.51

: Sonardyne - got all data, Vehicle coordinates,
    r=296.380000, x=273.510000, y=-114.090000, z=-3.780000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204347.00,3636.71305,N,12152.57949,W,1,11,0.9,-2.90,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204347.00,3636.71305,N,12152.57949,W,1,11,0.9,-2.90,M,-33.21,M,,*7A


: successfully parse sentence at 20:43:47

: AshtechGPS::processRecord -sample time is 1142282627
:  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 R296.25

: Sonardyne - parsing R296.25

: Sonardyne - read R = 296.250000 from 296.25

: Sonardyne - got range only (296.250000), tat = 850
: Sonardyne - POSD response: 
POSD S134.8,N31.7,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.8,N31.7,D13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,204348.00,3636.71305,N,12152.57961,W,1,11,0.9,-3.04,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,204348.00,3636.71305,N,12152.57961,W,1,11,0.9,-3.04,M,-33.21,M,,*73


: successfully parse sentence at 20:43:48

: AshtechGPS::processRecord -sample time is 1142282628
:  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 R296.29,X-120.56,Y10.32,Z-270.46

: Sonardyne - parsing R296.29,X-120.56,Y10.32,Z-270.46

: Sonardyne - read R = 296.290000 from 296.29,X-120.56,Y10.32,Z-270.46

: Sonardyne - got all data, Vehicle coordinates,
    r=296.290000, x=270.460000, y=-120.560000, z=-10.320000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204349.00,3636.71306,N,12152.57965,W,1,11,0.9,-3.03,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,204349.00,3636.71306,N,12152.57965,W,1,11,0.9,-3.03,M,-33.21,M,,*72


: successfully parse sentence at 20:43:49

: AshtechGPS::processRecord -sample time is 1142282629
:  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 R296.34,X-126.34,Y28.75,Z-266.51

: Sonardyne - parsing R296.34,X-126.34,Y28.75,Z-266.51

: Sonardyne - read R = 296.340000 from 296.34,X-126.34,Y28.75,Z-266.51

: Sonardyne - got all data, Vehicle coordinates,
    r=296.340000, x=266.510000, y=-126.340000, z=-28.750000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204350.00,3636.71302,N,12152.57967,W,1,11,0.9,-2.78,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204350.00,3636.71302,N,12152.57967,W,1,11,0.9,-2.78,M,-33.21,M,,*71


: successfully parse sentence at 20:43:50

: AshtechGPS::processRecord -sample time is 1142282630
:  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 R297.02,X-131.84,Y17.31,Z-265.60

: Sonardyne - parsing R297.02,X-131.84,Y17.31,Z-265.60

: Sonardyne - read R = 297.020000 from 297.02,X-131.84,Y17.31,Z-265.60

: Sonardyne - got all data, Vehicle coordinates,
    r=297.020000, x=265.600000, y=-131.840000, z=-17.310000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204351.00,3636.71291,N,12152.57963,W,1,11,0.9,-2.66,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,204351.00,3636.71291,N,12152.57963,W,1,11,0.9,-2.66,M,-33.21,M,,*70


: successfully parse sentence at 20:43:51

: AshtechGPS::processRecord -sample time is 1142282631
:  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 R297.31,X-138.89,Y6.62,Z-262.79

: Sonardyne - parsing R297.31,X-138.89,Y6.62,Z-262.79

: Sonardyne - read R = 297.310000 from 297.31,X-138.89,Y6.62,Z-262.79

: Sonardyne - got all data, Vehicle coordinates,
    r=297.310000, x=262.790000, y=-138.890000, z=-6.620000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204352.00,3636.71279,N,12152.57953,W,1,11,0.9,-2.57,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,204352.00,3636.71279,N,12152.57953,W,1,11,0.9,-2.57,M,-33.21,M,,*74


: successfully parse sentence at 20:43:52

: AshtechGPS::processRecord -sample time is 1142282632
:  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 R297.03,X-141.49,Y33.37,Z-259.02

: Sonardyne - parsing R297.03,X-141.49,Y33.37,Z-259.02

: Sonardyne - read R = 297.030000 from 297.03,X-141.49,Y33.37,Z-259.02

: Sonardyne - got all data, Vehicle coordinates,
    r=297.030000, x=259.020000, y=-141.490000, z=-33.370000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204353.00,3636.71269,N,12152.57950,W,1,11,0.9,-2.62,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,204353.00,3636.71269,N,12152.57950,W,1,11,0.9,-2.62,M,-33.21,M,,*71


