Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurati: WorkSite::WorkSite -- Adding attributes
on: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - externalC: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
ommsServer
Supervisor::createTask() - navigationServer
Supervis: WorkSite::WorkSite -- Finished loading parameters
or:: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
:cr: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
eat: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
eT: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ask(: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
) -: WorkSite server: 0x22eec
 layered: New Navigation component constructor
ControlServer
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


S: SerialDevice: done...

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

upervisor:: SerialDevice: done...

:createTask() - bluefinBattDriver
: Gps: initializing

Su: SerialDevice: done...

perv: SerialDevice: done...

i: Gps: done initializing...

so: SerialDevice: done...

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

::createTask(: Crossbow.cc: Setting polled mode
) - dv: Crossbow.cc: Setting polled mode
lSe: SerialDevice: done...

: Crossbow.cc: In getSerialNumber()
rver
: SerialDevice: done...

Sup: Crossbow.cc: _device->read failed with error
er: seabirdDriver RUNNING...

v: BluefineBatt::init() - 1 batteries on 10 second interval
is: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
or: AshtechGps::processRecord() - $PASHR,ACK*3D

::cre: SerialDevice: done...

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


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

 : BluefinBatt.cc - Looking for Parosci server
fa: **** EventTriggers::add() - attaching proxy
nServ: SerialDevice: done...

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

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

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


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

dropWeightServer
Supervisor::cre: SerialDevice: done...

at: SerialDevice: done...

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

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

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Navigation - Using only the Dvl to compute altitude.
: Seabird/ctdDriver:initializing Seabird...

: ahrs if is Ahrs

: SerialDevice: done...

: SerialDevice: done...

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

: SerialDeviceDriver::initialize()
:  ault

: 
 Starting DVL Initialization.

: SerialDevice: done...

: SerialDevice: done...

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

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 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,215419.00,3636.58798,N,12152.43764,W,1,13,0.8,-4.91,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215419.00,3636.58798,N,12152.43764,W,1,13,0.8,-4.91,M,-33.21,M,,*7D


: successfully parse sentence at 21:54:19

: AshtechGPS::processRecord -sample time is 1142286859
: 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 = 30.138810
: Parosci.cc -- Parosci initial temp period = 5.842237
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: 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
: AshtechGps::processRecord() - $GPGGA,215420.00,3636.58806,N,12152.43764,W,1,13,0.8,-4.92,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215420.00,3636.58806,N,12152.43764,W,1,13,0.8,-4.92,M,-33.21,M,,*7C


: successfully parse sentence at 21:54:20

: AshtechGPS::processRecord -sample time is 1142286860
: Sonardyne - POS response: 
POS V4,1 R315.39,X-46.97,Y-50.98,Z-307.68

: Sonardyne - parsing R315.39,X-46.97,Y-50.98,Z-307.68

: Sonardyne - read R = 315.390000 from 315.39,X-46.97,Y-50.98,Z-307.68

: Sonardyne - got all data, Vehicle coordinates,
    r=315.390000, x=307.680000, y=-46.970000, z=50.980000 tat = 900
: Sonardyne - POSD response: 
POSD S133.0,N33.0,D-143,U7,Q0.013359

:  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
: AshtechGps::processRecord() - $GPGGA,215421.00,3636.58818,N,12152.43761,W,1,13,0.8,-5.03,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215421.00,3636.58818,N,12152.43761,W,1,13,0.8,-5.03,M,-33.21,M,,*7E


: successfully parse sentence at 21:54:21

: AshtechGPS::processRecord -sample time is 1142286861
: Sonardyne - POS response: 
POS V4,1 R315.67,X-34.95,Y-25.34,Z-312.70

: Sonardyne - parsing R315.67,X-34.95,Y-25.34,Z-312.70

: Sonardyne - read R = 315.670000 from 315.67,X-34.95,Y-25.34,Z-312.70

: Sonardyne - got all data, Vehicle coordinates,
    r=315.670000, x=312.700000, y=-34.950000, z=25.340000 tat = 900
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215422.00,3636.58831,N,12152.43756,W,1,13,0.8,-4.96,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215422.00,3636.58831,N,12152.43756,W,1,13,0.8,-4.96,M,-33.21,M,,*7F


: successfully parse sentence at 21:54:22

: AshtechGPS::processRecord -sample time is 1142286862
: Sonardyne - POS response: 
POS V4,1 R315.88,X-33.66,Y-22.88,Z-313.25

: Sonardyne - parsing R315.88,X-33.66,Y-22.88,Z-313.25

: Sonardyne - read R = 315.880000 from 315.88,X-33.66,Y-22.88,Z-313.25

: Sonardyne - got all data, Vehicle coordinates,
    r=315.880000, x=313.250000, y=-33.660000, z=22.880000 tat = 900
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: AshtechGps::processRecord() - $GPGGA,215423.00,3636.58841,N,12152.43746,W,1,13,0.8,-4.90,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215423.00,3636.58841,N,12152.43746,W,1,13,0.8,-4.90,M,-33.21,M,,*7E


: successfully parse sentence at 21:54:23

: AshtechGPS::processRecord -sample time is 1142286863
: Sonardyne - POS response: 
POS V4,1 R316.85

: Sonardyne - parsing R316.85

: Sonardyne - read R = 316.850000 from 316.85

: Sonardyne - got range only (316.850000), tat = 870
: Sonardyne - POSD response: 
POSD S134.8,N24.4,D79,U5,Q0.001045

: Sonardyne - POSD response: 
POSD S134.8,N24.4,D79,U5,Q0.001045

:  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
: AshtechGps::processRecord() - $GPGGA,215424.00,3636.58848,N,12152.43742,W,1,13,0.8,-5.01,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215424.00,3636.58848,N,12152.43742,W,1,13,0.8,-5.01,M,-33.21,M,,*7D


: successfully parse sentence at 21:54:24

: AshtechGPS::processRecord -sample time is 1142286864
: Sonardyne - POS response: 
POS V4,1 R317.22,X-31.56,Y-30.89,Z-314.14

: Sonardyne - parsing R317.22,X-31.56,Y-30.89,Z-314.14

: Sonardyne - read R = 317.220000 from 317.22,X-31.56,Y-30.89,Z-314.14

: Sonardyne - got all data, Vehicle coordinates,
    r=317.220000, x=314.140000, y=-31.560000, z=30.890000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215425.00,3636.58858,N,12152.43744,W,1,13,0.8,-5.18,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,215425.00,3636.58858,N,12152.43744,W,1,13,0.8,-5.18,M,-33.21,M,,*73


: successfully parse sentence at 21:54:25

: AshtechGPS::processRecord -sample time is 1142286865
: Sonardyne - POS response: 
POS V4,1 R316.93,X-25.74,Y-5.00,Z-315.85

: Sonardyne - parsing R316.93,X-25.74,Y-5.00,Z-315.85

: Sonardyne - read R = 316.930000 from 316.93,X-25.74,Y-5.00,Z-315.85

: Sonardyne - got all data, Vehicle coordinates,
    r=316.930000, x=315.850000, y=-25.740000, z=5.000000 tat = 900
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215426.00,3636.58872,N,12152.43741,W,1,13,0.8,-5.13,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215426.00,3636.58872,N,12152.43741,W,1,13,0.8,-5.13,M,-33.21,M,,*76


: successfully parse sentence at 21:54:26

: AshtechGPS::processRecord -sample time is 1142286866
: Sonardyne - POS response: 
POS V4,1 R316.44

: Sonardyne - parsing R316.44

: Sonardyne - read R = 316.440000 from 316.44

: Sonardyne - got range only (316.440000), tat = 870
: Sonardyne - POSD response: 
POSD S132.5,N29.5,D-4,U4,Q0.010631

: Sonardyne - POSD response: 
POSD S132.5,N29.5,D-4,U4,Q0.010631

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

: AshtechGps::processRecord() - $GPGGA,215427.00,3636.58877,N,12152.43731,W,1,13,0.8,-4.88,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215427.00,3636.58877,N,12152.43731,W,1,13,0.8,-4.88,M,-33.21,M,,*76


: successfully parse sentence at 21:54:27

: AshtechGPS::processRecord -sample time is 1142286867
: Sonardyne - POS response: 
POS V4,1 R316.74,X-14.06,Y8.16,Z-316.32

: Sonardyne - parsing R316.74,X-14.06,Y8.16,Z-316.32

: Sonardyne - read R = 316.740000 from 316.74,X-14.06,Y8.16,Z-316.32

: Sonardyne - got all data, Vehicle coordinates,
    r=316.740000, x=316.320000, y=-14.060000, z=-8.160000 tat = 900
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Seabird/ctdDriver: sending configure commands...(9689)

: Seabird/ctdDriver: setting scans...

: AshtechGps::processRecord() - $GPGGA,215428.00,3636.58878,N,12152.43720,W,1,13,0.8,-5.07,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,215428.00,3636.58878,N,12152.43720,W,1,13,0.8,-5.07,M,-33.21,M,,*70


: successfully parse sentence at 21:54:28

: AshtechGPS::processRecord -sample time is 1142286868
: Sonardyne - POS response: 
POS V4,1 R316.85,X-12.31,Y-30.86,Z-315.10

: Sonardyne - parsing R316.85,X-12.31,Y-30.86,Z-315.10

: Sonardyne - read R = 316.850000 from 316.85,X-12.31,Y-30.86,Z-315.10

: Sonardyne - got all data, Vehicle coordinates,
    r=316.850000, x=315.100000, y=-12.310000, z=30.860000 tat = 900
:  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
: AshtechGps::processRecord() - $GPGGA,215429.00,3636.58886,N,12152.43707,W,1,13,0.8,-5.37,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215429.00,3636.58886,N,12152.43707,W,1,13,0.8,-5.37,M,-33.21,M,,*76


: successfully parse sentence at 21:54:29

: AshtechGPS::processRecord -sample time is 1142286869
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215430.00,3636.58899,N,12152.43709,W,1,13,0.8,-5.34,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215430.00,3636.58899,N,12152.43709,W,1,13,0.8,-5.34,M,-33.21,M,,*7D


: successfully parse sentence at 21:54:30

: AshtechGPS::processRecord -sample time is 1142286870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215431.00,3636.58911,N,12152.43709,W,1,13,0.8,-5.10,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,215431.00,3636.58911,N,12152.43709,W,1,13,0.8,-5.10,M,-33.21,M,,*7B


: successfully parse sentence at 21:54:31

: AshtechGPS::processRecord -sample time is 1142286871
: 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
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,215432.00,3636.58910,N,12152.43693,W,1,13,0.8,-4.85,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215432.00,3636.58910,N,12152.43693,W,1,13,0.8,-4.85,M,-33.21,M,,*76


: successfully parse sentence at 21:54:32

: AshtechGPS::processRecord -sample time is 1142286872
:  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 R317.27,X-1.91,Y-12.23,Z-317.03

: Sonardyne - parsing R317.27,X-1.91,Y-12.23,Z-317.03

: Sonardyne - read R = 317.270000 from 317.27,X-1.91,Y-12.23,Z-317.03

: Sonardyne - got all data, Vehicle coordinates,
    r=317.270000, x=317.030000, y=-1.910000, z=12.230000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215433.00,3636.58911,N,12152.43685,W,1,13,0.8,-5.08,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215433.00,3636.58911,N,12152.43685,W,1,13,0.8,-5.08,M,-33.21,M,,*75


: successfully parse sentence at 21:54:33

: AshtechGPS::processRecord -sample time is 1142286873
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215434.00,3636.58915,N,12152.43671,W,1,13,0.8,-5.22,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215434.00,3636.58915,N,12152.43671,W,1,13,0.8,-5.22,M,-33.21,M,,*75


: successfully parse sentence at 21:54:34

: AshtechGPS::processRecord -sample time is 1142286874
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215435.00,3636.58919,N,12152.43668,W,1,13,0.8,-5.21,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,215435.00,3636.58919,N,12152.43668,W,1,13,0.8,-5.21,M,-33.21,M,,*73


: successfully parse sentence at 21:54:35

: AshtechGPS::processRecord -sample time is 1142286875
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

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

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

: Seabird/ctdDriver: setting upcast...

: AshtechGps::processRecord() - $GPGGA,215436.00,3636.58924,N,12152.43666,W,1,13,0.8,-5.25,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215436.00,3636.58924,N,12152.43666,W,1,13,0.8,-5.25,M,-33.21,M,,*74


: successfully parse sentence at 21:54:36

: AshtechGPS::processRecord -sample time is 1142286876
: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(9689)

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

:  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...

: AshtechGps::processRecord() - $GPGGA,215437.00,3636.58932,N,12152.43656,W,1,13,0.8,-5.38,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215437.00,3636.58932,N,12152.43656,W,1,13,0.8,-5.38,M,-33.21,M,,*7D


: successfully parse sentence at 21:54:37

: AshtechGPS::processRecord -sample time is 1142286877
: Sonardyne - POS response: 
POS V4,1 R317.70,X19.09,Y-17.20,Z-316.66

: Sonardyne - parsing R317.70,X19.09,Y-17.20,Z-316.66

: Sonardyne - read R = 317.700000 from 317.70,X19.09,Y-17.20,Z-316.66

: Sonardyne - got all data, Vehicle coordinates,
    r=317.700000, x=316.660000, y=19.090000, z=17.200000 tat = 900
:  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...

: AshtechGps::processRecord() - $GPGGA,215438.00,3636.58942,N,12152.43661,W,1,13,0.8,-5.35,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215438.00,3636.58942,N,12152.43661,W,1,13,0.8,-5.35,M,-33.21,M,,*7C


: successfully parse sentence at 21:54:38

: AshtechGPS::processRecord -sample time is 1142286878
: Sonardyne - POS response: 
POS V4,1 R317.89,X21.10,Y3.97,Z-317.16

: Sonardyne - parsing R317.89,X21.10,Y3.97,Z-317.16

: Sonardyne - read R = 317.890000 from 317.89,X21.10,Y3.97,Z-317.16

: Sonardyne - got all data, Vehicle coordinates,
    r=317.890000, x=317.160000, y=21.100000, z=-3.970000 tat = 900
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215439.00,3636.58952,N,12152.43653,W,1,13,0.8,-5.33,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,215439.00,3636.58952,N,12152.43653,W,1,13,0.8,-5.33,M,-33.21,M,,*7B


: successfully parse sentence at 21:54:39

: AshtechGPS::processRecord -sample time is 1142286879
: Sonardyne - POS response: 
POS V4,1 R318.13,X24.75,Y-7.68,Z-317.07

: Sonardyne - parsing R318.13,X24.75,Y-7.68,Z-317.07

: Sonardyne - read R = 318.130000 from 318.13,X24.75,Y-7.68,Z-317.07

: Sonardyne - got all data, Vehicle coordinates,
    r=318.130000, x=317.070000, y=24.750000, z=7.680000 tat = 900
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215440.00,3636.58963,N,12152.43659,W,1,13,0.8,-5.37,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,215440.00,3636.58963,N,12152.43659,W,1,13,0.8,-5.37,M,-33.21,M,,*79


: successfully parse sentence at 21:54:40

: AshtechGPS::processRecord -sample time is 1142286880
: BluefinBatt Reply: $aaq0 d- 31.57  2.49 16.60 3.94 3.96 0   -75.93 04:25:49 m

: Sonardyne - POS response: 
POS V4,1 R318.27,X34.25,Y-2.22,Z-316.42

: Sonardyne - parsing R318.27,X34.25,Y-2.22,Z-316.42

: Sonardyne - read R = 318.270000 from 318.27,X34.25,Y-2.22,Z-316.42

: Sonardyne - got all data, Vehicle coordinates,
    r=318.270000, x=316.420000, y=34.250000, z=2.220000 tat = 900
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215441.00,3636.58976,N,12152.43657,W,1,13,0.8,-5.35,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,215441.00,3636.58976,N,12152.43657,W,1,13,0.8,-5.35,M,-33.21,M,,*70


: successfully parse sentence at 21:54:41

: AshtechGPS::processRecord -sample time is 1142286881
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: Sonardyne - POS response: 
POS V4,1 R318.56,X39.47,Y15.42,Z-315.73

: Sonardyne - parsing R318.56,X39.47,Y15.42,Z-315.73

: Sonardyne - read R = 318.560000 from 318.56,X39.47,Y15.42,Z-315.73

: Sonardyne - got all data, Vehicle coordinates,
    r=318.560000, x=315.730000, y=39.470000, z=-15.420000 tat = 900
:  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 ***

: AshtechGps::processRecord() - $GPGGA,215442.00,3636.58983,N,12152.43647,W,1,13,0.8,-5.18,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215442.00,3636.58983,N,12152.43647,W,1,13,0.8,-5.18,M,-33.21,M,,*77


: successfully parse sentence at 21:54:42

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

: AshtechGPS::processRecord -sample time is 1142286882
: Sonardyne - POS response: 
POS V4,1 R318.81,X28.62,Y-14.92,Z-317.17

: Sonardyne - parsing R318.81,X28.62,Y-14.92,Z-317.17

: Sonardyne - read R = 318.810000 from 318.81,X28.62,Y-14.92,Z-317.17

: Sonardyne - got all data, Vehicle coordinates,
    r=318.810000, x=317.170000, y=28.620000, z=14.920000 tat = 900
: 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

: AshtechGps::processRecord() - $GPGGA,215443.00,3636.58986,N,12152.43643,W,1,13,0.8,-5.10,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215443.00,3636.58986,N,12152.43643,W,1,13,0.8,-5.10,M,-33.21,M,,*7F


: successfully parse sentence at 21:54:43

: AshtechGPS::processRecord -sample time is 1142286883
: 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,215444.00,3636.58991,N,12152.43628,W,1,13,0.8,-5.14,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215444.00,3636.58991,N,12152.43628,W,1,13,0.8,-5.14,M,-33.21,M,,*77


: successfully parse sentence at 21:54:44

: AshtechGPS::processRecord -sample time is 1142286884
: 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

: AshtechGps::processRecord() - $GPGGA,215445.00,3636.58994,N,12152.43631,W,1,13,0.8,-5.18,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215445.00,3636.58994,N,12152.43631,W,1,13,0.8,-5.18,M,-33.21,M,,*77


: successfully parse sentence at 21:54:45

: AshtechGPS::processRecord -sample time is 1142286885
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,215446.00,3636.59002,N,12152.43624,W,1,13,0.8,-5.24,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,215446.00,3636.59002,N,12152.43624,W,1,13,0.8,-5.24,M,-33.21,M,,*78


: successfully parse sentence at 21:54:46

: AshtechGPS::processRecord -sample time is 1142286886
: 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 R319.28,X76.55,Y-13.20,Z-309.68

: Sonardyne - parsing R319.28,X76.55,Y-13.20,Z-309.68

: Sonardyne - read R = 319.280000 from 319.28,X76.55,Y-13.20,Z-309.68

: Sonardyne - got all data, Vehicle coordinates,
    r=319.280000, x=309.680000, y=76.550000, z=13.200000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215447.00,3636.59010,N,12152.43618,W,1,13,0.8,-5.31,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,215447.00,3636.59010,N,12152.43618,W,1,13,0.8,-5.31,M,-33.21,M,,*71


: successfully parse sentence at 21:54:47

: AshtechGPS::processRecord -sample time is 1142286887
: 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 R321.92

: Sonardyne - parsing R321.92

: Sonardyne - read R = 321.920000 from 321.92

: Sonardyne - got range only (321.920000), tat = 880
: Sonardyne - POSD response: 
POSD S119.6,N26.9,D79,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.6,N26.9,D79,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215448.00,3636.59014,N,12152.43620,W,1,13,0.8,-5.16,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215448.00,3636.59014,N,12152.43620,W,1,13,0.8,-5.16,M,-33.21,M,,*74


: successfully parse sentence at 21:54:48

: AshtechGPS::processRecord -sample time is 1142286888
: 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

: AshtechGps::processRecord() - $GPGGA,215449.00,3636.59018,N,12152.43625,W,1,13,0.8,-4.87,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215449.00,3636.59018,N,12152.43625,W,1,13,0.8,-4.87,M,-33.21,M,,*75


: successfully parse sentence at 21:54:49

: AshtechGPS::processRecord -sample time is 1142286889
: Sonardyne - POS response: 
POS V4,1 R319.81,X113.30,Y3.59,Z-299.05

: Sonardyne - parsing R319.81,X113.30,Y3.59,Z-299.05

: Sonardyne - read R = 319.810000 from 319.81,X113.30,Y3.59,Z-299.05

: Sonardyne - got all data, Vehicle coordinates,
    r=319.810000, x=299.050000, y=113.300000, z=-3.590000 tat = 910
: 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

: AshtechGps::processRecord() - $GPGGA,215450.00,3636.59025,N,12152.43604,W,1,13,0.8,-4.86,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,215450.00,3636.59025,N,12152.43604,W,1,13,0.8,-4.86,M,-33.21,M,,*71


: successfully parse sentence at 21:54:50

: AshtechGPS::processRecord -sample time is 1142286890
: BluefinBatt Reply: $aaq0 d- 31.53  3.70 16.60 3.94 3.96 0   -76.12 04:25:59 m

: Sonardyne - POS response: 
POS V4,1 R319.94,X115.92,Y-22.90,Z-297.32

: Sonardyne - parsing R319.94,X115.92,Y-22.90,Z-297.32

: Sonardyne - read R = 319.940000 from 319.94,X115.92,Y-22.90,Z-297.32

: Sonardyne - got all data, Vehicle coordinates,
    r=319.940000, x=297.320000, y=115.920000, z=22.900000 tat = 900
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.199438) Behavior getgps has changed to state Finished

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

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

: AshtechGps::processRecord() - $GPGGA,215451.00,3636.59026,N,12152.43589,W,1,13,0.8,-4.69,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215451.00,3636.59026,N,12152.43589,W,1,13,0.8,-4.69,M,-33.21,M,,*74


: successfully parse sentence at 21:54:51

: AshtechGPS::processRecord -sample time is 1142286891
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: Sonardyne - POS response: 
POS V4,1 R320.08

: Sonardyne - parsing R320.08

: Sonardyne - read R = 320.080000 from 320.08

: Sonardyne - got range only (320.080000), tat = 880
: Sonardyne - POSD response: 
POSD S123.8,N22.2,D17,U3,Q0.000279

: Sonardyne - POSD response: 
POSD S123.8,N22.2,D17,U3,Q0.000279

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

: AshtechGps::processRecord() - $GPGGA,215452.00,3636.59018,N,12152.43594,W,1,12,0.9,-5.16,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215452.00,3636.59018,N,12152.43594,W,1,12,0.9,-5.16,M,-33.21,M,,*7F


: successfully parse sentence at 21:54:52

: AshtechGPS::processRecord -sample time is 1142286892
:  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 R320.14,X132.16,Y-42.69,Z-288.45

: Sonardyne - parsing R320.14,X132.16,Y-42.69,Z-288.45

: Sonardyne - read R = 320.140000 from 320.14,X132.16,Y-42.69,Z-288.45

: Sonardyne - got all data, Vehicle coordinates,
    r=320.140000, x=288.450000, y=132.160000, z=42.690000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215453.00,3636.59026,N,12152.43570,W,1,13,0.8,-5.02,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215453.00,3636.59026,N,12152.43570,W,1,13,0.8,-5.02,M,-33.21,M,,*7C


: successfully parse sentence at 21:54:53

: AshtechGPS::processRecord -sample time is 1142286893
:  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 R320.18,X141.05,Y-22.77,Z-286.53

: Sonardyne - parsing R320.18,X141.05,Y-22.77,Z-286.53

: Sonardyne - read R = 320.180000 from 320.18,X141.05,Y-22.77,Z-286.53

: Sonardyne - got all data, Vehicle coordinates,
    r=320.180000, x=286.530000, y=141.050000, z=22.770000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215454.00,3636.59031,N,12152.43568,W,1,13,0.8,-5.20,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215454.00,3636.59031,N,12152.43568,W,1,13,0.8,-5.20,M,-33.21,M,,*74


: successfully parse sentence at 21:54:54

: AshtechGPS::processRecord -sample time is 1142286894
:  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 R320.35

: Sonardyne - parsing R320.35

: Sonardyne - read R = 320.350000 from 320.35

: Sonardyne - got range only (320.350000), tat = 880
: Sonardyne - POSD response: 
POSD S125.3,N27.5,D71,U1,Q0.004066

: Sonardyne - POSD response: 
POSD S125.3,N27.5,D71,U1,Q0.004066

: AshtechGps::processRecord() - $GPGGA,215455.00,3636.59034,N,12152.43559,W,1,13,0.8,-5.20,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,215455.00,3636.59034,N,12152.43559,W,1,13,0.8,-5.20,M,-33.21,M,,*72


: successfully parse sentence at 21:54:55

: AshtechGPS::processRecord -sample time is 1142286895
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215456.00,3636.59027,N,12152.43545,W,1,13,0.8,-5.27,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,215456.00,3636.59027,N,12152.43545,W,1,13,0.8,-5.27,M,-33.21,M,,*79


: successfully parse sentence at 21:54:56

: AshtechGPS::processRecord -sample time is 1142286896
: Sonardyne - POS response: 
POS V4,1 R326.53

: Sonardyne - parsing R326.53

: Sonardyne - read R = 326.530000 from 326.53

: Sonardyne - got range only (326.530000), tat = 890
: Sonardyne - POSD response: 
POSD S113.6,N32.1,D130,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.6,N32.1,D130,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,215457.00,3636.59016,N,12152.43528,W,1,13,0.8,-5.32,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215457.00,3636.59016,N,12152.43528,W,1,13,0.8,-5.32,M,-33.21,M,,*75


: successfully parse sentence at 21:54:57

: AshtechGPS::processRecord -sample time is 1142286897
:  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 R319.59,X109.38,Y-5.13,Z-300.25

: Sonardyne - parsing R319.59,X109.38,Y-5.13,Z-300.25

: Sonardyne - read R = 319.590000 from 319.59,X109.38,Y-5.13,Z-300.25

: Sonardyne - got all data, Vehicle coordinates,
    r=319.590000, x=300.250000, y=109.380000, z=5.130000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215458.00,3636.59004,N,12152.43515,W,1,13,0.8,-5.32,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215458.00,3636.59004,N,12152.43515,W,1,13,0.8,-5.32,M,-33.21,M,,*77


: successfully parse sentence at 21:54:58

: AshtechGPS::processRecord -sample time is 1142286898
:  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 R319.36,X79.08,Y-14.25,Z-309.09

: Sonardyne - parsing R319.36,X79.08,Y-14.25,Z-309.09

: Sonardyne - read R = 319.360000 from 319.36,X79.08,Y-14.25,Z-309.09

: Sonardyne - got all data, Vehicle coordinates,
    r=319.360000, x=309.090000, y=79.080000, z=14.250000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215459.00,3636.58983,N,12152.43493,W,1,13,0.8,-5.15,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,215459.00,3636.58983,N,12152.43493,W,1,13,0.8,-5.15,M,-33.21,M,,*7B


: successfully parse sentence at 21:54:59

: AshtechGPS::processRecord -sample time is 1142286899
:  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 R319.15,X33.58,Y-3.42,Z-317.36

: Sonardyne - parsing R319.15,X33.58,Y-3.42,Z-317.36

: Sonardyne - read R = 319.150000 from 319.15,X33.58,Y-3.42,Z-317.36

: Sonardyne - got all data, Vehicle coordinates,
    r=319.150000, x=317.360000, y=33.580000, z=3.420000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215500.00,3636.58936,N,12152.43463,W,1,13,0.8,-4.86,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215500.00,3636.58936,N,12152.43463,W,1,13,0.8,-4.86,M,-33.21,M,,*7C


: successfully parse sentence at 21:55:0

: AshtechGPS::processRecord -sample time is 1142286900
: BluefinBatt Reply: $aaq0 d- 31.30 10.71 16.60 3.91 3.94 0   -76.88 04:26:09 m

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

: Sonardyne - POS response: 
POS V4,1 R319.10,X-8.44,Y-17.20,Z-318.52

: Sonardyne - parsing R319.10,X-8.44,Y-17.20,Z-318.52

: Sonardyne - read R = 319.100000 from 319.10,X-8.44,Y-17.20,Z-318.52

: Sonardyne - got all data, Vehicle coordinates,
    r=319.100000, x=318.520000, y=-8.440000, z=17.200000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215501.00,3636.58874,N,12152.43434,W,1,13,0.8,-4.89,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215501.00,3636.58874,N,12152.43434,W,1,13,0.8,-4.89,M,-33.21,M,,*77


: successfully parse sentence at 21:55:1

: AshtechGPS::processRecord -sample time is 1142286901
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

:  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 R317.06,X-34.04,Y-16.51,Z-314.80

: Sonardyne - parsing R317.06,X-34.04,Y-16.51,Z-314.80

: Sonardyne - read R = 317.060000 from 317.06,X-34.04,Y-16.51,Z-314.80

: Sonardyne - got all data, Vehicle coordinates,
    r=317.060000, x=314.800000, y=-34.040000, z=16.510000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215502.00,3636.58814,N,12152.43427,W,1,13,0.8,-4.96,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215502.00,3636.58814,N,12152.43427,W,1,13,0.8,-4.96,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:2

: AshtechGPS::processRecord -sample time is 1142286902
:  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 R315.99,X-63.76,Y-1.68,Z-309.48

: Sonardyne - parsing R315.99,X-63.76,Y-1.68,Z-309.48

: Sonardyne - read R = 315.990000 from 315.99,X-63.76,Y-1.68,Z-309.48

: Sonardyne - got all data, Vehicle coordinates,
    r=315.990000, x=309.480000, y=-63.760000, z=1.680000 tat = 899
: AshtechGps::processRecord() - $GPGGA,215503.00,3636.58755,N,12152.43430,W,1,13,0.8,-5.11,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215503.00,3636.58755,N,12152.43430,W,1,13,0.8,-5.11,M,-33.21,M,,*7D


: successfully parse sentence at 21:55:3

: AshtechGPS::processRecord -sample time is 1142286903
:  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 R314.80,X-109.14,Y-11.01,Z-295.07

: Sonardyne - parsing R314.80,X-109.14,Y-11.01,Z-295.07

: Sonardyne - read R = 314.800000 from 314.80,X-109.14,Y-11.01,Z-295.07

: Sonardyne - got all data, Vehicle coordinates,
    r=314.800000, x=295.070000, y=-109.140000, z=11.010000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215504.00,3636.58697,N,12152.43447,W,1,13,0.8,-5.11,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215504.00,3636.58697,N,12152.43447,W,1,13,0.8,-5.11,M,-33.21,M,,*75


: successfully parse sentence at 21:55:4

: AshtechGPS::processRecord -sample time is 1142286904
:  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 R314.12,X-152.31,Y12.47,Z-274.43

: Sonardyne - parsing R314.12,X-152.31,Y12.47,Z-274.43

: Sonardyne - read R = 314.120000 from 314.12,X-152.31,Y12.47,Z-274.43

: Sonardyne - got all data, Vehicle coordinates,
    r=314.120000, x=274.430000, y=-152.310000, z=-12.470000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215505.00,3636.58640,N,12152.43475,W,1,13,0.8,-5.08,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215505.00,3636.58640,N,12152.43475,W,1,13,0.8,-5.08,M,-33.21,M,,*77


: successfully parse sentence at 21:55:5

: AshtechGPS::processRecord -sample time is 1142286905
:  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 R313.14,X-176.49,Y7.94,Z-258.54

: Sonardyne - parsing R313.14,X-176.49,Y7.94,Z-258.54

: Sonardyne - read R = 313.140000 from 313.14,X-176.49,Y7.94,Z-258.54

: Sonardyne - got all data, Vehicle coordinates,
    r=313.140000, x=258.540000, y=-176.490000, z=-7.940000 tat = 890
: AshtechGps::processRecord() - $GPGGA,215506.00,3636.58583,N,12152.43515,W,1,13,0.8,-5.00,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215506.00,3636.58583,N,12152.43515,W,1,13,0.8,-5.00,M,-33.21,M,,*77


: successfully parse sentence at 21:55:6

: AshtechGPS::processRecord -sample time is 1142286906
:  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 R312.31,X-213.39,Y25.96,Z-226.56

: Sonardyne - parsing R312.31,X-213.39,Y25.96,Z-226.56

: Sonardyne - read R = 312.310000 from 312.31,X-213.39,Y25.96,Z-226.56

: Sonardyne - got all data, Vehicle coordinates,
    r=312.310000, x=226.560000, y=-213.390000, z=-25.960000 tat = 890
: AshtechGps::processRecord() - $GPGGA,215507.00,3636.58526,N,12152.43559,W,1,13,0.8,-5.09,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,215507.00,3636.58526,N,12152.43559,W,1,13,0.8,-5.09,M,-33.21,M,,*78


: successfully parse sentence at 21:55:7

: AshtechGPS::processRecord -sample time is 1142286907
:  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 R312.27,X-233.28,Y14.34,Z-207.09

: Sonardyne - parsing R312.27,X-233.28,Y14.34,Z-207.09

: Sonardyne - read R = 312.270000 from 312.27,X-233.28,Y14.34,Z-207.09

: Sonardyne - got all data, Vehicle coordinates,
    r=312.270000, x=207.090000, y=-233.280000, z=-14.340000 tat = 890
: AshtechGps::processRecord() - $GPGGA,215508.00,3636.58487,N,12152.43624,W,1,13,0.8,-5.19,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215508.00,3636.58487,N,12152.43624,W,1,13,0.8,-5.19,M,-33.21,M,,*75


: successfully parse sentence at 21:55:8

: AshtechGPS::processRecord -sample time is 1142286908
: Sonardyne - POS response: 
POS V4,1 R310.92,X-252.18,Y10.02,Z-181.60

: Sonardyne - parsing R310.92,X-252.18,Y10.02,Z-181.60

: Sonardyne - read R = 310.920000 from 310.92,X-252.18,Y10.02,Z-181.60

:  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=310.920000, x=181.600000, y=-252.180000, z=-10.020000 tat = 890
: AshtechGps::processRecord() - $GPGGA,215509.00,3636.58454,N,12152.43696,W,1,13,0.8,-5.37,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215509.00,3636.58454,N,12152.43696,W,1,13,0.8,-5.37,M,-33.21,M,,*7F


: successfully parse sentence at 21:55:9

: AshtechGPS::processRecord -sample time is 1142286909
: Sonardyne - POS response: 
POS V4,1 R310.35

: Sonardyne - parsing R310.35

: Sonardyne - read R = 310.350000 from 310.35

: Sonardyne - got range only (310.350000), tat = 860
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S116.4,N24.9,D-32,U1,Q0.013255

: Sonardyne - POSD response: 
POSD S116.4,N24.9,D-32,U1,Q0.013255

: AshtechGps::processRecord() - $GPGGA,215510.00,3636.58436,N,12152.43786,W,1,13,0.8,-5.42,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,215510.00,3636.58436,N,12152.43786,W,1,13,0.8,-5.42,M,-33.21,M,,*71


: successfully parse sentence at 21:55:10

: AshtechGPS::processRecord -sample time is 1142286910
: BluefinBatt Reply: $aaq0 d- 31.23 11.22 16.69 3.91 3.94 0   -77.62 04:26:19 m

: Sonardyne - POS response: 
POS V4,1 R310.47

: Sonardyne - parsing R310.47

: Sonardyne - read R = 310.470000 from 310.47

: Sonardyne - got range only (310.470000), tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.7,N30.3,D-12,U3,Q0.011379

: Sonardyne - POSD response: 
POSD S120.7,N30.3,D-12,U3,Q0.011379

: AshtechGps::processRecord() - $GPGGA,215511.00,3636.58411,N,12152.43867,W,1,13,0.8,-5.14,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215511.00,3636.58411,N,12152.43867,W,1,13,0.8,-5.14,M,-33.21,M,,*76


: successfully parse sentence at 21:55:11

: AshtechGPS::processRecord -sample time is 1142286911
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POS response: 
POS V4,1 R309.91

: Sonardyne - parsing R309.91

: Sonardyne - read R = 309.910000 from 309.91

: Sonardyne - got range only (309.910000), tat = 860
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S114.2,N22.7,D-13,U1,Q0.008592

: Sonardyne - POSD response: 
POSD S114.2,N22.7,D-13,U1,Q0.008592

: AshtechGps::processRecord() - $GPGGA,215512.00,3636.58384,N,12152.43945,W,1,13,0.8,-5.07,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215512.00,3636.58384,N,12152.43945,W,1,13,0.8,-5.07,M,-33.21,M,,*7D


: successfully parse sentence at 21:55:12

: AshtechGPS::processRecord -sample time is 1142286912
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215513.00,3636.58357,N,12152.44022,W,1,13,0.8,-4.94,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215513.00,3636.58357,N,12152.44022,W,1,13,0.8,-4.94,M,-33.21,M,,*76


: successfully parse sentence at 21:55:13

: AshtechGPS::processRecord -sample time is 1142286913
: Sonardyne - POS response: 
POS V4,1 R308.74

: Sonardyne - parsing R308.74

: Sonardyne - read R = 308.740000 from 308.74

: Sonardyne - got range only (308.740000), tat = 860
: Sonardyne - POSD response: 
POSD S117.3,N21.0,D79,U1,Q0.002758

: Sonardyne - POSD response: 
POSD S117.3,N21.0,D79,U1,Q0.002758

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S106.0,N14.9,D-29,U1,Q0.005823

: 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 S106.0,N14.9,D-29,U1,Q0.005823

: AshtechGps::processRecord() - $GPGGA,215514.00,3636.58326,N,12152.44097,W,1,13,0.8,-4.82,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215514.00,3636.58326,N,12152.44097,W,1,13,0.8,-4.82,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:14

: AshtechGPS::processRecord -sample time is 1142286914
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S120.9,N26.8,D-26,U3,Q0.013469

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S120.9,N26.8,D-26,U3,Q0.013469

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

: AshtechGps::processRecord() - $GPGGA,215515.00,3636.58296,N,12152.44168,W,1,13,0.8,-4.86,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,215515.00,3636.58296,N,12152.44168,W,1,13,0.8,-4.86,M,-33.21,M,,*70


: successfully parse sentence at 21:55:15

: AshtechGPS::processRecord -sample time is 1142286915
: Sonardyne - POS response: 
POS V4,1 R307.62

: Sonardyne - parsing R307.62

: Sonardyne - read R = 307.620000 from 307.62

: Sonardyne - got range only (307.620000), tat = 860
: Sonardyne - POSD response: 
POSD S116.9,N24.6,D61,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.9,N24.6,D61,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,215516.00,3636.58267,N,12152.44245,W,1,13,0.8,-5.02,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215516.00,3636.58267,N,12152.44245,W,1,13,0.8,-5.02,M,-33.21,M,,*7C


: successfully parse sentence at 21:55:16

: AshtechGPS::processRecord -sample time is 1142286916
: Sonardyne - POS response: 
POS V4,1 R307.17

: Sonardyne - parsing R307.17

: Sonardyne - read R = 307.170000 from 307.17

: Sonardyne - got range only (307.170000), tat = 860
: Sonardyne - POSD response: 
POSD S115.6,N20.1,D99,U1,Q0.005811

: Sonardyne - POSD response: 
POSD S115.6,N20.1,D99,U1,Q0.005811

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

: AshtechGps::processRecord() - $GPGGA,215517.00,3636.58245,N,12152.44325,W,1,13,0.8,-5.11,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,215517.00,3636.58245,N,12152.44325,W,1,13,0.8,-5.11,M,-33.21,M,,*78


: successfully parse sentence at 21:55:17

: AshtechGPS::processRecord -sample time is 1142286917
: Sonardyne - POS response: 
POS V4,1 R306.78

: Sonardyne - parsing R306.78

: Sonardyne - read R = 306.780000 from 306.78

: Sonardyne - got range only (306.780000), tat = 859
: Sonardyne - POSD response: 
POSD S124.7,N31.4,D29,U4,Q0.016123

: Sonardyne - POSD response: 
POSD S124.7,N31.4,D29,U4,Q0.016123

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

: AshtechGps::processRecord() - $GPGGA,215518.00,3636.58224,N,12152.44407,W,1,13,0.8,-5.14,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,215518.00,3636.58224,N,12152.44407,W,1,13,0.8,-5.14,M,-33.21,M,,*72


: successfully parse sentence at 21:55:18

: AshtechGPS::processRecord -sample time is 1142286918
: Sonardyne - POS response: 
POS V4,1 R305.97

: Sonardyne - parsing R305.97

: Sonardyne - read R = 305.970000 from 305.97

: Sonardyne - got range only (305.970000), tat = 860
: Sonardyne - POSD response: 
POSD S125.0,N31.1,D24,U2,Q0.019036

: Sonardyne - POSD response: 
POSD S125.0,N31.1,D24,U2,Q0.019036

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

: AshtechGps::processRecord() - $GPGGA,215519.00,3636.58200,N,12152.44492,W,1,13,0.8,-5.09,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215519.00,3636.58200,N,12152.44492,W,1,13,0.8,-5.09,M,-33.21,M,,*75


: successfully parse sentence at 21:55:19

: AshtechGPS::processRecord -sample time is 1142286919
: Sonardyne - POS response: 
POS V4,1 R305.41

: Sonardyne - parsing R305.41

: Sonardyne - read R = 305.410000 from 305.41

: Sonardyne - got range only (305.410000), tat = 860
: Sonardyne - POSD response: 
POSD S120.2,N25.0,D-51,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.2,N25.0,D-51,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,215520.00,3636.58174,N,12152.44574,W,1,13,0.8,-5.02,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215520.00,3636.58174,N,12152.44574,W,1,13,0.8,-5.02,M,-33.21,M,,*7D


: successfully parse sentence at 21:55:20

: AshtechGPS::processRecord -sample time is 1142286920
: BluefinBatt Reply: $aaq0 d- 31.26  9.36 16.69 3.90 3.93 0   -78.64 04:26:29 m

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

: LayeredControl::execute() -- (t = 38.397370) 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,215521.00,3636.58153,N,12152.44659,W,1,13,0.8,-4.99,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215521.00,3636.58153,N,12152.44659,W,1,13,0.8,-4.99,M,-33.21,M,,*76


: successfully parse sentence at 21:55:21

: AshtechGPS::processRecord -sample time is 1142286921
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,215522.00,3636.58116,N,12152.44739,W,1,13,0.8,-4.99,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,215522.00,3636.58116,N,12152.44739,W,1,13,0.8,-4.99,M,-33.21,M,,*73


: successfully parse sentence at 21:55:22

: AshtechGPS::processRecord -sample time is 1142286922
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215523.00,3636.58092,N,12152.44821,W,1,13,0.8,-4.93,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,215523.00,3636.58092,N,12152.44821,W,1,13,0.8,-4.93,M,-33.21,M,,*73


: successfully parse sentence at 21:55:23

: AshtechGPS::processRecord -sample time is 1142286923
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215524.00,3636.58052,N,12152.44896,W,1,13,0.8,-4.89,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215524.00,3636.58052,N,12152.44896,W,1,13,0.8,-4.89,M,-33.21,M,,*7F


: successfully parse sentence at 21:55:24

: AshtechGPS::processRecord -sample time is 1142286924
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215525.00,3636.58019,N,12152.44970,W,1,13,0.8,-5.04,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215525.00,3636.58019,N,12152.44970,W,1,13,0.8,-5.04,M,-33.21,M,,*7C


: successfully parse sentence at 21:55:25

: AshtechGPS::processRecord -sample time is 1142286925
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215526.00,3636.57995,N,12152.45055,W,1,13,0.8,-5.08,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215526.00,3636.57995,N,12152.45055,W,1,13,0.8,-5.08,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:26

: AshtechGPS::processRecord -sample time is 1142286926
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215527.00,3636.57971,N,12152.45143,W,1,13,0.8,-5.04,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215527.00,3636.57971,N,12152.45143,W,1,13,0.8,-5.04,M,-33.21,M,,*7F


: successfully parse sentence at 21:55:27

: AshtechGPS::processRecord -sample time is 1142286927
: Sonardyne - POS response: 
POS V4,1 R302.01

: Sonardyne - parsing R302.01

: Sonardyne - read R = 302.010000 from 302.01

: Sonardyne - got range only (302.010000), tat = 860
: Sonardyne - POSD response: 
POSD S112.8,N22.8,D47,U2,Q0.006834

: Sonardyne - POSD response: 
POSD S112.8,N22.8,D47,U2,Q0.006834

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

: AshtechGps::processRecord() - $GPGGA,215528.00,3636.57944,N,12152.45229,W,1,13,0.8,-4.98,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,215528.00,3636.57944,N,12152.45229,W,1,13,0.8,-4.98,M,-33.21,M,,*7D


: successfully parse sentence at 21:55:28

: AshtechGPS::processRecord -sample time is 1142286928
: Sonardyne - POS response: 
POS V4,1 R300.81

: Sonardyne - parsing R300.81

: Sonardyne - read R = 300.810000 from 300.81

: Sonardyne - got range only (300.810000), tat = 860
: Sonardyne - POSD response: 
POSD S117.4,N21.6,D-33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.4,N21.6,D-33,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,215529.00,3636.57918,N,12152.45308,W,1,13,0.8,-4.99,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,215529.00,3636.57918,N,12152.45308,W,1,13,0.8,-4.99,M,-33.21,M,,*76


: successfully parse sentence at 21:55:29

: AshtechGPS::processRecord -sample time is 1142286929
: Sonardyne - POS response: 
POS V4,1 R300.85

: Sonardyne - parsing R300.85

: Sonardyne - read R = 300.850000 from 300.85

: Sonardyne - got range only (300.850000), tat = 850
: Sonardyne - POSD response: 
POSD S119.4,N24.4,D71,U2,Q0.002594

: Sonardyne - POSD response: 
POSD S119.4,N24.4,D71,U2,Q0.002594

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

: AshtechGps::processRecord() - $GPGGA,215530.00,3636.57899,N,12152.45398,W,1,13,0.8,-4.99,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215530.00,3636.57899,N,12152.45398,W,1,13,0.8,-4.99,M,-33.21,M,,*7F


: successfully parse sentence at 21:55:30

: AshtechGPS::processRecord -sample time is 1142286930
: Sonardyne - POS response: 
POS V4,1 R299.70

: Sonardyne - parsing R299.70

: Sonardyne - read R = 299.700000 from 299.70

: BluefinBatt Reply: $aaq0 d- 31.30  9.19 16.69 3.90 3.93 0   -79.31 04:26:39 m

: Sonardyne - got range only (299.700000), tat = 850
: Sonardyne - POSD response: 
POSD S116.6,N20.8,D-96,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.6,N20.8,D-96,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,215531.00,3636.57871,N,12152.45480,W,1,13,0.8,-4.82,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,215531.00,3636.57871,N,12152.45480,W,1,13,0.8,-4.82,M,-33.21,M,,*7C


: successfully parse sentence at 21:55:31

: AshtechGPS::processRecord -sample time is 1142286931
: Sonardyne - POS response: 
POS V4,1 R298.44,X-266.81,Y38.07,Z-128.16

: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - parsing R298.44,X-266.81,Y38.07,Z-128.16