: successfully parse sentence at 20:43:53

: AshtechGPS::processRecord -sample time is 1142282633
:  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 R295.41,X-147.64,Y11.56,Z-255.60

: Sonardyne - parsing R295.41,X-147.64,Y11.56,Z-255.60

: Sonardyne - read R = 295.410000 from 295.41,X-147.64,Y11.56,Z-255.60

: Sonardyne - got all data, Vehicle coordinates,
    r=295.410000, x=255.600000, y=-147.640000, z=-11.560000 tat = 870
: BluefinBatt Reply: $aaq0 d- 32.02  2.45 16.99 3.99 4.02 0   130.11 03:15:02 m

: AshtechGps::processRecord() - $GPGGA,204354.00,3636.71254,N,12152.57940,W,1,11,0.9,-2.70,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,204354.00,3636.71254,N,12152.57940,W,1,11,0.9,-2.70,M,-33.21,M,,*7A


: successfully parse sentence at 20:43:54

: AshtechGPS::processRecord -sample time is 1142282634
:  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 R295.08,X-151.72,Y18.89,Z-252.37

: Sonardyne - parsing R295.08,X-151.72,Y18.89,Z-252.37

: Sonardyne - read R = 295.080000 from 295.08,X-151.72,Y18.89,Z-252.37

: Sonardyne - got all data, Vehicle coordinates,
    r=295.080000, x=252.370000, y=-151.720000, z=-18.890000 tat = 870
: batts online 1, min cell voltage 3.990000, mean min cell voltage 3.990000

: AshtechGps::processRecord() - $GPGGA,204355.00,3636.71248,N,12152.57942,W,1,11,0.9,-2.91,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204355.00,3636.71248,N,12152.57942,W,1,11,0.9,-2.91,M,-33.21,M,,*7B


: successfully parse sentence at 20:43:55

: AshtechGPS::processRecord -sample time is 1142282635
:  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 R294.93,X-150.80,Y14.00,Z-253.08

: Sonardyne - parsing R294.93,X-150.80,Y14.00,Z-253.08

: Sonardyne - read R = 294.930000 from 294.93,X-150.80,Y14.00,Z-253.08

: Sonardyne - got all data, Vehicle coordinates,
    r=294.930000, x=253.080000, y=-150.800000, z=-14.000000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204356.00,3636.71249,N,12152.57950,W,1,11,0.9,-2.99,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,204356.00,3636.71249,N,12152.57950,W,1,11,0.9,-2.99,M,-33.21,M,,*72


: successfully parse sentence at 20:43:56

: AshtechGPS::processRecord -sample time is 1142282636
:  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 R295.01,X-153.60,Y17.58,Z-251.25

: Sonardyne - parsing R295.01,X-153.60,Y17.58,Z-251.25

: Sonardyne - read R = 295.010000 from 295.01,X-153.60,Y17.58,Z-251.25

: Sonardyne - got all data, Vehicle coordinates,
    r=295.010000, x=251.250000, y=-153.600000, z=-17.580000 tat = 869
: AshtechGps::processRecord() - $GPGGA,204357.00,3636.71249,N,12152.57958,W,1,11,0.9,-2.95,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,204357.00,3636.71249,N,12152.57958,W,1,11,0.9,-2.95,M,-33.21,M,,*77


: successfully parse sentence at 20:43:57

: AshtechGPS::processRecord -sample time is 1142282637
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R295.17,X-159.60,Y21.50,Z-247.37

: Sonardyne - parsing R295.17,X-159.60,Y21.50,Z-247.37

: Sonardyne - read R = 295.170000 from 295.17,X-159.60,Y21.50,Z-247.37

: Sonardyne - got all data, Vehicle coordinates,
    r=295.170000, x=247.370000, y=-159.600000, z=-21.500000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204358.00,3636.71247,N,12152.57963,W,1,11,0.9,-2.82,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,204358.00,3636.71247,N,12152.57963,W,1,11,0.9,-2.82,M,-33.21,M,,*78


: successfully parse sentence at 20:43:58

: AshtechGPS::processRecord -sample time is 1142282638
:  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 R295.29,X-161.00,Y9.49,Z-247.36