: Sonardyne - read R = 298.440000 from 298.44,X-266.81,Y38.07,Z-128.16

: Sonardyne - got all data, Vehicle coordinates,
    r=298.440000, x=128.160000, y=-266.810000, z=-38.070000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215532.00,3636.57839,N,12152.45554,W,1,13,0.8,-4.65,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,215532.00,3636.57839,N,12152.45554,W,1,13,0.8,-4.65,M,-33.21,M,,*72


: successfully parse sentence at 21:55:32

: AshtechGPS::processRecord -sample time is 1142286932
: Sonardyne - POS response: 
POS V4,1 R297.81

: Sonardyne - parsing R297.81

: Sonardyne - read R = 297.810000 from 297.81

: Sonardyne - got range only (297.810000), tat = 849
: Sonardyne - POSD response: 
POSD S124.7,N28.6,D88,U3,Q0.006673

: Sonardyne - POSD response: 
POSD S124.7,N28.6,D88,U3,Q0.006673

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

: AshtechGps::processRecord() - $GPGGA,215533.00,3636.57808,N,12152.45634,W,1,13,0.8,-4.77,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,215533.00,3636.57808,N,12152.45634,W,1,13,0.8,-4.77,M,-33.21,M,,*77


: Sonardyne - POS response: 
POS V4,1 R297.00

: successfully parse sentence at 21:55:33

: Sonardyne - parsing R297.00

: AshtechGPS::processRecord -sample time is 1142286933
: Sonardyne - read R = 297.000000 from 297.00

: Sonardyne - got range only (297.000000), tat = 850
: Sonardyne - POSD response: 
POSD S121.3,N27.8,D-70,U2,Q0.014825

: Sonardyne - POSD response: 
POSD S121.3,N27.8,D-70,U2,Q0.014825

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

: AshtechGps::processRecord() - $GPGGA,215534.00,3636.57777,N,12152.45717,W,1,13,0.8,-4.87,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,215534.00,3636.57777,N,12152.45717,W,1,13,0.8,-4.87,M,-33.21,M,,*78


: successfully parse sentence at 21:55:34

: AshtechGPS::processRecord -sample time is 1142286934
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215535.00,3636.57741,N,12152.45801,W,1,13,0.8,-4.82,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,215535.00,3636.57741,N,12152.45801,W,1,13,0.8,-4.82,M,-33.21,M,,*71


: successfully parse sentence at 21:55:35

: AshtechGPS::processRecord -sample time is 1142286935
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215536.00,3636.57713,N,12152.45890,W,1,13,0.8,-4.91,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,215536.00,3636.57713,N,12152.45890,W,1,13,0.8,-4.91,M,-33.21,M,,*7F


: successfully parse sentence at 21:55:36

: AshtechGPS::processRecord -sample time is 1142286936
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,215537.00,3636.57680,N,12152.45973,W,1,13,0.8,-4.89,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,215537.00,3636.57680,N,12152.45973,W,1,13,0.8,-4.89,M,-33.21,M,,*70


: successfully parse sentence at 21:55:37

: AshtechGPS::processRecord -sample time is 1142286937
: Sonardyne - POS response: 
POS V4,1 R294.71

: Sonardyne - parsing R294.71

: Sonardyne - read R = 294.710000 from 294.71

: Sonardyne - got range only (294.710000), tat = 840
: Sonardyne - POSD response: 
POSD S114.6,N14.6,D-98,U1,Q0.007897

: Sonardyne - POSD response: 
POSD S114.6,N14.6,D-98,U1,Q0.007897

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

: AshtechGps::processRecord() - $GPGGA,215538.00,3636.57649,N,12152.46056,W,1,13,0.8,-4.85,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,215538.00,3636.57649,N,12152.46056,W,1,13,0.8,-4.85,M,-33.21,M,,*7B


: successfully parse sentence at 21:55:38

: AshtechGPS::processRecord -sample time is 1142286938
: Sonardyne - POS response: 
POS V4,1 R295.24,X-260.84,Y-2.70,Z-138.28

: Sonardyne - parsing R295.24,X-260.84,Y-2.70,Z-138.28

: Sonardyne - read R = 295.240000 from 295.24,X-260.84,Y-2.70,Z-138.28

: Sonardyne - got all data, Vehicle coordinates,
    r=295.240000, x=138.280000, y=-260.840000, z=2.700000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215539.00,3636.57614,N,12152.46132,W,1,13,0.8,-4.86,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,215539.00,3636.57614,N,12152.46132,W,1,13,0.8,-4.86,M,-33.21,M,,*72


: successfully parse sentence at 21:55:39

: AshtechGPS::processRecord -sample time is 1142286939
: Sonardyne - POS response: 
POS V4,1 R293.43

: Sonardyne - parsing R293.43

: Sonardyne - read R = 293.430000 from 293.43

: Sonardyne - got range only (293.430000), tat = 840
: Sonardyne - POSD response: 
POSD S120.5,N26.1,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N26.1,D-26,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,215540.00,3636.57581,N,12152.46216,W,1,13,0.8,-4.95,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215540.00,3636.57581,N,12152.46216,W,1,13,0.8,-4.95,M,-33.21,M,,*74


: successfully parse sentence at 21:55:40

: AshtechGPS::processRecord -sample time is 1142286940
: BluefinBatt Reply: $aaq0 d- 31.30  8.32 16.79 3.90 3.93 0   -80.24 04:26:49 m

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

: AshtechGps::processRecord() - $GPGGA,215541.00,3636.57555,N,12152.46302,W,1,13,0.8,-4.89,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215541.00,3636.57555,N,12152.46302,W,1,13,0.8,-4.89,M,-33.21,M,,*75


: successfully parse sentence at 21:55:41

: AshtechGPS::processRecord -sample time is 1142286941
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,215542.00,3636.57524,N,12152.46379,W,1,13,0.8,-4.85,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,215542.00,3636.57524,N,12152.46379,W,1,13,0.8,-4.85,M,-33.21,M,,*70


: successfully parse sentence at 21:55:42

: AshtechGPS::processRecord -sample time is 1142286942
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215543.00,3636.57495,N,12152.46449,W,1,13,0.8,-4.76,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,215543.00,3636.57495,N,12152.46449,W,1,13,0.8,-4.76,M,-33.21,M,,*72


: successfully parse sentence at 21:55:43

: AshtechGPS::processRecord -sample time is 1142286943
:  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 R290.89

: Sonardyne - parsing R290.89

: Sonardyne - read R = 290.890000 from 290.89

: AshtechGps::processRecord() - $GPGGA,215544.00,3636.57465,N,12152.46522,W,1,13,0.8,-4.89,M,-33.21,M,,*76

: Sonardyne - got range only (290.890000), tat = 840
: GpsUtils::parseFix() - $GPGGA,215544.00,3636.57465,N,12152.46522,W,1,13,0.8,-4.89,M,-33.21,M,,*76


: successfully parse sentence at 21:55:44

: AshtechGPS::processRecord -sample time is 1142286944
: Sonardyne - POSD response: 
POSD S118.7,N25.8,D2,U4,Q0.010884

: Sonardyne - POSD response: 
POSD S118.7,N25.8,D2,U4,Q0.010884

:  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 R290.78

: Sonardyne - parsing R290.78

: Sonardyne - read R = 290.780000 from 290.78

: Sonardyne - got range only (290.780000), tat = 840
: AshtechGps::processRecord() - $GPGGA,215545.00,3636.57446,N,12152.46612,W,1,13,0.8,-5.20,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,215545.00,3636.57446,N,12152.46612,W,1,13,0.8,-5.20,M,-33.21,M,,*74


: successfully parse sentence at 21:55:45

: AshtechGPS::processRecord -sample time is 1142286945
: Sonardyne - POSD response: 
POSD S120.7,N28.2,D-77,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.7,N28.2,D-77,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 R291.86

: Sonardyne - parsing R291.86

: Sonardyne - read R = 291.860000 from 291.86

: Sonardyne - got range only (291.860000), tat = 840
: AshtechGps::processRecord() - $GPGGA,215546.00,3636.57423,N,12152.46703,W,1,13,0.8,-5.09,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215546.00,3636.57423,N,12152.46703,W,1,13,0.8,-5.09,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:46

: AshtechGPS::processRecord -sample time is 1142286946
: Sonardyne - POSD response: 
POSD S111.1,N20.3,D-58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.1,N20.3,D-58,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 R289.89

: Sonardyne - parsing R289.89

: Sonardyne - read R = 289.890000 from 289.89

: Sonardyne - got range only (289.890000), tat = 840
: AshtechGps::processRecord() - $GPGGA,215547.00,3636.57399,N,12152.46791,W,1,13,0.8,-4.74,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,215547.00,3636.57399,N,12152.46791,W,1,13,0.8,-4.74,M,-33.21,M,,*79


: successfully parse sentence at 21:55:47

: AshtechGPS::processRecord -sample time is 1142286947
: Sonardyne - POSD response: 
POSD S119.2,N27.2,D-26,U1,Q0.010195

: Sonardyne - POSD response: 
POSD S119.2,N27.2,D-26,U1,Q0.010195

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

: Sonardyne - POS response: 
POS V4,1 R289.30

: Sonardyne - parsing R289.30

: Sonardyne - read R = 289.300000 from 289.30

: Sonardyne - got range only (289.300000), tat = 840
: AshtechGps::processRecord() - $GPGGA,215548.00,3636.57367,N,12152.46872,W,1,13,0.8,-4.74,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,215548.00,3636.57367,N,12152.46872,W,1,13,0.8,-4.74,M,-33.21,M,,*75


: successfully parse sentence at 21:55:48

: AshtechGPS::processRecord -sample time is 1142286948
: Sonardyne - POSD response: 
POSD S112.7,N28.1,D11,U2,Q0.004082

: Sonardyne - POSD response: 
POSD S112.7,N28.1,D11,U2,Q0.004082

:  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 R288.41

: Sonardyne - parsing R288.41

: Sonardyne - read R = 288.410000 from 288.41

: Sonardyne - got range only (288.410000), tat = 830
: AshtechGps::processRecord() - $GPGGA,215549.00,3636.57323,N,12152.46938,W,1,13,0.8,-4.71,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215549.00,3636.57323,N,12152.46938,W,1,13,0.8,-4.71,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:49

: AshtechGPS::processRecord -sample time is 1142286949
: Sonardyne - POSD response: 
POSD S118.6,N23.3,D-94,U5,Q0.010974

: Sonardyne - POSD response: 
POSD S118.6,N23.3,D-94,U5,Q0.010974

:  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 R287.71

: Sonardyne - parsing R287.71

: Sonardyne - read R = 287.710000 from 287.71

: Sonardyne - got range only (287.710000), tat = 830
: AshtechGps::processRecord() - $GPGGA,215550.00,3636.57295,N,12152.47022,W,1,13,0.8,-4.89,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,215550.00,3636.57295,N,12152.47022,W,1,13,0.8,-4.89,M,-33.21,M,,*7E


: successfully parse sentence at 21:55:50

: AshtechGPS::processRecord -sample time is 1142286950
: BluefinBatt Reply: $aaq0 d- 31.26  9.70 16.69 3.90 3.93 0   -80.88 04:26:59 m

: Sonardyne - POSD response: 
POSD S122.9,N30.2,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.9,N30.2,D-14,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 R287.06

: Sonardyne - parsing R287.06

: Sonardyne - read R = 287.060000 from 287.06

: Sonardyne - got range only (287.060000), tat = 830
: AshtechGps::processRecord() - $GPGGA,215551.00,3636.57263,N,12152.47094,W,1,13,0.8,-4.99,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,215551.00,3636.57263,N,12152.47094,W,1,13,0.8,-4.99,M,-33.21,M,,*7A


: successfully parse sentence at 21:55:51

: AshtechGPS::processRecord -sample time is 1142286951
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - POSD response: 
POSD S121.8,N24.1,D-80,U1,Q0.008592

: Sonardyne - POSD response: 
POSD S121.8,N24.1,D-80,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,215552.00,3636.57232,N,12152.47162,W,1,13,0.8,-5.34,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,215552.00,3636.57232,N,12152.47162,W,1,13,0.8,-5.34,M,-33.21,M,,*73


: successfully parse sentence at 21:55:52

: AshtechGPS::processRecord -sample time is 1142286952
: Sonardyne - POS response: 
POS V4,1 R286.31,X-242.66,Y102.17,Z-112.47

: Sonardyne - parsing R286.31,X-242.66,Y102.17,Z-112.47

: Sonardyne - read R = 286.310000 from 286.31,X-242.66,Y102.17,Z-112.47

: Sonardyne - got all data, Vehicle coordinates,
    r=286.310000, x=112.470000, y=-242.660000, z=-102.170000 tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215553.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215553.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.15,X-237.06,Y122.77,Z-103.02

: Sonardyne - parsing R286.15,X-237.06,Y122.77,Z-103.02

: Sonardyne - read R = 286.150000 from 286.15,X-237.06,Y122.77,Z-103.02

: Sonardyne - got all data, Vehicle coordinates,
    r=286.150000, x=103.020000, y=-237.060000, z=-122.770000 tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215554.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215554.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.96

: Sonardyne - parsing R285.96

: Sonardyne - read R = 285.960000 from 285.96

: Sonardyne - got range only (285.960000), tat = 830
: Sonardyne - POSD response: 
POSD S127.9,N29.3,D-1,U1,Q0.004611

: Sonardyne - POSD response: 
POSD S127.9,N29.3,D-1,U1,Q0.004611

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

: AshtechGps::processRecord() - $GPGGA,215555.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215555.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.73,X-221.14,Y139.32,Z-115.45

: Sonardyne - parsing R285.73,X-221.14,Y139.32,Z-115.45

: Sonardyne - read R = 285.730000 from 285.73,X-221.14,Y139.32,Z-115.45

: Sonardyne - got all data, Vehicle coordinates,
    r=285.730000, x=115.450000, y=-221.140000, z=-139.320000 tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215556.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215556.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.42,X-224.99,Y123.34,Z-125.03

: Sonardyne - parsing R285.42,X-224.99,Y123.34,Z-125.03

: Sonardyne - read R = 285.420000 from 285.42,X-224.99,Y123.34,Z-125.03

: Sonardyne - got all data, Vehicle coordinates,
    r=285.420000, x=125.030000, y=-224.990000, z=-123.340000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215557.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215557.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.92,X-236.01,Y101.20,Z-123.45

: Sonardyne - parsing R284.92,X-236.01,Y101.20,Z-123.45

: Sonardyne - read R = 284.920000 from 284.92,X-236.01,Y101.20,Z-123.45

: Sonardyne - got all data, Vehicle coordinates,
    r=284.920000, x=123.450000, y=-236.010000, z=-101.200000 tat = 860
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215558.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215558.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.49,X-244.99,Y65.07,Z-129.14

: Sonardyne - parsing R284.49,X-244.99,Y65.07,Z-129.14

: Sonardyne - read R = 284.490000 from 284.49,X-244.99,Y65.07,Z-129.14

: Sonardyne - got all data, Vehicle coordinates,
    r=284.490000, x=129.140000, y=-244.990000, z=-65.070000 tat = 860
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215559.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215559.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R284.10,X-246.69,Y57.91,Z-128.46

: Sonardyne - parsing R284.10,X-246.69,Y57.91,Z-128.46

: Sonardyne - read R = 284.100000 from 284.10,X-246.69,Y57.91,Z-128.46

: Sonardyne - got all data, Vehicle coordinates,
    r=284.100000, x=128.460000, y=-246.690000, z=-57.910000 tat = 860
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215600.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215600.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.63,X-249.03,Y56.25,Z-123.55

: Sonardyne - parsing R283.63,X-249.03,Y56.25,Z-123.55

: Sonardyne - read R = 283.630000 from 283.63,X-249.03,Y56.25,Z-123.55

: Sonardyne - got all data, Vehicle coordinates,
    r=283.630000, x=123.550000, y=-249.030000, z=-56.250000 tat = 860
: BluefinBatt Reply: $aaq0 d- 31.23  9.80 16.69 3.91 3.93 0   -81.83 04:27:09 m

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

: AshtechGps::processRecord() - $GPGGA,215601.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215601.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.06

: Sonardyne - parsing R283.06

: Sonardyne - read R = 283.060000 from 283.06

: Sonardyne - got range only (283.060000), tat = 829
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S128.8,N27.6,D6,U1,Q0.011042

: Sonardyne - POSD response: 
POSD S128.8,N27.6,D6,U1,Q0.011042

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

: AshtechGps::processRecord() - $GPGGA,215602.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215602.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.50

: Sonardyne - parsing R282.50

: Sonardyne - read R = 282.500000 from 282.50

: Sonardyne - got range only (282.500000), tat = 830
: Sonardyne - POSD response: 
POSD S130.1,N33.0,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.1,N33.0,D6,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,215603.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215603.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R281.94

: Sonardyne - parsing R281.94

: Sonardyne - read R = 281.940000 from 281.94

: Sonardyne - got range only (281.940000), tat = 830
: Sonardyne - POSD response: 
POSD S127.7,N29.8,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.7,N29.8,D13,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,215604.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215604.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.52

: Sonardyne - parsing R282.52

: Sonardyne - read R = 282.520000 from 282.52

: Sonardyne - got range only (282.520000), tat = 830
: Sonardyne - POSD response: 
POSD S123.4,N25.3,D-41,U1,Q0.007861

: Sonardyne - POSD response: 
POSD S123.4,N25.3,D-41,U1,Q0.007861

: Descend::execute() - Descend terminating on depth 4.010910 > 4.000000 at time 82.594342

: LayeredControl::execute() -- (t = 82.594342) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 82.59                             (wplog)
  The current location (N,E) = 4052142.8      , 600640.7         (wplog)
  The next waypoint          = 4052114.0      , 600516.6         (wplog)
  The bearing to the next w.p. is 256.9 Degrees.

: LayeredControl::execute() -- (t = 82.594342) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,215605.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215605.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.93

: Sonardyne - parsing R280.93

: Sonardyne - read R = 280.930000 from 280.93

: Sonardyne - got range only (280.930000), tat = 820
: Sonardyne - POSD response: 
POSD S124.1,N27.1,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N27.1,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,215606.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215606.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.53,X209.20,Y186.90,Z0.00

: Sonardyne - parsing R280.53,X209.20,Y186.90,Z0.00

: Sonardyne - read R = 280.530000 from 280.53,X209.20,Y186.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=280.530000, x=0.000000, y=209.200000, z=-186.900000 tat = 850
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215607.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215607.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.08

: Sonardyne - parsing R280.08

: Sonardyne - read R = 280.080000 from 280.08

: Sonardyne - got range only (280.080000), tat = 820
: Sonardyne - POSD response: 
POSD S118.6,N18.8,D86,U5,Q0.003327

: Sonardyne - POSD response: 
POSD S118.6,N18.8,D86,U5,Q0.003327

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

: AshtechGps::processRecord() - $GPGGA,215608.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215608.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.41

: Sonardyne - parsing R280.41

: Sonardyne - read R = 280.410000 from 280.41

: Sonardyne - got range only (280.410000), tat = 820
: Sonardyne - POSD response: 
POSD S120.3,N25.0,D66,U1,Q0.005330

: Sonardyne - POSD response: 
POSD S120.3,N25.0,D66,U1,Q0.005330

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

: AshtechGps::processRecord() - $GPGGA,215609.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215609.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.34,X223.79,Y164.58,Z-29.37

: Sonardyne - parsing R279.34,X223.79,Y164.58,Z-29.37

: Sonardyne - read R = 279.340000 from 279.34,X223.79,Y164.58,Z-29.37

: Sonardyne - got all data, Vehicle coordinates,
    r=279.340000, x=29.370000, y=223.790000, z=-164.580000 tat = 850
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215610.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215610.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.22

: Sonardyne - parsing R279.22

: Sonardyne - read R = 279.220000 from 279.22

: Sonardyne - got range only (279.220000), tat = 820
: BluefinBatt Reply: $aaq0 d- 31.23  9.53 16.69 3.91 3.93 0   -82.53 04:27:19 m

: Sonardyne - POSD response: 
POSD S115.5,N21.1,D62,U3,Q0.000430

: Sonardyne - POSD response: 
POSD S115.5,N21.1,D62,U3,Q0.000430

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

: AshtechGps::processRecord() - $GPGGA,215611.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215611.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.08

: Sonardyne - parsing R279.08

: Sonardyne - read R = 279.080000 from 279.08

: Sonardyne - got range only (279.080000), tat = 820
: Sonardyne - POSD response: 
POSD S115.7,N24.6,D82,U1,Q0.000573

: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S115.7,N24.6,D82,U1,Q0.000573

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

: AshtechGps::processRecord() - $GPGGA,215612.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215612.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.70

: Sonardyne - parsing R280.70

: Sonardyne - read R = 280.700000 from 280.70

: Sonardyne - got range only (280.700000), tat = 820
: Sonardyne - POSD response: 
POSD S110.6,N17.8,D117,U2,Q0.006388

: Sonardyne - POSD response: 
POSD S110.6,N17.8,D117,U2,Q0.006388

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

: AshtechGps::processRecord() - $GPGGA,215613.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215613.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.12

: Sonardyne - parsing R280.12

: Sonardyne - read R = 280.120000 from 280.12

: Sonardyne - got range only (280.120000), tat = 830
: Sonardyne - POSD response: 
POSD S115.6,N19.0,D117,U2,Q0.006078

: Sonardyne - POSD response: 
POSD S115.6,N19.0,D117,U2,Q0.006078

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

: AshtechGps::processRecord() - $GPGGA,215614.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215614.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.57

: Sonardyne - parsing R282.57

: Sonardyne - read R = 282.570000 from 282.57

: Sonardyne - got range only (282.570000), tat = 830
: Sonardyne - POSD response: 
POSD S110.1,N27.5,D17,U2,Q0.011835

: Sonardyne - POSD response: 
POSD S110.1,N27.5,D17,U2,Q0.011835

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

: AshtechGps::processRecord() - $GPGGA,215615.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215615.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.66

: Sonardyne - parsing R279.66

: Sonardyne - read R = 279.660000 from 279.66

: Sonardyne - got range only (279.660000), tat = 820
: Sonardyne - POSD response: 
POSD S115.4,N24.8,D-49,U4,Q0.006832

: Sonardyne - POSD response: 
POSD S115.4,N24.8,D-49,U4,Q0.006832

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

: AshtechGps::processRecord() - $GPGGA,215616.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215616.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.63

: Sonardyne - parsing R279.63

: Sonardyne - read R = 279.630000 from 279.63

: Sonardyne - got range only (279.630000), tat = 819
: Sonardyne - POSD response: 
POSD S114.0,N26.9,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.0,N26.9,D13,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,215617.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215617.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.97

: Sonardyne - parsing R279.97

: Sonardyne - read R = 279.970000 from 279.97

: Sonardyne - got range only (279.970000), tat = 820
: Sonardyne - POSD response: 
POSD S111.3,N18.7,D59,U1,Q0.004974

: Sonardyne - POSD response: 
POSD S111.3,N18.7,D59,U1,Q0.004974

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

: AshtechGps::processRecord() - $GPGGA,215618.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215618.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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
: Sonardyne - POSD response: 
POSD S110.8,N18.6,D-74,U1,Q0.003020

: Sonardyne - POSD response: 
POSD S110.8,N18.6,D-74,U1,Q0.003020

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

: AshtechGps::processRecord() - $GPGGA,215619.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215619.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.70

: Sonardyne - parsing R278.70

: Sonardyne - read R = 278.700000 from 278.70

: Sonardyne - got range only (278.700000), tat = 820
: Sonardyne - POSD response: 
POSD S116.4,N27.8,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.4,N27.8,D46,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,215620.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215620.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.82

: Sonardyne - parsing R278.82

: Sonardyne - read R = 278.820000 from 278.82

: BluefinBatt Reply: $aaq0 d- 31.26  9.09 16.79 3.89 3.92 0   -83.52 04:27:29 m

: Sonardyne - got range only (278.820000), tat = 820
: Sonardyne - POSD response: 
POSD S113.7,N23.9,D-101,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.7,N23.9,D-101,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,215621.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215621.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.60

: Sonardyne - parsing R278.60

: Sonardyne - read R = 278.600000 from 278.60

: Sonardyne - got range only (278.600000), tat = 820
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S112.5,N24.6,D39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.5,N24.6,D39,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,215622.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215622.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.81

: Sonardyne - parsing R278.81

: Sonardyne - read R = 278.810000 from 278.81

: Sonardyne - got range only (278.810000), tat = 820
: Sonardyne - POSD response: 
POSD S116.1,N20.7,D90,U2,Q0.008157

: Sonardyne - POSD response: 
POSD S116.1,N20.7,D90,U2,Q0.008157

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

: AshtechGps::processRecord() - $GPGGA,215623.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215623.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.89

: Sonardyne - parsing R278.89

: Sonardyne - read R = 278.890000 from 278.89

: Sonardyne - got range only (278.890000), tat = 820
: Sonardyne - POSD response: 
POSD S113.2,N24.8,D-72,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.2,N24.8,D-72,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,215624.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215624.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.87

: Sonardyne - parsing R278.87

: Sonardyne - read R = 278.870000 from 278.87

: Sonardyne - got range only (278.870000), tat = 820
: Sonardyne - POSD response: 
POSD S110.6,N19.8,D116,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S110.6,N19.8,D116,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,215625.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215625.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.86

: Sonardyne - parsing R278.86

: Sonardyne - read R = 278.860000 from 278.86

: Sonardyne - got range only (278.860000), tat = 820
: Sonardyne - POSD response: 
POSD S114.0,N20.9,D93,U2,Q0.014615

: Sonardyne - POSD response: 
POSD S114.0,N20.9,D93,U2,Q0.014615

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

: AshtechGps::processRecord() - $GPGGA,215626.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215626.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.76

: Sonardyne - parsing R278.76

: Sonardyne - read R = 278.760000 from 278.76

: Sonardyne - got range only (278.760000), tat = 820
: Sonardyne - POSD response: 
POSD S109.5,N22.0,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.5,N22.0,D6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,215627.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215627.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.89

: Sonardyne - parsing R278.89

: Sonardyne - read R = 278.890000 from 278.89

: Sonardyne - got range only (278.890000), tat = 820
: Sonardyne - POSD response: 
POSD S113.5,N23.2,D55,U4,Q0.015043

: Sonardyne - POSD response: 
POSD S113.5,N23.2,D55,U4,Q0.015043

: AshtechGps::processRecord() - $GPGGA,215628.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215628.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.70,X-218.29,Y-173.28,Z0.00

: Sonardyne - parsing R278.70,X-218.29,Y-173.28,Z0.00

: Sonardyne - read R = 278.700000 from 278.70,X-218.29,Y-173.28,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=278.700000, x=0.000000, y=-218.290000, z=173.280000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215629.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215629.00,,,,,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 R278.25

: Sonardyne - parsing R278.25

: Sonardyne - read R = 278.250000 from 278.25

: Sonardyne - got range only (278.250000), tat = 820
: Sonardyne - POSD response: 
POSD S109.5,N17.0,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.5,N17.0,D-32,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215630.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215630.00,,,,,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 R278.06

: Sonardyne - parsing R278.06

: Sonardyne - read R = 278.060000 from 278.06

: Sonardyne - got range only (278.060000), tat = 819
: BluefinBatt Reply: $aaq0 d- 31.26  8.99 16.79 3.89 3.92 0   -84.18 04:27:39 m

: Sonardyne - POSD response: 
POSD S107.7,N16.3,D-132,U5,Q0.004281

: Sonardyne - POSD response: 
POSD S107.7,N16.3,D-132,U5,Q0.004281

: AshtechGps::processRecord() - $GPGGA,215631.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215631.00,,,,,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 R277.90

: Sonardyne - parsing R277.90

: Sonardyne - read R = 277.900000 from 277.90

: Sonardyne - got range only (277.900000), tat = 820
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S110.0,N23.0,D27,U5,Q0.002792

: Sonardyne - POSD response: 
POSD S110.0,N23.0,D27,U5,Q0.002792

: AshtechGps::processRecord() - $GPGGA,215632.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215632.00,,,,,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 R281.42

: Sonardyne - parsing R281.42

: Sonardyne - read R = 281.420000 from 281.42

: Sonardyne - got range only (281.420000), tat = 830
: Sonardyne - POSD response: 
POSD S111.8,N26.2,D-40,U1,Q0.008886

: Sonardyne - POSD response: 
POSD S111.8,N26.2,D-40,U1,Q0.008886

: AshtechGps::processRecord() - $GPGGA,215633.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215633.00,,,,,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 R278.76,X211.23,Y181.90,Z0.00

: Sonardyne - parsing R278.76,X211.23,Y181.90,Z0.00

: Sonardyne - read R = 278.760000 from 278.76,X211.23,Y181.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=278.760000, x=0.000000, y=211.230000, z=-181.900000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215634.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215634.00,,,,,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 R278.82,X210.77,Y182.53,Z0.00

: Sonardyne - parsing R278.82,X210.77,Y182.53,Z0.00

: Sonardyne - read R = 278.820000 from 278.82,X210.77,Y182.53,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=278.820000, x=0.000000, y=210.770000, z=-182.530000 tat = 840
: AshtechGps::processRecord() - $GPGGA,215635.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215635.00,,,,,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 R279.11,X208.26,Y185.83,Z0.00

: Sonardyne - parsing R279.11,X208.26,Y185.83,Z0.00

: Sonardyne - read R = 279.110000 from 279.11,X208.26,Y185.83,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=279.110000, x=0.000000, y=208.260000, z=-185.830000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215636.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215636.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.29

: Sonardyne - parsing R283.29

: Sonardyne - read R = 283.290000 from 283.29

: Sonardyne - got range only (283.290000), tat = 830
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S106.2,N21.7,D14,U5,Q0.006790

: Sonardyne - POSD response: 
POSD S106.2,N21.7,D14,U5,Q0.006790

: AshtechGps::processRecord() - $GPGGA,215637.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215637.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.86

: Sonardyne - parsing R279.86

: Sonardyne - read R = 279.860000 from 279.86

: Sonardyne - got range only (279.860000), tat = 820
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S106.3,N20.3,D115,U3,Q0.008388

: Sonardyne - POSD response: 
POSD S106.3,N20.3,D115,U3,Q0.008388

: AshtechGps::processRecord() - $GPGGA,215638.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215638.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.28

: Sonardyne - parsing R278.28

: Sonardyne - read R = 278.280000 from 278.28

: Sonardyne - got range only (278.280000), tat = 820
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S109.2,N15.7,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.2,N15.7,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215639.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215639.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.37

: Sonardyne - parsing R278.37

: Sonardyne - read R = 278.370000 from 278.37

: Sonardyne - got range only (278.370000), tat = 820
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S112.3,N18.2,D23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.3,N18.2,D23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215640.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215640.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.49

: Sonardyne - parsing R278.49

: Sonardyne - read R = 278.490000 from 278.49

: Sonardyne - got range only (278.490000), 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- 31.23  9.67 16.79 3.90 3.92 0   -85.09 04:27:49 m

: Sonardyne - POSD response: 
POSD S118.0,N22.4,D28,U2,Q0.010448

: Sonardyne - POSD response: 
POSD S118.0,N22.4,D28,U2,Q0.010448

: AshtechGps::processRecord() - $GPGGA,215641.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215641.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.70

: Sonardyne - parsing R278.70

: Sonardyne - read R = 278.700000 from 278.70

: Sonardyne - got range only (278.700000), 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 3.900000, mean min cell voltage 3.900000

: Sonardyne - POSD response: 
POSD S118.6,N23.8,D32,U3,Q0.009360

: Sonardyne - POSD response: 
POSD S118.6,N23.8,D32,U3,Q0.009360

: AshtechGps::processRecord() - $GPGGA,215642.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215642.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.83,X209.38,Y-89.85,Z-160.74

: Sonardyne - parsing R278.83,X209.38,Y-89.85,Z-160.74

: Sonardyne - read R = 278.830000 from 278.83,X209.38,Y-89.85,Z-160.74

: Sonardyne - got all data, Vehicle coordinates,
    r=278.830000, x=160.740000, y=209.380000, z=89.850000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215643.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215643.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.78,X208.08,Y-90.16,Z-162.14

: Sonardyne - parsing R278.78,X208.08,Y-90.16,Z-162.14

: Sonardyne - read R = 278.780000 from 278.78,X208.08,Y-90.16,Z-162.14

: Sonardyne - got all data, Vehicle coordinates,
    r=278.780000, x=162.140000, y=208.080000, z=90.160000 tat = 850
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215644.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215644.00,,,,,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 R278.57,X208.33,Y-90.70,Z-161.16

: Sonardyne - parsing R278.57,X208.33,Y-90.70,Z-161.16

: Sonardyne - read R = 278.570000 from 278.57,X208.33,Y-90.70,Z-161.16

: Sonardyne - got all data, Vehicle coordinates,
    r=278.570000, x=161.160000, y=208.330000, z=90.700000 tat = 900
: AshtechGps::processRecord() - $GPGGA,215645.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215645.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.59,X212.53,Y-79.52,Z-161.61

: Sonardyne - parsing R278.59,X212.53,Y-79.52,Z-161.61

: Sonardyne - read R = 278.590000 from 278.59,X212.53,Y-79.52,Z-161.61

: Sonardyne - got all data, Vehicle coordinates,
    r=278.590000, x=161.610000, y=212.530000, z=79.520000 tat = 849
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215646.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215646.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.85,X213.09,Y-76.50,Z-162.77

: Sonardyne - parsing R278.85,X213.09,Y-76.50,Z-162.77

: Sonardyne - read R = 278.850000 from 278.85,X213.09,Y-76.50,Z-162.77

: Sonardyne - got all data, Vehicle coordinates,
    r=278.850000, x=162.770000, y=213.090000, z=76.500000 tat = 850
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215647.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215647.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.23,X211.64,Y-81.80,Z-162.74

: Sonardyne - parsing R279.23,X211.64,Y-81.80,Z-162.74

: Sonardyne - read R = 279.230000 from 279.23,X211.64,Y-81.80,Z-162.74

: Sonardyne - got all data, Vehicle coordinates,
    r=279.230000, x=162.740000, y=211.640000, z=81.800000 tat = 850
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215648.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215648.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.38,X208.94,Y-84.82,Z-164.93

: Sonardyne - parsing R279.38,X208.94,Y-84.82,Z-164.93

: Sonardyne - read R = 279.380000 from 279.38,X208.94,Y-84.82,Z-164.93

: Sonardyne - got all data, Vehicle coordinates,
    r=279.380000, x=164.930000, y=208.940000, z=84.820000 tat = 850
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215649.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215649.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.45,X207.06,Y-85.88,Z-166.85

: Sonardyne - parsing R279.45,X207.06,Y-85.88,Z-166.85

: Sonardyne - read R = 279.450000 from 279.45,X207.06,Y-85.88,Z-166.85

: Sonardyne - got all data, Vehicle coordinates,
    r=279.450000, x=166.850000, y=207.060000, z=85.880000 tat = 850
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215650.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215650.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.59

: Sonardyne - parsing R279.59

: Sonardyne - read R = 279.590000 from 279.59

: Sonardyne - got range only (279.590000), tat = 820
: BluefinBatt Reply: $aaq0 d- 31.30  8.05 16.79 3.90 3.92 0   -85.71 04:27:59 m

: Sonardyne - POSD response: 
POSD S112.8,N20.5,D-68,U3,Q0.001042

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

: Sonardyne - POSD response: 
POSD S112.8,N20.5,D-68,U3,Q0.001042

: AshtechGps::processRecord() - $GPGGA,215651.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215651.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.70,X203.27,Y-97.59,Z-165.50

: Sonardyne - parsing R279.70,X203.27,Y-97.59,Z-165.50

: Sonardyne - read R = 279.700000 from 279.70,X203.27,Y-97.59,Z-165.50

: Sonardyne - got all data, Vehicle coordinates,
    r=279.700000, x=165.500000, y=203.270000, z=97.590000 tat = 850
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,215652.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215652.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.75

: Sonardyne - parsing R282.75

: Sonardyne - read R = 282.750000 from 282.75

: Sonardyne - got range only (282.750000), tat = 830
: Sonardyne - POSD response: 
POSD S111.8,N18.7,D2,U3,Q0.001271

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

: Sonardyne - POSD response: 
POSD S111.8,N18.7,D2,U3,Q0.001271

: AshtechGps::processRecord() - $GPGGA,215653.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215653.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R280.34

: Sonardyne - parsing R280.34

: Sonardyne - read R = 280.340000 from 280.34

: Sonardyne - got range only (280.340000), tat = 820
: Sonardyne - POSD response: 
POSD S113.0,N20.4,D25,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S113.0,N20.4,D25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215654.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215654.00,,,,,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,215655.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215655.00,,,,,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,215656.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215656.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,215657.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215657.00,,,,,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 R281.18

: Sonardyne - parsing R281.18

: Sonardyne - read R = 281.180000 from 281.18

: Sonardyne - got range only (281.180000), tat = 820
: Sonardyne - POSD response: 
POSD S114.5,N19.6,D-78,U1,Q0.013255

: Sonardyne - POSD response: 
POSD S114.5,N19.6,D-78,U1,Q0.013255

: AshtechGps::processRecord() - $GPGGA,215658.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215658.00,,,,,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 R281.84

: Sonardyne - parsing R281.84

: Sonardyne - read R = 281.840000 from 281.84

: Sonardyne - got range only (281.840000), tat = 830
: Sonardyne - POSD response: 
POSD S112.4,N16.4,D-91,U2,Q0.001000

: Sonardyne - POSD response: 
POSD S112.4,N16.4,D-91,U2,Q0.001000

: AshtechGps::processRecord() - $GPGGA,215659.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215659.00,,,,,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 R281.55

: Sonardyne - parsing R281.55

: Sonardyne - read R = 281.550000 from 281.55

: Sonardyne - got range only (281.550000), tat = 829
: Sonardyne - POSD response: 
POSD S117.0,N22.0,D-107,U4,Q0.006343

: Sonardyne - POSD response: 
POSD S117.0,N22.0,D-107,U4,Q0.006343

: AshtechGps::processRecord() - $GPGGA,215700.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215700.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  9.53 16.79 3.90 3.92 0   -86.61 04:28:09 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 R281.24

: Sonardyne - parsing R281.24

: Sonardyne - read R = 281.240000 from 281.24

: Sonardyne - got range only (281.240000), tat = 830
: Sonardyne - POSD response: 
POSD S115.2,N20.0,D16,U2,Q0.003236

: Sonardyne - POSD response: 
POSD S115.2,N20.0,D16,U2,Q0.003236

: AshtechGps::processRecord() - $GPGGA,215701.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215701.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

:  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 R283.16

: Sonardyne - parsing R283.16

: Sonardyne - read R = 283.160000 from 283.16

: Sonardyne - got range only (283.160000), tat = 830
: Sonardyne - POSD response: 
POSD S108.0,N28.1,D50,U3,Q0.003683

: Sonardyne - POSD response: 
POSD S108.0,N28.1,D50,U3,Q0.003683

: AshtechGps::processRecord() - $GPGGA,215702.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215702.00,,,,,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 R283.10

: Sonardyne - parsing R283.10

: Sonardyne - read R = 283.100000 from 283.10

: Sonardyne - got range only (283.100000), tat = 830
: Sonardyne - POSD response: 
POSD S116.3,N23.7,D36,U3,Q0.001122

: Sonardyne - POSD response: 
POSD S116.3,N23.7,D36,U3,Q0.001122

: AshtechGps::processRecord() - $GPGGA,215703.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215703.00,,,,,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 R288.42

: Sonardyne - parsing R288.42

: Sonardyne - read R = 288.420000 from 288.42

: Sonardyne - got range only (288.420000), tat = 830
: Sonardyne - POSD response: 
POSD S106.9,N21.1,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S106.9,N21.1,D-32,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215704.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215704.00,,,,,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 R284.61

: Sonardyne - parsing R284.61

: Sonardyne - read R = 284.610000 from 284.61

: Sonardyne - got range only (284.610000), tat = 830
: Sonardyne - POSD response: 
POSD S117.0,N22.6,D-80,U4,Q0.005337

: Sonardyne - POSD response: 
POSD S117.0,N22.6,D-80,U4,Q0.005337

: AshtechGps::processRecord() - $GPGGA,215705.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215705.00,,,,,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 R284.41

: Sonardyne - parsing R284.41

: Sonardyne - read R = 284.410000 from 284.41

: Sonardyne - got range only (284.410000), tat = 830
: Sonardyne - POSD response: 
POSD S108.3,N19.7,D-68,U3,Q0.002682

: Sonardyne - POSD response: 
POSD S108.3,N19.7,D-68,U3,Q0.002682

: AshtechGps::processRecord() - $GPGGA,215706.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215706.00,,,,,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 R285.43

: Sonardyne - parsing R285.43

: Sonardyne - read R = 285.430000 from 285.43

: Sonardyne - got range only (285.430000), tat = 830
: Sonardyne - POSD response: 
POSD S115.0,N28.9,D-21,U1,Q0.019439

: Sonardyne - POSD response: 
POSD S115.0,N28.9,D-21,U1,Q0.019439

: AshtechGps::processRecord() - $GPGGA,215707.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215707.00,,,,,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 R283.57

: Sonardyne - parsing R283.57

: Sonardyne - read R = 283.570000 from 283.57

: Sonardyne - got range only (283.570000), tat = 830
: Sonardyne - POSD response: 
POSD S114.3,N18.6,D-77,U2,Q0.004051

: Sonardyne - POSD response: 
POSD S114.3,N18.6,D-77,U2,Q0.004051

: AshtechGps::processRecord() - $GPGGA,215708.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215708.00,,,,,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 R283.86

: Sonardyne - parsing R283.86

: Sonardyne - read R = 283.860000 from 283.86

: Sonardyne - got range only (283.860000), tat = 830
: Sonardyne - POSD response: 
POSD S115.2,N18.7,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.2,N18.7,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215709.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215709.00,,,,,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 R284.23,X213.04,Y-93.15,Z-163.47

: Sonardyne - parsing R284.23,X213.04,Y-93.15,Z-163.47

: Sonardyne - read R = 284.230000 from 284.23,X213.04,Y-93.15,Z-163.47

: Sonardyne - got all data, Vehicle coordinates,
    r=284.230000, x=163.470000, y=213.040000, z=93.150000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215710.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215710.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.86 16.79 3.90 3.92 0   -87.24 04:28:19 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 R284.72,X212.67,Y-99.66,Z-160.95

: Sonardyne - parsing R284.72,X212.67,Y-99.66,Z-160.95

: Sonardyne - read R = 284.720000 from 284.72,X212.67,Y-99.66,Z-160.95

: Sonardyne - got all data, Vehicle coordinates,
    r=284.720000, x=160.950000, y=212.670000, z=99.660000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215711.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215711.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

:  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 R285.29,X215.55,Y-94.35,Z-161.32

: Sonardyne - parsing R285.29,X215.55,Y-94.35,Z-161.32

: Sonardyne - read R = 285.290000 from 285.29,X215.55,Y-94.35,Z-161.32

: Sonardyne - got all data, Vehicle coordinates,
    r=285.290000, x=161.320000, y=215.550000, z=94.350000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215712.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215712.00,,,,,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 R285.77

: Sonardyne - parsing R285.77

: Sonardyne - read R = 285.770000 from 285.77

: Sonardyne - got range only (285.770000), tat = 830
: Sonardyne - POSD response: 
POSD S118.7,N23.6,D65,U4,Q0.005234

: Sonardyne - POSD response: 
POSD S118.7,N23.6,D65,U4,Q0.005234

: AshtechGps::processRecord() - $GPGGA,215713.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215713.00,,,,,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 R286.27

: Sonardyne - parsing R286.27

: Sonardyne - read R = 286.270000 from 286.27

: Sonardyne - got range only (286.270000), tat = 830
: Sonardyne - POSD response: 
POSD S118.6,N24.5,D41,U4,Q0.013083

: Sonardyne - POSD response: 
POSD S118.6,N24.5,D41,U4,Q0.013083

: AshtechGps::processRecord() - $GPGGA,215714.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215714.00,,,,,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 R286.72

: Sonardyne - parsing R286.72

: Sonardyne - read R = 286.720000 from 286.72

: Sonardyne - got range only (286.720000), tat = 829
: Sonardyne - POSD response: 
POSD S115.6,N26.4,D53,U2,Q0.011791

: Sonardyne - POSD response: 
POSD S115.6,N26.4,D53,U2,Q0.011791

: AshtechGps::processRecord() - $GPGGA,215715.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215715.00,,,,,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 R287.16,X213.99,Y-98.43,Z-164.26

: Sonardyne - parsing R287.16,X213.99,Y-98.43,Z-164.26

: Sonardyne - read R = 287.160000 from 287.16,X213.99,Y-98.43,Z-164.26

: Sonardyne - got all data, Vehicle coordinates,
    r=287.160000, x=164.260000, y=213.990000, z=98.430000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215716.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215716.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,215717.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215717.00,,,,,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,215718.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215718.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,215719.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215719.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,215720.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215720.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.79 16.79 3.89 3.92 0   -88.15 04:28:29 m

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

: AshtechGps::processRecord() - $GPGGA,215721.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215721.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,215722.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215722.00,,,,,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,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

:  Waypoint has set the state to finished.

: Waypoint (4052114.0, 600516.6), 
  reached at t = 160.60                                          (wplog)

: Vehicle Position is error is (-0.4, 0.2)

: LayeredControl::execute() -- (t = 160.598998) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 160.60                            (wplog)
  The current location (N,E) = 4052114.4      , 600516.4         (wplog)
  The next waypoint          = 4052024.7      , 600561.5         (wplog)
  The bearing to the next w.p. is 153.3 Degrees.