: Sonardyne - parsing R295.29,X-161.00,Y9.49,Z-247.36

: Sonardyne - read R = 295.290000 from 295.29,X-161.00,Y9.49,Z-247.36

: Sonardyne - got all data, Vehicle coordinates,
    r=295.290000, x=247.360000, y=-161.000000, z=-9.490000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204359.00,3636.71244,N,12152.57957,W,1,11,0.9,-2.93,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,204359.00,3636.71244,N,12152.57957,W,1,11,0.9,-2.93,M,-33.21,M,,*7D


: successfully parse sentence at 20:43:59

: AshtechGPS::processRecord -sample time is 1142282639
:  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 R295.36,X-165.64,Y24.81,Z-243.28

: Sonardyne - parsing R295.36,X-165.64,Y24.81,Z-243.28

: Sonardyne - read R = 295.360000 from 295.36,X-165.64,Y24.81,Z-243.28

: Sonardyne - got all data, Vehicle coordinates,
    r=295.360000, x=243.280000, y=-165.640000, z=-24.810000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204400.00,3636.71246,N,12152.57960,W,1,11,0.9,-2.96,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,204400.00,3636.71246,N,12152.57960,W,1,11,0.9,-2.96,M,-33.21,M,,*75


: successfully parse sentence at 20:44:0

: AshtechGPS::processRecord -sample time is 1142282640
:  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 R295.40,X-167.47,Y11.45,Z-243.08

: Sonardyne - parsing R295.40,X-167.47,Y11.45,Z-243.08

: Sonardyne - read R = 295.400000 from 295.40,X-167.47,Y11.45,Z-243.08

: Sonardyne - got all data, Vehicle coordinates,
    r=295.400000, x=243.080000, y=-167.470000, z=-11.450000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204401.00,3636.71243,N,12152.57965,W,1,11,0.9,-2.88,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,204401.00,3636.71243,N,12152.57965,W,1,11,0.9,-2.88,M,-33.21,M,,*7B


: successfully parse sentence at 20:44:1

: AshtechGPS::processRecord -sample time is 1142282641
:  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 R295.40,X-170.55,Y27.54,Z-239.61

: Sonardyne - parsing R295.40,X-170.55,Y27.54,Z-239.61

: Sonardyne - read R = 295.400000 from 295.40,X-170.55,Y27.54,Z-239.61

: Sonardyne - got all data, Vehicle coordinates,
    r=295.400000, x=239.610000, y=-170.550000, z=-27.540000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204402.00,3636.71240,N,12152.57966,W,1,11,0.9,-2.71,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,204402.00,3636.71240,N,12152.57966,W,1,11,0.9,-2.71,M,-33.21,M,,*7E


: successfully parse sentence at 20:44:2

: AshtechGPS::processRecord -sample time is 1142282642
:  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 R295.93,X-171.68,Y2.56,Z-241.02

: Sonardyne - parsing R295.93,X-171.68,Y2.56,Z-241.02

: Sonardyne - read R = 295.930000 from 295.93,X-171.68,Y2.56,Z-241.02

: Sonardyne - got all data, Vehicle coordinates,
    r=295.930000, x=241.020000, y=-171.680000, z=-2.560000 tat = 870
: AshtechGps::processRecord() - $GPGGA,204403.00,3636.71227,N,12152.57956,W,1,11,0.9,-2.57,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,204403.00,3636.71227,N,12152.57956,W,1,11,0.9,-2.57,M,-33.21,M,,*79


: successfully parse sentence at 20:44:3

: AshtechGPS::processRecord -sample time is 1142282643
:  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 R295.13,X-177.03,Y25.13,Z-234.79

: Sonardyne - parsing R295.13,X-177.03,Y25.13,Z-234.79

: Sonardyne - read R = 295.130000 from 295.13,X-177.03,Y25.13,Z-234.79

: Sonardyne - got all data, Vehicle coordinates,
    r=295.130000, x=234.790000, y=-177.030000, z=-25.130000 tat = 880
: BluefinBatt Reply: $aaq0 d- 32.02  2.52 16.89 3.99 4.02 0   129.84 03:15:12 m

: AshtechGps::processRecord() - $GPGGA,204404.00,3636.71211,N,12152.57939,W,1,11,0.9,-2.63,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,204404.00,3636.71211,N,12152.57939,W,1,11,0.9,-2.63,M,-33.21,M,,*75


: successfully parse sentence at 20:44:4

: AshtechGPS::processRecord -sample time is 1142282644
: 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 DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task tj - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001C914.
: **** SharedData destructor for object crossbowOutput ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task tj - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