: LayeredControl::execute() -- (t = 160.608998) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,215723.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215723.00,,,,,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 R290.34

: Sonardyne - parsing R290.34

: Sonardyne - read R = 290.340000 from 290.34

: Sonardyne - got range only (290.340000), tat = 840
: Sonardyne - POSD response: 
POSD S122.0,N32.0,D2,U3,Q0.006224

: Sonardyne - POSD response: 
POSD S122.0,N32.0,D2,U3,Q0.006224

: AshtechGps::processRecord() - $GPGGA,215724.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215724.00,,,,,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 R291.08

: Sonardyne - parsing R291.08

: Sonardyne - read R = 291.080000 from 291.08

: Sonardyne - got range only (291.080000), tat = 840
: Sonardyne - POSD response: 
POSD S116.0,N25.0,D-68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.0,N25.0,D-68,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215725.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215725.00,,,,,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 R296.22

: Sonardyne - parsing R296.22

: Sonardyne - read R = 296.220000 from 296.22

: Sonardyne - got range only (296.220000), tat = 850
: Sonardyne - POSD response: 
POSD S104.5,N16.6,D-20,U1,Q0.011384

: Sonardyne - POSD response: 
POSD S104.5,N16.6,D-20,U1,Q0.011384

: AshtechGps::processRecord() - $GPGGA,215726.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215726.00,,,,,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 R291.64

: Sonardyne - parsing R291.64

: Sonardyne - read R = 291.640000 from 291.64

: Sonardyne - got range only (291.640000), tat = 840
: Sonardyne - POSD response: 
POSD S114.0,N21.6,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.0,N21.6,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215727.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215727.00,,,,,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 R290.75

: Sonardyne - parsing R290.75

: Sonardyne - read R = 290.750000 from 290.75

: Sonardyne - got range only (290.750000), tat = 840
: Sonardyne - POSD response: 
POSD S112.9,N24.2,D9,U2,Q0.018262

: Sonardyne - POSD response: 
POSD S112.9,N24.2,D9,U2,Q0.018262

: AshtechGps::processRecord() - $GPGGA,215728.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215728.00,,,,,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 R290.17

: Sonardyne - parsing R290.17

: Sonardyne - read R = 290.170000 from 290.17

: Sonardyne - got range only (290.170000), tat = 839
: Sonardyne - POSD response: 
POSD S124.2,N26.3,D-50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.2,N26.3,D-50,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215729.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215729.00,,,,,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 R289.54,X-243.63,Y48.44,Z-148.77

: Sonardyne - parsing R289.54,X-243.63,Y48.44,Z-148.77

: Sonardyne - read R = 289.540000 from 289.54,X-243.63,Y48.44,Z-148.77

: Sonardyne - got all data, Vehicle coordinates,
    r=289.540000, x=148.770000, y=-243.630000, z=-48.440000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215730.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215730.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  8.08 16.79 3.89 3.92 0   -88.77 04:28:39 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 R288.89,X-209.20,Y44.80,Z-194.12

: Sonardyne - parsing R288.89,X-209.20,Y44.80,Z-194.12

: Sonardyne - read R = 288.890000 from 288.89,X-209.20,Y44.80,Z-194.12

: Sonardyne - got all data, Vehicle coordinates,
    r=288.890000, x=194.120000, y=-209.200000, z=-44.800000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215731.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215731.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R288.17,X-162.71,Y35.17,Z-235.23

: Sonardyne - parsing R288.17,X-162.71,Y35.17,Z-235.23

: Sonardyne - read R = 288.170000 from 288.17,X-162.71,Y35.17,Z-235.23

: Sonardyne - got all data, Vehicle coordinates,
    r=288.170000, x=235.230000, y=-162.710000, z=-35.170000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215732.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215732.00,,,,,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 R287.25,X-114.60,Y26.72,Z-262.04

: Sonardyne - parsing R287.25,X-114.60,Y26.72,Z-262.04

: Sonardyne - read R = 287.250000 from 287.25,X-114.60,Y26.72,Z-262.04

: Sonardyne - got all data, Vehicle coordinates,
    r=287.250000, x=262.040000, y=-114.600000, z=-26.720000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215733.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215733.00,,,,,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 R286.13,X-56.98,Y17.04,Z-279.88

: Sonardyne - parsing R286.13,X-56.98,Y17.04,Z-279.88

: Sonardyne - read R = 286.130000 from 286.13,X-56.98,Y17.04,Z-279.88

: Sonardyne - got all data, Vehicle coordinates,
    r=286.130000, x=279.880000, y=-56.980000, z=-17.040000 tat = 860
: AshtechGps::processRecord() - $GPGGA,215734.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215734.00,,,,,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 R284.98,X-5.04,Y6.59,Z-284.86

: Sonardyne - parsing R284.98,X-5.04,Y6.59,Z-284.86

: Sonardyne - read R = 284.980000 from 284.98,X-5.04,Y6.59,Z-284.86

: Sonardyne - got all data, Vehicle coordinates,
    r=284.980000, x=284.860000, y=-5.040000, z=-6.590000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215735.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215735.00,,,,,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 R283.85,X42.90,Y7.52,Z-280.49

: Sonardyne - parsing R283.85,X42.90,Y7.52,Z-280.49

: Sonardyne - read R = 283.850000 from 283.85,X42.90,Y7.52,Z-280.49

: Sonardyne - got all data, Vehicle coordinates,
    r=283.850000, x=280.490000, y=42.900000, z=-7.520000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215736.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215736.00,,,,,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 R282.82,X96.19,Y-12.70,Z-265.65

: Sonardyne - parsing R282.82,X96.19,Y-12.70,Z-265.65

: Sonardyne - read R = 282.820000 from 282.82,X96.19,Y-12.70,Z-265.65

: Sonardyne - got all data, Vehicle coordinates,
    r=282.820000, x=265.650000, y=96.190000, z=12.700000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215737.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215737.00,,,,,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 R290.31

: Sonardyne - parsing R290.31

: Sonardyne - read R = 290.310000 from 290.31

: Sonardyne - got range only (290.310000), tat = 840
: Sonardyne - POSD response: 
POSD S120.7,N18.9,D43,U1,Q0.007820

: Sonardyne - POSD response: 
POSD S120.7,N18.9,D43,U1,Q0.007820

: AshtechGps::processRecord() - $GPGGA,215738.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215738.00,,,,,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 R281.11

: Sonardyne - parsing R281.11

: Sonardyne - read R = 281.110000 from 281.11

: Sonardyne - got range only (281.110000), tat = 830
: Sonardyne - POSD response: 
POSD S139.3,N33.5,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.3,N33.5,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215739.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215739.00,,,,,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 R280.17

: Sonardyne - parsing R280.17

: Sonardyne - read R = 280.170000 from 280.17

: Sonardyne - got range only (280.170000), tat = 820
: Sonardyne - POSD response: 
POSD S138.5,N29.6,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.5,N29.6,D-27,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215740.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215740.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19 10.44 16.79 3.90 3.92 0   -89.70 04:28:49 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 R279.18

: Sonardyne - parsing R279.18

: Sonardyne - read R = 279.180000 from 279.18

: Sonardyne - got range only (279.180000), tat = 820
: Sonardyne - POSD response: 
POSD S135.9,N29.1,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.9,N29.1,D-46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215741.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215741.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

:  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 R278.44

: Sonardyne - parsing R278.44

: Sonardyne - read R = 278.440000 from 278.44

: Sonardyne - got range only (278.440000), tat = 820
: Sonardyne - POSD response: 
POSD S135.1,N33.5,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.1,N33.5,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215742.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215742.00,,,,,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 R277.93

: Sonardyne - parsing R277.93

: Sonardyne - read R = 277.930000 from 277.93

: Sonardyne - got range only (277.930000), tat = 820
: Sonardyne - POSD response: 
POSD S131.8,N30.1,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.8,N30.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215743.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215743.00,,,,,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 R277.42

: Sonardyne - parsing R277.42

: Sonardyne - read R = 277.420000 from 277.42

: Sonardyne - got range only (277.420000), tat = 819
: Sonardyne - POSD response: 
POSD S132.6,N27.9,D-37,U1,Q0.008886

: Sonardyne - POSD response: 
POSD S132.6,N27.9,D-37,U1,Q0.008886

: AshtechGps::processRecord() - $GPGGA,215744.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215744.00,,,,,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 R276.64

: Sonardyne - parsing R276.64

: Sonardyne - read R = 276.640000 from 276.64

: Sonardyne - got range only (276.640000), tat = 820
: Sonardyne - POSD response: 
POSD S132.0,N26.8,D-56,U1,Q0.009055

: Sonardyne - POSD response: 
POSD S132.0,N26.8,D-56,U1,Q0.009055

: AshtechGps::processRecord() - $GPGGA,215745.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215745.00,,,,,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 R275.50

: Sonardyne - parsing R275.50

: Sonardyne - read R = 275.500000 from 275.50

: Sonardyne - got range only (275.500000), tat = 820
: Sonardyne - POSD response: 
POSD S132.4,N30.3,D-2,U4,Q0.007647

: Sonardyne - POSD response: 
POSD S132.4,N30.3,D-2,U4,Q0.007647

: AshtechGps::processRecord() - $GPGGA,215746.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215746.00,,,,,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 R274.13

: Sonardyne - parsing R274.13

: Sonardyne - read R = 274.130000 from 274.13

: Sonardyne - got range only (274.130000), tat = 820
: Sonardyne - POSD response: 
POSD S130.6,N29.0,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N29.0,D33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215747.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215747.00,,,,,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 R272.88,X163.96,Y17.72,Z-217.41

: Sonardyne - parsing R272.88,X163.96,Y17.72,Z-217.41

: Sonardyne - read R = 272.880000 from 272.88,X163.96,Y17.72,Z-217.41

: Sonardyne - got all data, Vehicle coordinates,
    r=272.880000, x=217.410000, y=163.960000, z=-17.720000 tat = 840
: AshtechGps::processRecord() - $GPGGA,215748.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215748.00,,,,,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 R271.67,X156.27,Y32.40,Z-219.85

: Sonardyne - parsing R271.67,X156.27,Y32.40,Z-219.85

: Sonardyne - read R = 271.670000 from 271.67,X156.27,Y32.40,Z-219.85

: Sonardyne - got all data, Vehicle coordinates,
    r=271.670000, x=219.850000, y=156.270000, z=-32.400000 tat = 840
: AshtechGps::processRecord() - $GPGGA,215749.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215749.00,,,,,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 R270.59,X150.44,Y33.71,Z-222.37

: Sonardyne - parsing R270.59,X150.44,Y33.71,Z-222.37

: Sonardyne - read R = 270.590000 from 270.59,X150.44,Y33.71,Z-222.37

: Sonardyne - got all data, Vehicle coordinates,
    r=270.590000, x=222.370000, y=150.440000, z=-33.710000 tat = 840
: AshtechGps::processRecord() - $GPGGA,215750.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215750.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  9.67 16.79 3.90 3.92 0   -90.37 04:28:59 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 R269.55,X143.76,Y30.49,Z-225.97

: Sonardyne - parsing R269.55,X143.76,Y30.49,Z-225.97

: Sonardyne - read R = 269.550000 from 269.55,X143.76,Y30.49,Z-225.97

: Sonardyne - got all data, Vehicle coordinates,
    r=269.550000, x=225.970000, y=143.760000, z=-30.490000 tat = 840
: AshtechGps::processRecord() - $GPGGA,215751.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215751.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

:  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 R268.54,X139.02,Y46.53,Z-224.99

: Sonardyne - parsing R268.54,X139.02,Y46.53,Z-224.99

: Sonardyne - read R = 268.540000 from 268.54,X139.02,Y46.53,Z-224.99

: Sonardyne - got all data, Vehicle coordinates,
    r=268.540000, x=224.990000, y=139.020000, z=-46.530000 tat = 830
: AshtechGps::processRecord() - $GPGGA,215752.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215752.00,,,,,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 R267.47

: Sonardyne - parsing R267.47

: Sonardyne - read R = 267.470000 from 267.47

: Sonardyne - got range only (267.470000), tat = 810
: Sonardyne - POSD response: 
POSD S134.9,N23.3,D-91,U5,Q0.004208

: Sonardyne - POSD response: 
POSD S134.9,N23.3,D-91,U5,Q0.004208

: AshtechGps::processRecord() - $GPGGA,215753.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215753.00,,,,,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 R266.23

: Sonardyne - parsing R266.23

: Sonardyne - read R = 266.230000 from 266.23

: Sonardyne - got range only (266.230000), tat = 810
: Sonardyne - POSD response: 
POSD S127.7,N17.3,D29,U2,Q0.004184

: Sonardyne - POSD response: 
POSD S127.7,N17.3,D29,U2,Q0.004184

: AshtechGps::processRecord() - $GPGGA,215754.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,215754.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R266.29,X108.96,Y-2.61,Z-242.96

: Sonardyne - parsing R266.29,X108.96,Y-2.61,Z-242.96

: Sonardyne - read R = 266.290000 from 266.29,X108.96,Y-2.61,Z-242.96

: Sonardyne - got all data, Vehicle coordinates,
    r=266.290000, x=242.960000, y=108.960000, z=2.610000 tat = 830
: AshtechGps::processRecord() - $GPGGA,215755.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,215755.00,,,,,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 R262.99,X100.65,Y17.34,Z-242.35

: Sonardyne - parsing R262.99,X100.65,Y17.34,Z-242.35

: Sonardyne - read R = 262.990000 from 262.99,X100.65,Y17.34,Z-242.35

: Sonardyne - got all data, Vehicle coordinates,
    r=262.990000, x=242.350000, y=100.650000, z=-17.340000 tat = 830
: AshtechGps::processRecord() - $GPGGA,215756.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215756.00,,,,,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 R261.71,X93.80,Y12.63,Z-243.99

: Sonardyne - parsing R261.71,X93.80,Y12.63,Z-243.99

: Sonardyne - read R = 261.710000 from 261.71,X93.80,Y12.63,Z-243.99

: Sonardyne - got all data, Vehicle coordinates,
    r=261.710000, x=243.990000, y=93.800000, z=-12.630000 tat = 820
: AshtechGps::processRecord() - $GPGGA,215757.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215757.00,,,,,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 R260.24,X88.74,Y20.60,Z-243.77

: Sonardyne - parsing R260.24,X88.74,Y20.60,Z-243.77

: Sonardyne - read R = 260.240000 from 260.24,X88.74,Y20.60,Z-243.77

: Sonardyne - got all data, Vehicle coordinates,
    r=260.240000, x=243.770000, y=88.740000, z=-20.600000 tat = 820
: AshtechGps::processRecord() - $GPGGA,215758.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215758.00,,,,,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 R258.80,X85.24,Y21.55,Z-243.41

: Sonardyne - parsing R258.80,X85.24,Y21.55,Z-243.41

: Sonardyne - read R = 258.800000 from 258.80,X85.24,Y21.55,Z-243.41

: Sonardyne - got all data, Vehicle coordinates,
    r=258.800000, x=243.410000, y=85.240000, z=-21.550000 tat = 820
: AshtechGps::processRecord() - $GPGGA,215759.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215759.00,,,,,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 R257.30,X80.86,Y19.64,Z-243.47

: Sonardyne - parsing R257.30,X80.86,Y19.64,Z-243.47

: Sonardyne - read R = 257.300000 from 257.30,X80.86,Y19.64,Z-243.47

: Sonardyne - got all data, Vehicle coordinates,
    r=257.300000, x=243.470000, y=80.860000, z=-19.640000 tat = 820
: AshtechGps::processRecord() - $GPGGA,215800.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215800.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.99 16.79 3.89 3.92 0   -91.34 04:29:09 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 R258.93,X72.37,Y-2.32,Z-248.60

: Sonardyne - parsing R258.93,X72.37,Y-2.32,Z-248.60

: Sonardyne - read R = 258.930000 from 258.93,X72.37,Y-2.32,Z-248.60

: Sonardyne - got all data, Vehicle coordinates,
    r=258.930000, x=248.600000, y=72.370000, z=2.320000 tat = 820
: AshtechGps::processRecord() - $GPGGA,215801.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215801.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R254.18,X69.14,Y19.67,Z-243.80

: Sonardyne - parsing R254.18,X69.14,Y19.67,Z-243.80

: Sonardyne - read R = 254.180000 from 254.18,X69.14,Y19.67,Z-243.80

: Sonardyne - got all data, Vehicle coordinates,
    r=254.180000, x=243.800000, y=69.140000, z=-19.670000 tat = 810
: AshtechGps::processRecord() - $GPGGA,215802.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215802.00,,,,,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 R252.79,X65.74,Y18.00,Z-243.42

: Sonardyne - parsing R252.79,X65.74,Y18.00,Z-243.42

: Sonardyne - read R = 252.790000 from 252.79,X65.74,Y18.00,Z-243.42

: Sonardyne - got all data, Vehicle coordinates,
    r=252.790000, x=243.420000, y=65.740000, z=-18.000000 tat = 810
: AshtechGps::processRecord() - $GPGGA,215803.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215803.00,,,,,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 R251.56,X61.92,Y18.22,Z-243.14

: Sonardyne - parsing R251.56,X61.92,Y18.22,Z-243.14

: Sonardyne - read R = 251.560000 from 251.56,X61.92,Y18.22,Z-243.14

: Sonardyne - got all data, Vehicle coordinates,
    r=251.560000, x=243.140000, y=61.920000, z=-18.220000 tat = 810
: AshtechGps::processRecord() - $GPGGA,215804.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215804.00,,,,,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 R253.98

: Sonardyne - parsing R253.98

: Sonardyne - read R = 253.980000 from 253.98

: Sonardyne - got range only (253.980000), tat = 790
: Sonardyne - POSD response: 
POSD S130.4,N30.5,D77,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.4,N30.5,D77,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,215805.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215805.00,,,,,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 R248.71,X56.97,Y13.47,Z-241.73

: Sonardyne - parsing R248.71,X56.97,Y13.47,Z-241.73

: Sonardyne - read R = 248.710000 from 248.71,X56.97,Y13.47,Z-241.73

: Sonardyne - got all data, Vehicle coordinates,
    r=248.710000, x=241.730000, y=56.970000, z=-13.470000 tat = 810
: AshtechGps::processRecord() - $GPGGA,215806.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215806.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R247.05,X52.49,Y13.30,Z-241.04

: Sonardyne - parsing R247.05,X52.49,Y13.30,Z-241.04

: Sonardyne - read R = 247.050000 from 247.05,X52.49,Y13.30,Z-241.04

: Sonardyne - got all data, Vehicle coordinates,
    r=247.050000, x=241.040000, y=52.490000, z=-13.300000 tat = 800
: AshtechGps::processRecord() - $GPGGA,215807.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215807.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.18

: Sonardyne - parsing R245.18

: Sonardyne - read R = 245.180000 from 245.18

: Sonardyne - got range only (245.180000), tat = 780
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S133.0,N21.9,D31,U4,Q0.001331

: Sonardyne - POSD response: 
POSD S133.0,N21.9,D31,U4,Q0.001331

: AshtechGps::processRecord() - $GPGGA,215808.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215808.00,,,,,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 R243.36,X48.46,Y12.40,Z-238.17

: Sonardyne - parsing R243.36,X48.46,Y12.40,Z-238.17

: Sonardyne - read R = 243.360000 from 243.36,X48.46,Y12.40,Z-238.17

: Sonardyne - got all data, Vehicle coordinates,
    r=243.360000, x=238.170000, y=48.460000, z=-12.400000 tat = 850
: AshtechGps::processRecord() - $GPGGA,215809.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215809.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.77,X47.38,Y4.03,Z-238.07

: Sonardyne - parsing R242.77,X47.38,Y4.03,Z-238.07

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

: Sonardyne - read R = 242.770000 from 242.77,X47.38,Y4.03,Z-238.07

: Sonardyne - got all data, Vehicle coordinates,
    r=242.770000, x=238.070000, y=47.380000, z=-4.030000 tat = 800
: AshtechGps::processRecord() - $GPGGA,215810.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215810.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  7.98 16.79 3.89 3.92 0   -91.94 04:29:19 m

: Sonardyne - POS response: 
POS V4,1 R240.58

: Sonardyne - parsing R240.58

: Sonardyne - read R = 240.580000 from 240.58

: Sonardyne - got range only (240.580000), tat = 770
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S130.8,N19.4,D18,U3,Q0.001416

: Sonardyne - POSD response: 
POSD S130.8,N19.4,D18,U3,Q0.001416

: AshtechGps::processRecord() - $GPGGA,215811.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215811.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R239.32,X49.38,Y17.18,Z-233.54

: Sonardyne - parsing R239.32,X49.38,Y17.18,Z-233.54

: Sonardyne - read R = 239.320000 from 239.32,X49.38,Y17.18,Z-233.54

: Sonardyne - got all data, Vehicle coordinates,
    r=239.320000, x=233.540000, y=49.380000, z=-17.180000 tat = 790
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215812.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215812.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.97,X45.63,Y5.18,Z-233.49

: Sonardyne - parsing R237.97,X45.63,Y5.18,Z-233.49

: Sonardyne - read R = 237.970000 from 237.97,X45.63,Y5.18,Z-233.49

: Sonardyne - got all data, Vehicle coordinates,
    r=237.970000, x=233.490000, y=45.630000, z=-5.180000 tat = 789
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215813.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215813.00,,,,,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,215814.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215814.00,,,,,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,215815.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215815.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,215816.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215816.00,,,,,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 R230.36,X41.33,Y8.76,Z-226.45

: Sonardyne - parsing R230.36,X41.33,Y8.76,Z-226.45

: Sonardyne - read R = 230.360000 from 230.36,X41.33,Y8.76,Z-226.45

: Sonardyne - got all data, Vehicle coordinates,
    r=230.360000, x=226.450000, y=41.330000, z=-8.760000 tat = 780
: AshtechGps::processRecord() - $GPGGA,215817.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215817.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R228.55,X39.54,Y6.67,Z-225.01

: Sonardyne - parsing R228.55,X39.54,Y6.67,Z-225.01

: Sonardyne - read R = 228.550000 from 228.55,X39.54,Y6.67,Z-225.01

: Sonardyne - got all data, Vehicle coordinates,
    r=228.550000, x=225.010000, y=39.540000, z=-6.670000 tat = 780
: AshtechGps::processRecord() - $GPGGA,215818.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215818.00,,,,,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 R226.82,X38.67,Y4.10,Z-223.47

: Sonardyne - parsing R226.82,X38.67,Y4.10,Z-223.47

: Sonardyne - read R = 226.820000 from 226.82,X38.67,Y4.10,Z-223.47

: Sonardyne - got all data, Vehicle coordinates,
    r=226.820000, x=223.470000, y=38.670000, z=-4.100000 tat = 780
: AshtechGps::processRecord() - $GPGGA,215819.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215819.00,,,,,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 R225.35,X38.67,Y-0.08,Z-222.01

: Sonardyne - parsing R225.35,X38.67,Y-0.08,Z-222.01

: Sonardyne - read R = 225.350000 from 225.35,X38.67,Y-0.08,Z-222.01

: Sonardyne - got all data, Vehicle coordinates,
    r=225.350000, x=222.010000, y=38.670000, z=0.080000 tat = 770
: AshtechGps::processRecord() - $GPGGA,215820.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215820.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.12 16.79 3.89 3.92 0   -92.86 04:29:29 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 R224.02,X39.50,Y-3.43,Z-220.48

: Sonardyne - parsing R224.02,X39.50,Y-3.43,Z-220.48

: Sonardyne - read R = 224.020000 from 224.02,X39.50,Y-3.43,Z-220.48

: Sonardyne - got all data, Vehicle coordinates,
    r=224.020000, x=220.480000, y=39.500000, z=3.430000 tat = 770
: AshtechGps::processRecord() - $GPGGA,215821.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215821.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  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 R222.87,X42.63,Y3.64,Z-218.72

: Sonardyne - parsing R222.87,X42.63,Y3.64,Z-218.72

: Sonardyne - read R = 222.870000 from 222.87,X42.63,Y3.64,Z-218.72

: Sonardyne - got all data, Vehicle coordinates,
    r=222.870000, x=218.720000, y=42.630000, z=-3.640000 tat = 770
: AshtechGps::processRecord() - $GPGGA,215822.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215822.00,,,,,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 R221.57,X42.20,Y-3.64,Z-217.48

: Sonardyne - parsing R221.57,X42.20,Y-3.64,Z-217.48

: Sonardyne - read R = 221.570000 from 221.57,X42.20,Y-3.64,Z-217.48

: Sonardyne - got all data, Vehicle coordinates,
    r=221.570000, x=217.480000, y=42.200000, z=3.640000 tat = 770
: AshtechGps::processRecord() - $GPGGA,215823.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215823.00,,,,,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 R220.29,X41.96,Y-10.74,Z-215.99

: Sonardyne - parsing R220.29,X41.96,Y-10.74,Z-215.99

: Sonardyne - read R = 220.290000 from 220.29,X41.96,Y-10.74,Z-215.99

: Sonardyne - got all data, Vehicle coordinates,
    r=220.290000, x=215.990000, y=41.960000, z=10.740000 tat = 770
: AshtechGps::processRecord() - $GPGGA,215824.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215824.00,,,,,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 R218.09,X43.61,Y2.63,Z-213.67

: Sonardyne - parsing R218.09,X43.61,Y2.63,Z-213.67

: Sonardyne - read R = 218.090000 from 218.09,X43.61,Y2.63,Z-213.67

: Sonardyne - got all data, Vehicle coordinates,
    r=218.090000, x=213.670000, y=43.610000, z=-2.630000 tat = 760
: AshtechGps::processRecord() - $GPGGA,215825.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215825.00,,,,,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 R216.39,X40.88,Y6.48,Z-212.40

: Sonardyne - parsing R216.39,X40.88,Y6.48,Z-212.40

: Sonardyne - read R = 216.390000 from 216.39,X40.88,Y6.48,Z-212.40

: Sonardyne - got all data, Vehicle coordinates,
    r=216.390000, x=212.400000, y=40.880000, z=-6.480000 tat = 760
: AshtechGps::processRecord() - $GPGGA,215826.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215826.00,,,,,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 R214.72,X39.75,Y3.17,Z-210.98

: Sonardyne - parsing R214.72,X39.75,Y3.17,Z-210.98

: Sonardyne - read R = 214.720000 from 214.72,X39.75,Y3.17,Z-210.98

: Sonardyne - got all data, Vehicle coordinates,
    r=214.720000, x=210.980000, y=39.750000, z=-3.170000 tat = 759
: AshtechGps::processRecord() - $GPGGA,215827.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215827.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R213.24

: Sonardyne - parsing R213.24

: Sonardyne - read R = 213.240000 from 213.24

: Sonardyne - got range only (213.240000), tat = 730
: Sonardyne - POSD response: 
POSD S132.1,N20.6,D26,U4,Q0.003228

: AshtechGps::processRecord() - $GPGGA,215828.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215828.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.1,N20.6,D26,U4,Q0.003228

:  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 R211.81,X40.08,Y5.44,Z-207.91

: Sonardyne - parsing R211.81,X40.08,Y5.44,Z-207.91

: Sonardyne - read R = 211.810000 from 211.81,X40.08,Y5.44,Z-207.91

: Sonardyne - got all data, Vehicle coordinates,
    r=211.810000, x=207.910000, y=40.080000, z=-5.440000 tat = 760
: AshtechGps::processRecord() - $GPGGA,215829.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215829.00,,,,,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,215830.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215830.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.89 16.89 3.89 3.92 0   -93.47 04:29:39 m

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

: AshtechGps::processRecord() - $GPGGA,215831.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215831.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,215832.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215832.00,,,,,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,N7.2,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,215833.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215833.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R204.20,X39.38,Y3.23,Z-200.34

: Sonardyne - parsing R204.20,X39.38,Y3.23,Z-200.34

: Sonardyne - read R = 204.200000 from 204.20,X39.38,Y3.23,Z-200.34

: Sonardyne - got all data, Vehicle coordinates,
    r=204.200000, x=200.340000, y=39.380000, z=-3.230000 tat = 740
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215834.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215834.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.63,X40.42,Y5.39,Z-198.48

: Sonardyne - parsing R202.63,X40.42,Y5.39,Z-198.48

: Sonardyne - read R = 202.630000 from 202.63,X40.42,Y5.39,Z-198.48

: Sonardyne - got all data, Vehicle coordinates,
    r=202.630000, x=198.480000, y=40.420000, z=-5.390000 tat = 740
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215835.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215835.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.53

: Sonardyne - parsing R202.53

: Sonardyne - read R = 202.530000 from 202.53

: Sonardyne - got range only (202.530000), tat = 720
: Sonardyne - POSD response: 
POSD S133.6,N26.8,D137,U4,Q0.008331

: Sonardyne - POSD response: 
POSD S133.6,N26.8,D137,U4,Q0.008331

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

: AshtechGps::processRecord() - $GPGGA,215836.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215836.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.73

: Sonardyne - parsing R202.73

: Sonardyne - read R = 202.730000 from 202.73

: Sonardyne - got range only (202.730000), tat = 720
: Sonardyne - POSD response: 
POSD S132.9,N24.1,D-67,U2,Q0.004884

: Sonardyne - POSD response: 
POSD S132.9,N24.1,D-67,U2,Q0.004884

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

: AshtechGps::processRecord() - $GPGGA,215837.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215837.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R198.13,X43.07,Y10.01,Z-193.13

: Sonardyne - parsing R198.13,X43.07,Y10.01,Z-193.13

: Sonardyne - read R = 198.130000 from 198.13,X43.07,Y10.01,Z-193.13

: Sonardyne - got all data, Vehicle coordinates,
    r=198.130000, x=193.130000, y=43.070000, z=-10.010000 tat = 740
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215838.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215838.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R198.67

: Sonardyne - parsing R198.67

: Sonardyne - read R = 198.670000 from 198.67

: Sonardyne - got range only (198.670000), tat = 710
: Sonardyne - POSD response: 
POSD S134.1,N23.3,D42,U1,Q0.003641

: Sonardyne - POSD response: 
POSD S134.1,N23.3,D42,U1,Q0.003641

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

: AshtechGps::processRecord() - $GPGGA,215839.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215839.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R196.51

: Sonardyne - parsing R196.51

: Sonardyne - read R = 196.510000 from 196.51

: Sonardyne - got range only (196.510000), tat = 710
: Sonardyne - POSD response: 
POSD S119.9,N28.0,D141,U4,Q0.004678

: Sonardyne - POSD response: 
POSD S119.9,N28.0,D141,U4,Q0.004678

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

: AshtechGps::processRecord() - $GPGGA,215840.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215840.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  9.46 16.89 3.89 3.92 0   -94.39 04:29:49 m

: Sonardyne - POS response: 
POS V4,1 R193.82,X40.33,Y-2.24,Z-189.56

: Sonardyne - parsing R193.82,X40.33,Y-2.24,Z-189.56

: Sonardyne - read R = 193.820000 from 193.82,X40.33,Y-2.24,Z-189.56

: Sonardyne - got all data, Vehicle coordinates,
    r=193.820000, x=189.560000, y=40.330000, z=2.240000 tat = 730
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215841.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215841.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R192.54,X42.35,Y4.04,Z-187.78

: Sonardyne - parsing R192.54,X42.35,Y4.04,Z-187.78

: Sonardyne - read R = 192.540000 from 192.54,X42.35,Y4.04,Z-187.78

: Sonardyne - got all data, Vehicle coordinates,
    r=192.540000, x=187.780000, y=42.350000, z=-4.040000 tat = 729
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215842.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215842.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052024.7, 600561.5), 
  reached at t = 240.39                                          (wplog)

: Vehicle Position is error is (0.2, 0.3)

: LayeredControl::execute() -- (t = 240.393532) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 240.40                            (wplog)
  The current location (N,E) = 4052024.5      , 600561.3         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 139.1 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 240.403531) Behavior waypoint_homing has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R191.24,X41.55,Y-2.67,Z-186.65

: Sonardyne - parsing R191.24,X41.55,Y-2.67,Z-186.65

: Sonardyne - read R = 191.240000 from 191.24,X41.55,Y-2.67,Z-186.65

: Sonardyne - got all data, Vehicle coordinates,
    r=191.240000, x=186.650000, y=41.550000, z=2.670000 tat = 730
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215843.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215843.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.22,X37.65,Y1.90,Z-185.43

: Sonardyne - parsing R189.22,X37.65,Y1.90,Z-185.43

: Sonardyne - read R = 189.220000 from 189.22,X37.65,Y1.90,Z-185.43

: Sonardyne - got all data, Vehicle coordinates,
    r=189.220000, x=185.430000, y=37.650000, z=-1.900000 tat = 720
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215844.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215844.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.03,X21.24,Y10.68,Z-186.52

: Sonardyne - parsing R188.03,X21.24,Y10.68,Z-186.52

: Sonardyne - read R = 188.030000 from 188.03,X21.24,Y10.68,Z-186.52

: Sonardyne - got all data, Vehicle coordinates,
    r=188.030000, x=186.520000, y=21.240000, z=-10.680000 tat = 720
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215845.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215845.00,,,,,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,215846.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215846.00,,,,,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,215847.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215847.00,,,,,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,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,215848.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215848.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 R180.77,X-12.40,Y7.33,Z-180.19

: Sonardyne - parsing R180.77,X-12.40,Y7.33,Z-180.19

: Sonardyne - read R = 180.770000 from 180.77,X-12.40,Y7.33,Z-180.19

: Sonardyne - got all data, Vehicle coordinates,
    r=180.770000, x=180.190000, y=-12.400000, z=-7.330000 tat = 710
: AshtechGps::processRecord() - $GPGGA,215849.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215849.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R179.54,X-16.18,Y30.39,Z-176.21

: Sonardyne - parsing R179.54,X-16.18,Y30.39,Z-176.21

: Sonardyne - read R = 179.540000 from 179.54,X-16.18,Y30.39,Z-176.21

: Sonardyne - got all data, Vehicle coordinates,
    r=179.540000, x=176.210000, y=-16.180000, z=-30.390000 tat = 710
: AshtechGps::processRecord() - $GPGGA,215850.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215850.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.92 16.89 3.89 3.92 0   -95.04 04:29:59 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 R178.20,X-11.48,Y31.82,Z-174.96

: Sonardyne - parsing R178.20,X-11.48,Y31.82,Z-174.96

: Sonardyne - read R = 178.200000 from 178.20,X-11.48,Y31.82,Z-174.96

: Sonardyne - got all data, Vehicle coordinates,
    r=178.200000, x=174.960000, y=-11.480000, z=-31.820000 tat = 710
: AshtechGps::processRecord() - $GPGGA,215851.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215851.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  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 R176.10,X-8.79,Y19.39,Z-174.81

: Sonardyne - parsing R176.10,X-8.79,Y19.39,Z-174.81

: Sonardyne - read R = 176.100000 from 176.10,X-8.79,Y19.39,Z-174.81

: Sonardyne - got all data, Vehicle coordinates,
    r=176.100000, x=174.810000, y=-8.790000, z=-19.390000 tat = 710
: AshtechGps::processRecord() - $GPGGA,215852.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215852.00,,,,,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 R175.69,X-9.49,Y-4.59,Z-175.38

: Sonardyne - parsing R175.69,X-9.49,Y-4.59,Z-175.38

: Sonardyne - read R = 175.690000 from 175.69,X-9.49,Y-4.59,Z-175.38

: Sonardyne - got all data, Vehicle coordinates,
    r=175.690000, x=175.380000, y=-9.490000, z=4.590000 tat = 710
: AshtechGps::processRecord() - $GPGGA,215853.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215853.00,,,,,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 R176.79

: Sonardyne - parsing R176.79

: Sonardyne - read R = 176.790000 from 176.79

: Sonardyne - got range only (176.790000), tat = 680
: Sonardyne - POSD response: 
POSD S132.7,N25.0,D-98,U1,Q0.014719

: AshtechGps::processRecord() - $GPGGA,215854.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215854.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.7,N25.0,D-98,U1,Q0.014719

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R171.19,X-4.53,Y0.03,Z-171.13

: Sonardyne - parsing R171.19,X-4.53,Y0.03,Z-171.13

: Sonardyne - read R = 171.190000 from 171.19,X-4.53,Y0.03,Z-171.13

: Sonardyne - got all data, Vehicle coordinates,
    r=171.190000, x=171.130000, y=-4.530000, z=-0.030000 tat = 700
: AshtechGps::processRecord() - $GPGGA,215855.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215855.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,215856.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215856.00,,,,,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,215857.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215857.00,,,,,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,215858.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215858.00,,,,,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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215859.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215859.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R164.16,X2.25,Y-0.34,Z-164.14

: Sonardyne - parsing R164.16,X2.25,Y-0.34,Z-164.14

: Sonardyne - read R = 164.160000 from 164.16,X2.25,Y-0.34,Z-164.14

: Sonardyne - got all data, Vehicle coordinates,
    r=164.160000, x=164.140000, y=2.250000, z=0.340000 tat = 690
: 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,215900.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215900.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.82 16.89 3.89 3.92 0   -95.99 04:30:09 m

: Sonardyne - POS response: 
POS V4,1 R162.80,X3.30,Y7.57,Z-162.59

: Sonardyne - parsing R162.80,X3.30,Y7.57,Z-162.59

: Sonardyne - read R = 162.800000 from 162.80,X3.30,Y7.57,Z-162.59

: Sonardyne - got all data, Vehicle coordinates,
    r=162.800000, x=162.590000, y=3.300000, z=-7.570000 tat = 690
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215901.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215901.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R161.54,X1.30,Y-4.36,Z-161.48

: Sonardyne - parsing R161.54,X1.30,Y-4.36,Z-161.48

: Sonardyne - read R = 161.540000 from 161.54,X1.30,Y-4.36,Z-161.48

: Sonardyne - got all data, Vehicle coordinates,
    r=161.540000, x=161.480000, y=1.300000, z=4.360000 tat = 740
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215902.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215902.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.31,X3.34,Y18.46,Z-159.21

: Sonardyne - parsing R160.31,X3.34,Y18.46,Z-159.21

: Sonardyne - read R = 160.310000 from 160.31,X3.34,Y18.46,Z-159.21

: Sonardyne - got all data, Vehicle coordinates,
    r=160.310000, x=159.210000, y=3.340000, z=-18.460000 tat = 690
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215903.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215903.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.71,X-0.69,Y4.27,Z-158.65

: Sonardyne - parsing R158.71,X-0.69,Y4.27,Z-158.65

: Sonardyne - read R = 158.710000 from 158.71,X-0.69,Y4.27,Z-158.65

: Sonardyne - got all data, Vehicle coordinates,
    r=158.710000, x=158.650000, y=-0.690000, z=-4.270000 tat = 680
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215904.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215904.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.14,X-0.36,Y9.67,Z-156.85

: Sonardyne - parsing R157.14,X-0.36,Y9.67,Z-156.85

: Sonardyne - read R = 157.140000 from 157.14,X-0.36,Y9.67,Z-156.85

: Sonardyne - got all data, Vehicle coordinates,
    r=157.140000, x=156.850000, y=-0.360000, z=-9.670000 tat = 680
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215905.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215905.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.09,X-2.08,Y5.63,Z-154.98

: Sonardyne - parsing R155.09,X-2.08,Y5.63,Z-154.98

: Sonardyne - read R = 155.090000 from 155.09,X-2.08,Y5.63,Z-154.98

: Sonardyne - got all data, Vehicle coordinates,
    r=155.090000, x=154.980000, y=-2.080000, z=-5.630000 tat = 680
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215906.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215906.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.74

: Sonardyne - parsing R157.74

: Sonardyne - read R = 157.740000 from 157.74

: Sonardyne - got range only (157.740000), tat = 660
: Sonardyne - POSD response: 
POSD S126.8,N19.5,D-59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.8,N19.5,D-59,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215907.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215907.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.85

: Sonardyne - parsing R152.85

: Sonardyne - read R = 152.850000 from 152.85

: Sonardyne - got range only (152.850000), tat = 650
: Sonardyne - POSD response: 
POSD S+141.8,N21.8,D-14,U3,Q0.009209

: Sonardyne - POSD response: 
POSD S+141.8,N21.8,D-14,U3,Q0.009209

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

: AshtechGps::processRecord() - $GPGGA,215908.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215908.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R149.98,X-0.10,Y14.76,Z-149.25

: Sonardyne - parsing R149.98,X-0.10,Y14.76,Z-149.25

: Sonardyne - read R = 149.980000 from 149.98,X-0.10,Y14.76,Z-149.25

: Sonardyne - got all data, Vehicle coordinates,
    r=149.980000, x=149.250000, y=-0.100000, z=-14.760000 tat = 670
: Sonardyne - POSD response: 
POSD S139.7,N23.7,D-38,U8,Q0.000500

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215909.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215909.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.37

: Sonardyne - parsing R155.37

: Sonardyne - read R = 155.370000 from 155.37

: Sonardyne - got range only (155.370000), tat = 660
: Sonardyne - POSD response: 
POSD S121.4,N24.2,D-30,U3,Q0.002139

: Sonardyne - POSD response: 
POSD S121.4,N24.2,D-30,U3,Q0.002139

: 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,215910.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215910.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  9.26 16.89 3.89 3.92 0   -96.61 04:30:19 m

: Sonardyne - POS response: 
POS V4,1 R147.10

: Sonardyne - parsing R147.10

: Sonardyne - read R = 147.100000 from 147.10

: Sonardyne - got range only (147.100000), tat = 640
: Sonardyne - POSD response: 
POSD S130.0,N18.5,D-75,U4,Q0.000092

: Sonardyne - POSD response: 
POSD S130.0,N18.5,D-75,U4,Q0.000092

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

: AshtechGps::processRecord() - $GPGGA,215911.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215911.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R145.57,X-0.36,Y3.07,Z-145.54

: Sonardyne - parsing R145.57,X-0.36,Y3.07,Z-145.54

: Sonardyne - read R = 145.570000 from 145.57,X-0.36,Y3.07,Z-145.54

: Sonardyne - got all data, Vehicle coordinates,
    r=145.570000, x=145.540000, y=-0.360000, z=-3.070000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215912.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215912.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R144.02,X-1.77,Y2.23,Z-143.99

: Sonardyne - parsing R144.02,X-1.77,Y2.23,Z-143.99

: Sonardyne - read R = 144.020000 from 144.02,X-1.77,Y2.23,Z-143.99

: Sonardyne - got all data, Vehicle coordinates,
    r=144.020000, x=143.990000, y=-1.770000, z=-2.230000 tat = 660
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215913.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215913.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R142.46,X0.69,Y15.57,Z-141.61

: Sonardyne - parsing R142.46,X0.69,Y15.57,Z-141.61

: Sonardyne - read R = 142.460000 from 142.46,X0.69,Y15.57,Z-141.61

: Sonardyne - got all data, Vehicle coordinates,
    r=142.460000, x=141.610000, y=0.690000, z=-15.570000 tat = 660
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215914.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215914.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.87,X0.19,Y11.35,Z-140.41

: Sonardyne - parsing R140.87,X0.19,Y11.35,Z-140.41

: Sonardyne - read R = 140.870000 from 140.87,X0.19,Y11.35,Z-140.41

: Sonardyne - got all data, Vehicle coordinates,
    r=140.870000, x=140.410000, y=0.190000, z=-11.350000 tat = 660
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215915.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215915.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R139.02,X-0.13,Y12.08,Z-138.49

: Sonardyne - parsing R139.02,X-0.13,Y12.08,Z-138.49

: Sonardyne - read R = 139.020000 from 139.02,X-0.13,Y12.08,Z-138.49

: Sonardyne - got all data, Vehicle coordinates,
    r=139.020000, x=138.490000, y=-0.130000, z=-12.080000 tat = 660
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215916.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215916.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.31,X-0.85,Y3.49,Z-137.26

: Sonardyne - parsing R137.31,X-0.85,Y3.49,Z-137.26

: Sonardyne - read R = 137.310000 from 137.31,X-0.85,Y3.49,Z-137.26

: Sonardyne - got all data, Vehicle coordinates,
    r=137.310000, x=137.260000, y=-0.850000, z=-3.490000 tat = 650
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215917.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215917.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.61,X-0.52,Y5.32,Z-135.51

: Sonardyne - parsing R135.61,X-0.52,Y5.32,Z-135.51

: Sonardyne - read R = 135.610000 from 135.61,X-0.52,Y5.32,Z-135.51

: Sonardyne - got all data, Vehicle coordinates,
    r=135.610000, x=135.510000, y=-0.520000, z=-5.320000 tat = 650
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215918.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,215918.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R134.19,X0.34,Y8.00,Z-133.95

: Sonardyne - parsing R134.19,X0.34,Y8.00,Z-133.95

: Sonardyne - read R = 134.190000 from 134.19,X0.34,Y8.00,Z-133.95

: Sonardyne - got all data, Vehicle coordinates,
    r=134.190000, x=133.950000, y=0.340000, z=-8.000000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215919.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,215919.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.88,X0.52,Y7.35,Z-132.68

: Sonardyne - parsing R132.88,X0.52,Y7.35,Z-132.68

: Sonardyne - read R = 132.880000 from 132.88,X0.52,Y7.35,Z-132.68

: Sonardyne - got all data, Vehicle coordinates,
    r=132.880000, x=132.680000, y=0.520000, z=-7.350000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215920.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215920.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.12 16.89 3.89 3.92 0   -97.57 04:30:29 m

: Sonardyne - POS response: 
POS V4,1 R131.56,X0.41,Y11.71,Z-131.04

: Sonardyne - parsing R131.56,X0.41,Y11.71,Z-131.04

: Sonardyne - read R = 131.560000 from 131.56,X0.41,Y11.71,Z-131.04

: Sonardyne - got all data, Vehicle coordinates,
    r=131.560000, x=131.040000, y=0.410000, z=-11.710000 tat = 700
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215921.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215921.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R130.08,X0.22,Y14.92,Z-129.22

: Sonardyne - parsing R130.08,X0.22,Y14.92,Z-129.22

: Sonardyne - read R = 130.080000 from 130.08,X0.22,Y14.92,Z-129.22

: Sonardyne - got all data, Vehicle coordinates,
    r=130.080000, x=129.220000, y=0.220000, z=-14.920000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215922.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215922.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.55,X-2.49,Y0.95,Z-128.52

: Sonardyne - parsing R128.55,X-2.49,Y0.95,Z-128.52

: Sonardyne - read R = 128.550000 from 128.55,X-2.49,Y0.95,Z-128.52

: Sonardyne - got all data, Vehicle coordinates,
    r=128.550000, x=128.520000, y=-2.490000, z=-0.950000 tat = 640
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215923.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215923.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.04,X-0.83,Y8.93,Z-126.73

: Sonardyne - parsing R127.04,X-0.83,Y8.93,Z-126.73

: Sonardyne - read R = 127.040000 from 127.04,X-0.83,Y8.93,Z-126.73

: Sonardyne - got all data, Vehicle coordinates,
    r=127.040000, x=126.730000, y=-0.830000, z=-8.930000 tat = 640
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215924.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215924.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.12,X-1.28,Y5.48,Z-124.99

: Sonardyne - parsing R125.12,X-1.28,Y5.48,Z-124.99

: Sonardyne - read R = 125.120000 from 125.12,X-1.28,Y5.48,Z-124.99

: Sonardyne - got all data, Vehicle coordinates,
    r=125.120000, x=124.990000, y=-1.280000, z=-5.480000 tat = 640
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215925.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215925.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.62,X-0.39,Y10.77,Z-123.15

: Sonardyne - parsing R123.62,X-0.39,Y10.77,Z-123.15

: Sonardyne - read R = 123.620000 from 123.62,X-0.39,Y10.77,Z-123.15

: Sonardyne - got all data, Vehicle coordinates,
    r=123.620000, x=123.150000, y=-0.390000, z=-10.770000 tat = 639
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215926.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215926.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.56,X0.33,Y17.39,Z-120.31

: Sonardyne - parsing R121.56,X0.33,Y17.39,Z-120.31

: Sonardyne - read R = 121.560000 from 121.56,X0.33,Y17.39,Z-120.31

: Sonardyne - got all data, Vehicle coordinates,
    r=121.560000, x=120.310000, y=0.330000, z=-17.390000 tat = 630
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215927.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215927.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.70

: Sonardyne - parsing R119.70

: Sonardyne - read R = 119.700000 from 119.70

: Sonardyne - got range only (119.700000), tat = 610
: Sonardyne - POSD response: 
POSD S+142.5,N22.8,D-39,U1,Q0.005480

: Sonardyne - POSD response: 
POSD S+142.5,N22.8,D-39,U1,Q0.005480

: 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,215928.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215928.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.20,X-1.14,Y9.96,Z-117.77

: Sonardyne - parsing R118.20,X-1.14,Y9.96,Z-117.77

: Sonardyne - read R = 118.200000 from 118.20,X-1.14,Y9.96,Z-117.77

: Sonardyne - got all data, Vehicle coordinates,
    r=118.200000, x=117.770000, y=-1.140000, z=-9.960000 tat = 630
: Sonardyne - POSD response: 
POSD S+144.5,N30.9,D-25,U8,Q0.000051

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215929.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215929.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.17,X-1.41,Y9.95,Z-116.73

: Sonardyne - parsing R117.17,X-1.41,Y9.95,Z-116.73

: Sonardyne - read R = 117.170000 from 117.17,X-1.41,Y9.95,Z-116.73

: Sonardyne - got all data, Vehicle coordinates,
    r=117.170000, x=116.730000, y=-1.410000, z=-9.950000 tat = 630
: Sonardyne - POSD response: 
POSD S+144.8,N35.7,D1,U8,Q0.000247

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

: AshtechGps::processRecord() - $GPGGA,215930.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215930.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.89 16.89 3.89 3.92 0   -98.16 04:30:39 m

: Sonardyne - POS response: 
POS V4,1 R115.46,X-1.30,Y8.19,Z-115.16

: Sonardyne - parsing R115.46,X-1.30,Y8.19,Z-115.16

: Sonardyne - read R = 115.460000 from 115.46,X-1.30,Y8.19,Z-115.16

: Sonardyne - got all data, Vehicle coordinates,
    r=115.460000, x=115.160000, y=-1.300000, z=-8.190000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.1,N25.1,D6,U8,Q0.000093

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

: AshtechGps::processRecord() - $GPGGA,215931.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215931.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R114.41,X-1.16,Y10.40,Z-113.93

: Sonardyne - parsing R114.41,X-1.16,Y10.40,Z-113.93

: Sonardyne - read R = 114.410000 from 114.41,X-1.16,Y10.40,Z-113.93

: Sonardyne - got all data, Vehicle coordinates,
    r=114.410000, x=113.930000, y=-1.160000, z=-10.400000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.5,N29.0,D22,U8,Q0.000359

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

: AshtechGps::processRecord() - $GPGGA,215932.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215932.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.39,X-0.75,Y8.12,Z-112.10

: Sonardyne - parsing R112.39,X-0.75,Y8.12,Z-112.10

: Sonardyne - read R = 112.390000 from 112.39,X-0.75,Y8.12,Z-112.10

: Sonardyne - got all data, Vehicle coordinates,
    r=112.390000, x=112.100000, y=-0.750000, z=-8.120000 tat = 620
: Sonardyne - POSD response: 
POSD S+143.5,N17.6,D-118,U8,Q0.002232

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

: AshtechGps::processRecord() - $GPGGA,215933.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215933.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R110.68,X-0.91,Y7.12,Z-110.45

: Sonardyne - parsing R110.68,X-0.91,Y7.12,Z-110.45

: Sonardyne - read R = 110.680000 from 110.68,X-0.91,Y7.12,Z-110.45

: Sonardyne - got all data, Vehicle coordinates,
    r=110.680000, x=110.450000, y=-0.910000, z=-7.120000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.6,N29.8,D-31,U8,Q0.000102

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

: AshtechGps::processRecord() - $GPGGA,215934.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215934.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.29,X0.75,Y9.20,Z-108.90

: Sonardyne - parsing R109.29,X0.75,Y9.20,Z-108.90

: Sonardyne - read R = 109.290000 from 109.29,X0.75,Y9.20,Z-108.90

: Sonardyne - got all data, Vehicle coordinates,
    r=109.290000, x=108.900000, y=0.750000, z=-9.200000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.7,N33.8,D-10,U6,Q0.000121

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

: AshtechGps::processRecord() - $GPGGA,215935.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215935.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R107.73,X0.59,Y9.76,Z-107.28

: Sonardyne - parsing R107.73,X0.59,Y9.76,Z-107.28

: Sonardyne - read R = 107.730000 from 107.73,X0.59,Y9.76,Z-107.28

: Sonardyne - got all data, Vehicle coordinates,
    r=107.730000, x=107.280000, y=0.590000, z=-9.760000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.6,N27.0,D-60,U8,Q0.000085

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

: AshtechGps::processRecord() - $GPGGA,215936.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215936.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.19,X-1.13,Y2.83,Z-106.15

: Sonardyne - parsing R106.19,X-1.13,Y2.83,Z-106.15

: Sonardyne - read R = 106.190000 from 106.19,X-1.13,Y2.83,Z-106.15

: Sonardyne - got all data, Vehicle coordinates,
    r=106.190000, x=106.150000, y=-1.130000, z=-2.830000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.1,N27.8,D46,U8,Q0.000489

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

: AshtechGps::processRecord() - $GPGGA,215937.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215937.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.73,X-0.56,Y9.25,Z-104.32

: Sonardyne - parsing R104.73,X-0.56,Y9.25,Z-104.32

: Sonardyne - read R = 104.730000 from 104.73,X-0.56,Y9.25,Z-104.32

: Sonardyne - got all data, Vehicle coordinates,
    r=104.730000, x=104.320000, y=-0.560000, z=-9.250000 tat = 610
: Sonardyne - POSD response: 
POSD S137.9,N22.3,D-80,U6,Q0.000178

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

: AshtechGps::processRecord() - $GPGGA,215938.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,215938.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.99,X0.41,Y8.27,Z-102.66

: Sonardyne - parsing R102.99,X0.41,Y8.27,Z-102.66

: Sonardyne - read R = 102.990000 from 102.99,X0.41,Y8.27,Z-102.66

: Sonardyne - got all data, Vehicle coordinates,
    r=102.990000, x=102.660000, y=0.410000, z=-8.270000 tat = 610
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215939.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,215939.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R101.26,X-0.57,Y5.27,Z-101.12

: Sonardyne - parsing R101.26,X-0.57,Y5.27,Z-101.12

: Sonardyne - read R = 101.260000 from 101.26,X-0.57,Y5.27,Z-101.12

: Sonardyne - got all data, Vehicle coordinates,
    r=101.260000, x=101.120000, y=-0.570000, z=-5.270000 tat = 610
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215940.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215940.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.18 16.89 3.89 3.92 0   -99.13 04:30:49 m

: Sonardyne - POS response: 
POS V4,1 R99.57,X-0.16,Y4.66,Z-99.46

: Sonardyne - parsing R99.57,X-0.16,Y4.66,Z-99.46

: Sonardyne - read R = 99.570000 from 99.57,X-0.16,Y4.66,Z-99.46

: Sonardyne - got all data, Vehicle coordinates,
    r=99.570000, x=99.460000, y=-0.160000, z=-4.660000 tat = 599
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215941.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215941.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R97.84

: Sonardyne - parsing R97.84

: Sonardyne - read R = 97.840000 from 97.84

: Sonardyne - got range only (97.840000), tat = 580
: Sonardyne - POSD response: 
POSD S+143.6,N23.2,D67,U3,Q0.000070

: Sonardyne - POSD response: 
POSD S+143.6,N23.2,D67,U3,Q0.000070

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215942.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215942.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.23,X1.02,Y8.94,Z-95.81

: Sonardyne - parsing R96.23,X1.02,Y8.94,Z-95.81

: Sonardyne - read R = 96.230000 from 96.23,X1.02,Y8.94,Z-95.81

: Sonardyne - got all data, Vehicle coordinates,
    r=96.230000, x=95.810000, y=1.020000, z=-8.940000 tat = 600
: Sonardyne - POSD response: 
POSD S+142.3,N19.8,D-63,U8,Q0.000179

: 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,215943.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215943.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.45,X-0.36,Y2.94,Z-94.40

: Sonardyne - parsing R94.45,X-0.36,Y2.94,Z-94.40

: Sonardyne - read R = 94.450000 from 94.45,X-0.36,Y2.94,Z-94.40

: Sonardyne - got all data, Vehicle coordinates,
    r=94.450000, x=94.400000, y=-0.360000, z=-2.940000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.4,N22.7,D-99,U8,Q0.000145

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

: AshtechGps::processRecord() - $GPGGA,215944.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215944.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.66

: Sonardyne - parsing R92.66

: Sonardyne - read R = 92.660000 from 92.66

: Sonardyne - got range only (92.660000), tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N28.3,D-3,U2,Q0.000056

: Sonardyne - POSD response: 
POSD S+144.4,N28.3,D-3,U2,Q0.000056

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,215945.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215945.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R91.26,X0.17,Y7.22,Z-90.97

: Sonardyne - parsing R91.26,X0.17,Y7.22,Z-90.97

: Sonardyne - read R = 91.260000 from 91.26,X0.17,Y7.22,Z-90.97

: Sonardyne - got all data, Vehicle coordinates,
    r=91.260000, x=90.970000, y=0.170000, z=-7.220000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.5,N22.4,D-58,U8,Q0.000087

: 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,215946.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215946.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.73,X-0.44,Y1.71,Z-89.71

: Sonardyne - parsing R89.73,X-0.44,Y1.71,Z-89.71

: Sonardyne - read R = 89.730000 from 89.73,X-0.44,Y1.71,Z-89.71

: Sonardyne - got all data, Vehicle coordinates,
    r=89.730000, x=89.710000, y=-0.440000, z=-1.710000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.5,N34.9,D-14,U8,Q0.000151

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

: AshtechGps::processRecord() - $GPGGA,215947.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215947.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.43,X-0.15,Y3.43,Z-88.36

: Sonardyne - parsing R88.43,X-0.15,Y3.43,Z-88.36

: Sonardyne - read R = 88.430000 from 88.43,X-0.15,Y3.43,Z-88.36

: Sonardyne - got all data, Vehicle coordinates,
    r=88.430000, x=88.360000, y=-0.150000, z=-3.430000 tat = 590
: Sonardyne - POSD response: 
POSD S+143.9,N23.3,D82,U8,Q0.000120

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

: AshtechGps::processRecord() - $GPGGA,215948.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215948.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.00,X0.19,Y3.94,Z-86.91

: Sonardyne - parsing R87.00,X0.19,Y3.94,Z-86.91

: Sonardyne - read R = 87.000000 from 87.00,X0.19,Y3.94,Z-86.91

: Sonardyne - got all data, Vehicle coordinates,
    r=87.000000, x=86.910000, y=0.190000, z=-3.940000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.3,N23.5,D-60,U8,Q0.000069

: AshtechGps::processRecord() - $GPGGA,215949.00,,,,,0,00,,,M,,M,,*4A

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

: GpsUtils::parseFix() - $GPGGA,215949.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.76

: Sonardyne - parsing R85.76

: Sonardyne - read R = 85.760000 from 85.76

: Sonardyne - got range only (85.760000), tat = 560
: Sonardyne - POSD response: 
POSD S+144.1,N23.4,D86,U3,Q0.000061

: Sonardyne - POSD response: 
POSD S+144.1,N23.4,D86,U3,Q0.000061

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,215950.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,215950.00,,,,,0,00,,,M,,M,,*42


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

: BluefinBatt Reply: $aaq0 d- 31.19  9.40 16.89 3.89 3.92 0   -99.76 04:30:59 m

: Sonardyne - POS response: 
POS V4,1 R84.38,X-0.23,Y4.35,Z-84.27

: Sonardyne - parsing R84.38,X-0.23,Y4.35,Z-84.27

: Sonardyne - read R = 84.380000 from 84.38,X-0.23,Y4.35,Z-84.27

: Sonardyne - got all data, Vehicle coordinates,
    r=84.380000, x=84.270000, y=-0.230000, z=-4.350000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.7,N35.0,D-5,U8,Q0.000144

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,215951.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,215951.00,,,,,0,00,,,M,,M,,*43


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

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R83.10,X-0.15,Y5.77,Z-82.90

: Sonardyne - parsing R83.10,X-0.15,Y5.77,Z-82.90

: Sonardyne - read R = 83.100000 from 83.10,X-0.15,Y5.77,Z-82.90

: Sonardyne - got all data, Vehicle coordinates,
    r=83.100000, x=82.900000, y=-0.150000, z=-5.770000 tat = 580
: Sonardyne - POSD response: 
POSD S+144.7,N35.2,D-56,U8,Q0.000079

: AshtechGps::processRecord() - $GPGGA,215952.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,215952.00,,,,,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 R80.41

: Sonardyne - parsing R80.41

: Sonardyne - read R = 80.410000 from 80.41

: Sonardyne - got range only (80.410000), tat = 550
: Sonardyne - POSD response: 
POSD S+141.3,N19.4,D84,U4,Q0.000236

: Sonardyne - POSD response: 
POSD S+141.3,N19.4,D84,U4,Q0.000236

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,215953.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,215953.00,,,,,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 R79.12,X-0.18,Y5.04,Z-78.96

: Sonardyne - parsing R79.12,X-0.18,Y5.04,Z-78.96

: Sonardyne - read R = 79.120000 from 79.12,X-0.18,Y5.04,Z-78.96

: Sonardyne - got all data, Vehicle coordinates,
    r=79.120000, x=78.960000, y=-0.180000, z=-5.040000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.5,N20.0,D-135,U8,Q0.000103

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,215954.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,215954.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R77.19,X-0.21,Y4.02,Z-77.09

: Sonardyne - parsing R77.19,X-0.21,Y4.02,Z-77.09

: Sonardyne - read R = 77.190000 from 77.19,X-0.21,Y4.02,Z-77.09

: Sonardyne - got all data, Vehicle coordinates,
    r=77.190000, x=77.090000, y=-0.210000, z=-4.020000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.7,N34.5,D5,U8,Q0.000095

: AshtechGps::processRecord() - $GPGGA,215955.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,215955.00,,,,,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 R75.35

: Sonardyne - parsing R75.35

: Sonardyne - read R = 75.350000 from 75.35

: Sonardyne - got range only (75.350000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.5,N20.2,D-131,U4,Q0.000097

: Sonardyne - POSD response: 
POSD S+144.5,N20.2,D-131,U4,Q0.000097

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,215956.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,215956.00,,,,,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 R73.60,X-0.73,Y1.60,Z-73.58

: Sonardyne - parsing R73.60,X-0.73,Y1.60,Z-73.58

: Sonardyne - read R = 73.600000 from 73.60,X-0.73,Y1.60,Z-73.58

: Sonardyne - got all data, Vehicle coordinates,
    r=73.600000, x=73.580000, y=-0.730000, z=-1.600000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.4,N25.1,D82,U8,Q0.000120

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,215957.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,215957.00,,,,,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 R75.00

: Sonardyne - parsing R75.00

: Sonardyne - read R = 75.000000 from 75.00

: Sonardyne - got range only (75.000000), tat = 550
: Sonardyne - POSD response: 
POSD S+143.6,N24.2,D-50,U1,Q0.003817

: Sonardyne - POSD response: 
POSD S+143.6,N24.2,D-50,U1,Q0.003817

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,215958.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,215958.00,,,,,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 R70.21,X-0.41,Y2.73,Z-70.15

: Sonardyne - parsing R70.21,X-0.41,Y2.73,Z-70.15

: Sonardyne - read R = 70.210000 from 70.21,X-0.41,Y2.73,Z-70.15

: Sonardyne - got all data, Vehicle coordinates,
    r=70.210000, x=70.150000, y=-0.410000, z=-2.730000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.2,N29.8,D22,U8,Q0.000107

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,215959.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,215959.00,,,,,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 R68.58,X-0.65,Y2.89,Z-68.52

: Sonardyne - parsing R68.58,X-0.65,Y2.89,Z-68.52

: Sonardyne - read R = 68.580000 from 68.58,X-0.65,Y2.89,Z-68.52

: Sonardyne - got all data, Vehicle coordinates,
    r=68.580000, x=68.520000, y=-0.650000, z=-2.890000 tat = 560
: Sonardyne - POSD response: 
POSD S+143.8,N27.3,D-57,U7,Q0.000080

: AshtechGps::processRecord() - $GPGGA,220000.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220000.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 31.15  8.55 16.89 3.89 3.92 0  -100.69 04:31:09 m

: Sonardyne - POS response: 
POS V4,1 R67.41,X-0.06,Y5.74,Z-67.16

: Sonardyne - parsing R67.41,X-0.06,Y5.74,Z-67.16

: Sonardyne - read R = 67.410000 from 67.41,X-0.06,Y5.74,Z-67.16

: Sonardyne - got all data, Vehicle coordinates,
    r=67.410000, x=67.160000, y=-0.060000, z=-5.740000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.7,N25.6,D-83,U8,Q0.000095

: AshtechGps::processRecord() - $GPGGA,220001.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220001.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R65.94,X0.12,Y4.27,Z-65.80

: Sonardyne - parsing R65.94,X0.12,Y4.27,Z-65.80

: Sonardyne - read R = 65.940000 from 65.94,X0.12,Y4.27,Z-65.80

: Sonardyne - got all data, Vehicle coordinates,
    r=65.940000, x=65.800000, y=0.120000, z=-4.270000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.8,N28.2,D-58,U8,Q0.000066

: AshtechGps::processRecord() - $GPGGA,220002.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220002.00,,,,,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 R64.68,X-0.20,Y4.18,Z-64.55

: Sonardyne - parsing R64.68,X-0.20,Y4.18,Z-64.55

: Sonardyne - read R = 64.680000 from 64.68,X-0.20,Y4.18,Z-64.55

: Sonardyne - got all data, Vehicle coordinates,
    r=64.680000, x=64.550000, y=-0.200000, z=-4.180000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.4,N26.8,D-59,U8,Q0.000283

: AshtechGps::processRecord() - $GPGGA,220003.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220003.00,,,,,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 R66.38

: Sonardyne - parsing R66.38

: Sonardyne - read R = 66.380000 from 66.38

: Sonardyne - got range only (66.380000), tat = 540
: Sonardyne - POSD response: 
POSD S136.6,N21.9,D-123,U3,Q0.018137

: Sonardyne - POSD response: 
POSD S136.6,N21.9,D-123,U3,Q0.018137

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220004.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220004.00,,,,,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 R61.27

: Sonardyne - parsing R61.27

: Sonardyne - read R = 61.270000 from 61.27

: Sonardyne - got range only (61.270000), tat = 530
: Sonardyne - POSD response: 
POSD S+144.4,N24.8,D-50,U3,Q0.000072

: Sonardyne - POSD response: 
POSD S+144.4,N24.8,D-50,U3,Q0.000072

: AshtechGps::processRecord() - $GPGGA,220005.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220005.00,,,,,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 R62.68

: Sonardyne - parsing R62.68

: Sonardyne - read R = 62.680000 from 62.68

: Sonardyne - got range only (62.680000), tat = 530
: Sonardyne - POSD response: 
POSD S130.6,N22.5,D7,U2,Q0.000268

: Sonardyne - POSD response: 
POSD S130.6,N22.5,D7,U2,Q0.000268

: AshtechGps::processRecord() - $GPGGA,220006.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220006.00,,,,,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 R57.87,X-0.33,Y4.21,Z-57.72

: Sonardyne - parsing R57.87,X-0.33,Y4.21,Z-57.72

: Sonardyne - read R = 57.870000 from 57.87,X-0.33,Y4.21,Z-57.72

: Sonardyne - got all data, Vehicle coordinates,
    r=57.870000, x=57.720000, y=-0.330000, z=-4.210000 tat = 550
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220007.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220007.00,,,,,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 R56.20,X-0.70,Y3.13,Z-56.11

: Sonardyne - parsing R56.20,X-0.70,Y3.13,Z-56.11

: Sonardyne - read R = 56.200000 from 56.20,X-0.70,Y3.13,Z-56.11

: Sonardyne - got all data, Vehicle coordinates,
    r=56.200000, x=56.110000, y=-0.700000, z=-3.130000 tat = 540
: AshtechGps::processRecord() - $GPGGA,220008.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220008.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R54.42,X-0.37,Y2.60,Z-54.36

: Sonardyne - parsing R54.42,X-0.37,Y2.60,Z-54.36

: Sonardyne - read R = 54.420000 from 54.42,X-0.37,Y2.60,Z-54.36

: Sonardyne - got all data, Vehicle coordinates,
    r=54.420000, x=54.360000, y=-0.370000, z=-2.600000 tat = 540
: AshtechGps::processRecord() - $GPGGA,220009.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220009.00,,,,,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 R59.75

: Sonardyne - parsing R59.75

: Sonardyne - read R = 59.750000 from 59.75

: Sonardyne - got range only (59.750000), tat = 529
: Sonardyne - POSD response: 
POSD S138.0,N30.7,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.0,N30.7,D-10,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220010.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220010.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.66 16.89 3.89 3.92 0  -101.32 04:31:19 m

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

: Sonardyne - POS response: 
POS V4,1 R51.62,X-0.42,Y1.90,Z-51.58

: Sonardyne - parsing R51.62,X-0.42,Y1.90,Z-51.58

: Sonardyne - read R = 51.620000 from 51.62,X-0.42,Y1.90,Z-51.58

: Sonardyne - got all data, Vehicle coordinates,
    r=51.620000, x=51.580000, y=-0.420000, z=-1.900000 tat = 540
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220011.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220011.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R49.56,X-0.51,Y2.17,Z-49.51

: Sonardyne - parsing R49.56,X-0.51,Y2.17,Z-49.51

: Sonardyne - read R = 49.560000 from 49.56,X-0.51,Y2.17,Z-49.51

: Sonardyne - got all data, Vehicle coordinates,
    r=49.560000, x=49.510000, y=-0.510000, z=-2.170000 tat = 530
: AshtechGps::processRecord() - $GPGGA,220012.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220012.00,,,,,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 R48.13

: Sonardyne - parsing R48.13

: Sonardyne - read R = 48.130000 from 48.13

: Sonardyne - got range only (48.130000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.6,N25.0,D137,U5,Q0.000051

: Sonardyne - POSD response: 
POSD S+144.6,N25.0,D137,U5,Q0.000051

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220013.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220013.00,,,,,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 R46.57

: Sonardyne - parsing R46.57

: Sonardyne - read R = 46.570000 from 46.57

: Sonardyne - got range only (46.570000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.8,N30.3,D-43,U5,Q0.000054

: Sonardyne - POSD response: 
POSD S+144.8,N30.3,D-43,U5,Q0.000054

: AshtechGps::processRecord() - $GPGGA,220014.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220014.00,,,,,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 R45.03,X-0.24,Y1.44,Z-45.01

: Sonardyne - parsing R45.03,X-0.24,Y1.44,Z-45.01

: Sonardyne - read R = 45.030000 from 45.03,X-0.24,Y1.44,Z-45.01

: Sonardyne - got all data, Vehicle coordinates,
    r=45.030000, x=45.010000, y=-0.240000, z=-1.440000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.2,N23.2,D-83,U8,Q0.000059

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220015.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220015.00,,,,,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 R43.38,X-0.14,Y1.19,Z-43.36

: Sonardyne - parsing R43.38,X-0.14,Y1.19,Z-43.36

: Sonardyne - read R = 43.380000 from 43.38,X-0.14,Y1.19,Z-43.36

: Sonardyne - got all data, Vehicle coordinates,
    r=43.380000, x=43.360000, y=-0.140000, z=-1.190000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.8,N29.0,D-51,U8,Q0.000071

: AshtechGps::processRecord() - $GPGGA,220016.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220016.00,,,,,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 R41.71,X-0.01,Y1.40,Z-41.68

: Sonardyne - parsing R41.71,X-0.01,Y1.40,Z-41.68

: Sonardyne - read R = 41.710000 from 41.71,X-0.01,Y1.40,Z-41.68

: Sonardyne - got all data, Vehicle coordinates,
    r=41.710000, x=41.680000, y=-0.010000, z=-1.400000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.5,N29.1,D-1,U8,Q0.000055

: AshtechGps::processRecord() - $GPGGA,220017.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220017.00,,,,,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 R40.09,X-0.00,Y1.38,Z-40.06

: Sonardyne - parsing R40.09,X-0.00,Y1.38,Z-40.06

: Sonardyne - read R = 40.090000 from 40.09,X-0.00,Y1.38,Z-40.06

: Sonardyne - got all data, Vehicle coordinates,
    r=40.090000, x=40.060000, y=0.000000, z=-1.380000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N33.0,D5,U8,Q0.000060

: AshtechGps::processRecord() - $GPGGA,220018.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220018.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R38.52,X-0.07,Y2.11,Z-38.46

: Sonardyne - parsing R38.52,X-0.07,Y2.11,Z-38.46

: Sonardyne - read R = 38.520000 from 38.52,X-0.07,Y2.11,Z-38.46

: Sonardyne - got all data, Vehicle coordinates,
    r=38.520000, x=38.460000, y=-0.070000, z=-2.110000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.0,N19.8,D-126,U8,Q0.000061

: AshtechGps::processRecord() - $GPGGA,220019.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220019.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R38.28

: Sonardyne - parsing R38.28

: Sonardyne - read R = 38.280000 from 38.28

: Sonardyne - got range only (38.280000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.7,N28.7,D-19,U3,Q0.004388

: Sonardyne - POSD response: 
POSD S+144.7,N28.7,D-19,U3,Q0.004388

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220020.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220020.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.76 16.89 3.89 3.92 0  -102.23 04:31:29 m

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

: Sonardyne - POS response: 
POS V4,1 R35.66,X-0.30,Y1.36,Z-35.63

: Sonardyne - parsing R35.66,X-0.30,Y1.36,Z-35.63

: Sonardyne - read R = 35.660000 from 35.66,X-0.30,Y1.36,Z-35.63

: Sonardyne - got all data, Vehicle coordinates,
    r=35.660000, x=35.630000, y=-0.300000, z=-1.360000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N27.8,D53,U7,Q0.000055

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220021.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220021.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  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 R41.93

: Sonardyne - parsing R41.93

: Sonardyne - read R = 41.930000 from 41.93

: Sonardyne - got range only (41.930000), tat = 500
: Sonardyne - POSD response: 
POSD S139.5,N22.6,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.5,N22.6,D-19,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220022.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220022.00,,,,,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 R32.31,X-0.20,Y1.44,Z-32.28

: Sonardyne - parsing R32.31,X-0.20,Y1.44,Z-32.28

: Sonardyne - read R = 32.310000 from 32.31,X-0.20,Y1.44,Z-32.28

: Sonardyne - got all data, Vehicle coordinates,
    r=32.310000, x=32.280000, y=-0.200000, z=-1.440000 tat = 510
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220023.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220023.00,,,,,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 R30.55,X-0.16,Y1.34,Z-30.52

: Sonardyne - parsing R30.55,X-0.16,Y1.34,Z-30.52

: Sonardyne - read R = 30.550000 from 30.55,X-0.16,Y1.34,Z-30.52

: Sonardyne - got all data, Vehicle coordinates,
    r=30.550000, x=30.520000, y=-0.160000, z=-1.340000 tat = 510
: AshtechGps::processRecord() - $GPGGA,220024.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220024.00,,,,,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 R28.95,X-0.25,Y1.23,Z-28.93

: Sonardyne - parsing R28.95,X-0.25,Y1.23,Z-28.93

: Sonardyne - read R = 28.950000 from 28.95,X-0.25,Y1.23,Z-28.93

: Sonardyne - got all data, Vehicle coordinates,
    r=28.950000, x=28.930000, y=-0.250000, z=-1.230000 tat = 510
: AshtechGps::processRecord() - $GPGGA,220025.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220025.00,,,,,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 R27.28,X-0.33,Y1.06,Z-27.26

: Sonardyne - parsing R27.28,X-0.33,Y1.06,Z-27.26

: Sonardyne - read R = 27.280000 from 27.28,X-0.33,Y1.06,Z-27.26

: Sonardyne - got all data, Vehicle coordinates,
    r=27.280000, x=27.260000, y=-0.330000, z=-1.060000 tat = 500
: AshtechGps::processRecord() - $GPGGA,220026.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220026.00,,,,,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 R25.72,X-0.34,Y0.74,Z-25.71

: Sonardyne - parsing R25.72,X-0.34,Y0.74,Z-25.71

: Sonardyne - read R = 25.720000 from 25.72,X-0.34,Y0.74,Z-25.71

: Sonardyne - got all data, Vehicle coordinates,
    r=25.720000, x=25.710000, y=-0.340000, z=-0.740000 tat = 500
: AshtechGps::processRecord() - $GPGGA,220027.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220027.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.14

: Sonardyne - parsing R24.14

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

: Sonardyne - read R = 24.140000 from 24.14

: Sonardyne - got range only (24.140000), tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N32.7,D-41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N32.7,D-41,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220028.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220028.00,,,,,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 R22.52,X-0.27,Y0.65,Z-22.51

: Sonardyne - parsing R22.52,X-0.27,Y0.65,Z-22.51

: Sonardyne - read R = 22.520000 from 22.52,X-0.27,Y0.65,Z-22.51

: Sonardyne - got all data, Vehicle coordinates,
    r=22.520000, x=22.510000, y=-0.270000, z=-0.650000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.0,D-39,U8,Q0.000048

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,220029.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220029.00,,,,,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 R20.97,X-0.18,Y0.39,Z-20.96

: Sonardyne - parsing R20.97,X-0.18,Y0.39,Z-20.96

: Sonardyne - read R = 20.970000 from 20.97,X-0.18,Y0.39,Z-20.96

: Sonardyne - got all data, Vehicle coordinates,
    r=20.970000, x=20.960000, y=-0.180000, z=-0.390000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N30.4,D-39,U8,Q0.000059

: AshtechGps::processRecord() - $GPGGA,220030.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220030.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  9.67 16.89 3.89 3.92 0  -102.82 04:31:39 m

: Sonardyne - POS response: 
POS V4,1 R19.42,X-0.16,Y0.27,Z-19.41

: Sonardyne - parsing R19.42,X-0.16,Y0.27,Z-19.41

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

: Sonardyne - read R = 19.420000 from 19.42,X-0.16,Y0.27,Z-19.41

: Sonardyne - got all data, Vehicle coordinates,
    r=19.420000, x=19.410000, y=-0.160000, z=-0.270000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N30.6,D-37,U8,Q0.000062

: AshtechGps::processRecord() - $GPGGA,220031.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220031.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R17.81,X-0.16,Y0.10,Z-17.80

: Sonardyne - parsing R17.81,X-0.16,Y0.10,Z-17.80

: Sonardyne - read R = 17.810000 from 17.81,X-0.16,Y0.10,Z-17.80

: Sonardyne - got all data, Vehicle coordinates,
    r=17.810000, x=17.800000, y=-0.160000, z=-0.100000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N30.6,D-40,U8,Q0.000080

: AshtechGps::processRecord() - $GPGGA,220032.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220032.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.13,X-0.15,Y-0.02,Z-16.13

: Sonardyne - parsing R16.13,X-0.15,Y-0.02,Z-16.13

: Sonardyne - read R = 16.130000 from 16.13,X-0.15,Y-0.02,Z-16.13

: Sonardyne - got all data, Vehicle coordinates,
    r=16.130000, x=16.130000, y=-0.150000, z=0.020000 tat = 490
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.9,N30.3,D-40,U8,Q0.000089

: AshtechGps::processRecord() - $GPGGA,220033.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220033.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.54,X-0.16,Y-0.10,Z-14.54

: Sonardyne - parsing R14.54,X-0.16,Y-0.10,Z-14.54

: Sonardyne - read R = 14.540000 from 14.54,X-0.16,Y-0.10,Z-14.54

: Sonardyne - got all data, Vehicle coordinates,
    r=14.540000, x=14.540000, y=-0.160000, z=0.100000 tat = 490
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N30.6,D-39,U8,Q0.000100

: AshtechGps::processRecord() - $GPGGA,220034.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220034.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R12.98,X-0.18,Y-0.18,Z-12.97

: Sonardyne - parsing R12.98,X-0.18,Y-0.18,Z-12.97

: Sonardyne - read R = 12.980000 from 12.98,X-0.18,Y-0.18,Z-12.97

: Sonardyne - got all data, Vehicle coordinates,
    r=12.980000, x=12.970000, y=-0.180000, z=0.180000 tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N29.3,D-42,U8,Q0.000074

: AshtechGps::processRecord() - $GPGGA,220035.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220035.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.49,X-0.19,Y-0.26,Z-11.49

: Sonardyne - parsing R11.49,X-0.19,Y-0.26,Z-11.49

: Sonardyne - read R = 11.490000 from 11.49,X-0.19,Y-0.26,Z-11.49

: Sonardyne - got all data, Vehicle coordinates,
    r=11.490000, x=11.490000, y=-0.190000, z=0.260000 tat = 480
:  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,N29.7,D-43,U8,Q0.000058

: AshtechGps::processRecord() - $GPGGA,220036.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220036.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.01,X-0.20,Y-0.35,Z-10.00

: Sonardyne - parsing R10.01,X-0.20,Y-0.35,Z-10.00

: Sonardyne - read R = 10.010000 from 10.01,X-0.20,Y-0.35,Z-10.00

: Sonardyne - got all data, Vehicle coordinates,
    r=10.010000, x=10.000000, y=-0.200000, z=0.350000 tat = 480
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N29.9,D-42,U8,Q0.000213

: AshtechGps::processRecord() - $GPGGA,220037.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220037.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.56,X-0.19,Y-0.43,Z-8.55

: Sonardyne - parsing R8.56,X-0.19,Y-0.43,Z-8.55

: Sonardyne - read R = 8.560000 from 8.56,X-0.19,Y-0.43,Z-8.55

: Sonardyne - got all data, Vehicle coordinates,
    r=8.560000, x=8.550000, y=-0.190000, z=0.430000 tat = 480
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N29.4,D-43,U8,Q0.000303

: AshtechGps::processRecord() - $GPGGA,220038.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220038.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R7.06,X-0.20,Y-0.54,Z-7.03

: Sonardyne - parsing R7.06,X-0.20,Y-0.54,Z-7.03

: Sonardyne - read R = 7.060000 from 7.06,X-0.20,Y-0.54,Z-7.03

: Sonardyne - got all data, Vehicle coordinates,
    r=7.060000, x=7.030000, y=-0.200000, z=0.540000 tat = 479
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+145.0,N29.6,D-43,U8,Q0.000573

: AshtechGps::processRecord() - $GPGGA,220039.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220039.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.48,X0.08,Y-1.07,Z-5.37

: Sonardyne - parsing R5.48,X0.08,Y-1.07,Z-5.37

: Sonardyne - read R = 5.480000 from 5.48,X0.08,Y-1.07,Z-5.37

: Sonardyne - got all data, Vehicle coordinates,
    r=5.480000, x=5.370000, y=0.080000, z=1.070000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N30.0,D-45,U8,Q0.017664

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

: AshtechGps::processRecord() - $GPGGA,220040.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220040.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.86 16.89 3.89 3.92 0  -103.80 04:31:49 m

: Sonardyne - POS response: 
POS V4,1 R3.96

: Sonardyne - parsing R3.96

: Sonardyne - read R = 3.960000 from 3.96

: Sonardyne - got range only (3.960000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D-51,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+144.9,N28.5,D-51,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220041.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220041.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R2.57

: Sonardyne - parsing R2.57

: Sonardyne - read R = 2.570000 from 2.57

: Sonardyne - got range only (2.570000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N30.3,D-33,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+144.9,N30.3,D-33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220042.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220042.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.47

: Sonardyne - parsing R1.47

: Sonardyne - read R = 1.470000 from 1.47

: Sonardyne - got range only (1.470000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N32.6,D-22,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S+144.9,N32.6,D-22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220043.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220043.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R1.79,X-1.07,Y1.44,Z0.00

: Sonardyne - parsing R1.79,X-1.07,Y1.44,Z0.00

: Sonardyne - read R = 1.790000 from 1.79,X-1.07,Y1.44,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=1.790000, x=0.000000, y=-1.070000, z=-1.440000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.6,N35.3,D17,U7,Q0.006617

:  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,220044.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220044.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.32

: Sonardyne - parsing R3.32

: Sonardyne - read R = 3.320000 from 3.32

: Sonardyne - got range only (3.320000), tat = 450
: Sonardyne - POSD response: 
POSD S135.3,N29.7,D43,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S135.3,N29.7,D43,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,220045.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220045.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.12

: Sonardyne - parsing R5.12

: Sonardyne - read R = 5.120000 from 5.12

: Sonardyne - got range only (5.120000), tat = 450
: Sonardyne - POSD response: 
POSD S117.7,N19.9,D62,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S117.7,N19.9,D62,U0,Q0.000000

:  WaypointHoming has set the state to finished.

: WaypointHoming (4051835.0, 600613.3), 
  reached at t = 363.60                                          (wplog)

: Vehicle Position is error is (0.3, -0.1)

: LayeredControl::execute() -- (t = 363.595092) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 363.60                            (wplog)
  The current location (N,E) = 4051834.7      , 600613.4         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 67.6 Degrees.

: LayeredControl::execute() -- (t = 363.605091) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,220046.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220046.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.63

: Sonardyne - parsing R6.63

: Sonardyne - read R = 6.630000 from 6.63

: Sonardyne - got range only (6.630000), tat = 450
: Sonardyne - POSD response: 
POSD S117.5,N21.2,D51,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 S117.5,N21.2,D51,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220047.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220047.00,,,,,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,220048.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220048.00,,,,,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,220049.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220049.00,,,,,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 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,220050.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220050.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.39 16.99 3.89 3.92 0  -104.44 04:31:59 m

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

: AshtechGps::processRecord() - $GPGGA,220051.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220051.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,220052.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220052.00,,,,,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,220053.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220053.00,,,,,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 = 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,N6.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220054.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220054.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.18,X1.00,Y-3.33,Z-15.81

: Sonardyne - parsing R16.18,X1.00,Y-3.33,Z-15.81

: Sonardyne - read R = 16.180000 from 16.18,X1.00,Y-3.33,Z-15.81

: Sonardyne - got all data, Vehicle coordinates,
    r=16.180000, x=15.810000, y=1.000000, z=3.330000 tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220055.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220055.00,,,,,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,220056.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220056.00,,,,,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,220057.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220057.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,220058.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220058.00,,,,,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 R18.83

: Sonardyne - parsing R18.83

: Sonardyne - read R = 18.830000 from 18.83

: Sonardyne - got range only (18.830000), tat = 470
: Sonardyne - POSD response: 
POSD S135.5,N31.6,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.5,N31.6,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220059.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220059.00,,,,,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 R19.02

: Sonardyne - parsing R19.02

: Sonardyne - read R = 19.020000 from 19.02

: Sonardyne - got range only (19.020000), tat = 470
: Sonardyne - POSD response: 
POSD S132.0,N25.1,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.0,N25.1,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220100.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220100.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  9.13 16.89 3.89 3.91 0  -105.38 04:32:09 m

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

: Sonardyne - POS response: 
POS V4,1 R19.17

: Sonardyne - parsing R19.17

: Sonardyne - read R = 19.170000 from 19.17

: Sonardyne - got range only (19.170000), tat = 470
: Sonardyne - POSD response: 
POSD S131.0,N25.7,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.0,N25.7,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220101.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  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 R19.35

: Sonardyne - parsing R19.35

: Sonardyne - read R = 19.350000 from 19.35

: Sonardyne - got range only (19.350000), tat = 470
: Sonardyne - POSD response: 
POSD S136.7,N32.9,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N32.9,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220102.00,,,,,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 R19.55

: Sonardyne - parsing R19.55

: Sonardyne - read R = 19.550000 from 19.55

: Sonardyne - got range only (19.550000), tat = 470
: Sonardyne - POSD response: 
POSD S137.3,N29.6,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.3,N29.6,D14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220103.00,,,,,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 R20.02

: Sonardyne - parsing R20.02

: Sonardyne - read R = 20.020000 from 20.02

: Sonardyne - got range only (20.020000), tat = 470
: Sonardyne - POSD response: 
POSD S133.1,N30.5,D25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.1,N30.5,D25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220104.00,,,,,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 R20.63

: Sonardyne - parsing R20.63

: Sonardyne - read R = 20.630000 from 20.63

: Sonardyne - got range only (20.630000), tat = 470
: Sonardyne - POSD response: 
POSD S137.6,N28.9,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.6,N28.9,D8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220105.00,,,,,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 R21.14

: Sonardyne - parsing R21.14

: Sonardyne - read R = 21.140000 from 21.14

: Sonardyne - got range only (21.140000), tat = 470
: Sonardyne - POSD response: 
POSD S134.9,N30.8,D4,U2,Q0.004727

: Sonardyne - POSD response: 
POSD S134.9,N30.8,D4,U2,Q0.004727

: AshtechGps::processRecord() - $GPGGA,220106.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220106.00,,,,,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 R21.99,X15.52,Y11.45,Z-10.56

: Sonardyne - parsing R21.99,X15.52,Y11.45,Z-10.56

: Sonardyne - read R = 21.990000 from 21.99,X15.52,Y11.45,Z-10.56

: Sonardyne - got all data, Vehicle coordinates,
    r=21.990000, x=10.560000, y=15.520000, z=-11.450000 tat = 500
: AshtechGps::processRecord() - $GPGGA,220107.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220107.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,220108.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220108.00,,,,,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,220109.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220109.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,220110.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220110.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.57 16.89 3.89 3.91 0  -106.04 04:32:19 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,N6.0,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N6.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220111.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220111.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,220112.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220112.00,,,,,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,220113.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220113.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,220114.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220114.00,,,,,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,220115.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220115.00,,,,,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,220116.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220116.00,,,,,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,220117.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220117.00,,,,,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,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,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,220118.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220118.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,220119.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220119.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,220120.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220120.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.80 16.99 3.88 3.91 0  -107.05 04:32:29 m

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,220121.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220121.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220122.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220122.00,,,,,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,220123.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220123.00,,,,,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,220124.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220124.00,,,,,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,N9.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.6,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,220125.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220125.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.26

: Sonardyne - parsing R49.26

: Sonardyne - read R = 49.260000 from 49.26

: Sonardyne - got range only (49.260000), tat = 510
: Sonardyne - POSD response: 
POSD S112.0,N21.2,D-62,U3,Q0.003942

: Sonardyne - POSD response: 
POSD S112.0,N21.2,D-62,U3,Q0.003942

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

: AshtechGps::processRecord() - $GPGGA,220126.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220126.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.58

: Sonardyne - parsing R50.58

: Sonardyne - read R = 50.580000 from 50.58

: Sonardyne - got range only (50.580000), tat = 510
: Sonardyne - POSD response: 
POSD S107.6,N16.0,D76,U3,Q0.007074

: Sonardyne - POSD response: 
POSD S107.6,N16.0,D76,U3,Q0.007074

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

: AshtechGps::processRecord() - $GPGGA,220127.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220127.00,,,,,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,220128.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220128.00,,,,,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,220129.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220129.00,,,,,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,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,220130.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220130.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.06 16.99 3.88 3.91 0  -107.67 04:32:39 m

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

: Sonardyne - POS response: 
POS V4,1 R59.69

: Sonardyne - parsing R59.69

: Sonardyne - read R = 59.690000 from 59.69

: Sonardyne - got range only (59.690000), tat = 530
: Sonardyne - POSD response: 
POSD S114.2,N21.7,D3,U1,Q0.002456

: Sonardyne - POSD response: 
POSD S114.2,N21.7,D3,U1,Q0.002456

: AshtechGps::processRecord() - $GPGGA,220131.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220131.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220132.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220132.00,,,,,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

: LayeredControl::execute() -- (t = 410.791859) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 410.79                            (wplog)
  The current location (N,E) = 4051855.2      , 600662.3         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 340.3 Degrees.

: LayeredControl::execute() -- (t = 410.791859) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,220133.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220133.00,,,,,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,220134.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220134.00,,,,,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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220135.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220135.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.58

: Sonardyne - parsing R69.58

: Sonardyne - read R = 69.580000 from 69.58

: Sonardyne - got range only (69.580000), tat = 540
: Sonardyne - POSD response: 
POSD S113.1,N17.8,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.1,N17.8,D15,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,220136.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220136.00,,,,,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,220137.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220137.00,,,,,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,220138.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220138.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,220139.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220139.00,,,,,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 R68.52

: Sonardyne - parsing R68.52

: Sonardyne - read R = 68.520000 from 68.52

: Sonardyne - got range only (68.520000), tat = 540
: Sonardyne - POSD response: 
POSD S125.9,N24.6,D-66,U5,Q0.007947

: Sonardyne - POSD response: 
POSD S125.9,N24.6,D-66,U5,Q0.007947

: AshtechGps::processRecord() - $GPGGA,220140.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220140.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.45 16.99 3.88 3.91 0  -108.60 04:32:49 m

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

: Sonardyne - POS response: 
POS V4,1 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 S125.4,N14.4,D-94,U2,Q0.008736

: Sonardyne - POSD response: 
POSD S125.4,N14.4,D-94,U2,Q0.008736

: AshtechGps::processRecord() - $GPGGA,220141.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220141.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R69.56

: Sonardyne - parsing R69.56

: Sonardyne - read R = 69.560000 from 69.56

: Sonardyne - got range only (69.560000), tat = 540
: Sonardyne - POSD response: 
POSD S123.2,N20.7,D95,U2,Q0.005688

: Sonardyne - POSD response: 
POSD S123.2,N20.7,D95,U2,Q0.005688

: AshtechGps::processRecord() - $GPGGA,220142.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220142.00,,,,,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 R69.61

: Sonardyne - parsing R69.61

: Sonardyne - read R = 69.610000 from 69.61

: Sonardyne - got range only (69.610000), tat = 540
: Sonardyne - POSD response: 
POSD S126.2,N24.5,D29,U2,Q0.005094

: Sonardyne - POSD response: 
POSD S126.2,N24.5,D29,U2,Q0.005094

: AshtechGps::processRecord() - $GPGGA,220143.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220143.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R74.22

: Sonardyne - parsing R74.22

: Sonardyne - read R = 74.220000 from 74.22

: Sonardyne - got range only (74.220000), tat = 550
: Sonardyne - POSD response: 
POSD S125.7,N23.2,D-20,U2,Q0.006443

: Sonardyne - POSD response: 
POSD S125.7,N23.2,D-20,U2,Q0.006443

: AshtechGps::processRecord() - $GPGGA,220144.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220144.00,,,,,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 R69.59

: Sonardyne - parsing R69.59

: Sonardyne - read R = 69.590000 from 69.59

: Sonardyne - got range only (69.590000), tat = 540
: Sonardyne - POSD response: 
POSD S121.2,N17.1,D19,U2,Q0.014326

: Sonardyne - POSD response: 
POSD S121.2,N17.1,D19,U2,Q0.014326

: AshtechGps::processRecord() - $GPGGA,220145.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220145.00,,,,,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 R69.22

: Sonardyne - parsing R69.22

: Sonardyne - read R = 69.220000 from 69.22

: Sonardyne - got range only (69.220000), tat = 540
: Sonardyne - POSD response: 
POSD S135.8,N26.5,D-103,U2,Q0.019316

: Sonardyne - POSD response: 
POSD S135.8,N26.5,D-103,U2,Q0.019316

: AshtechGps::processRecord() - $GPGGA,220146.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220146.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R69.04,X-60.44,Y11.37,Z-31.38

: Sonardyne - parsing R69.04,X-60.44,Y11.37,Z-31.38

: Sonardyne - read R = 69.040000 from 69.04,X-60.44,Y11.37,Z-31.38

: Sonardyne - got all data, Vehicle coordinates,
    r=69.040000, x=31.380000, y=-60.440000, z=-11.370000 tat = 560
: AshtechGps::processRecord() - $GPGGA,220147.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220147.00,,,,,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 R68.17

: Sonardyne - parsing R68.17

: Sonardyne - read R = 68.170000 from 68.17

: Sonardyne - got range only (68.170000), tat = 540
: Sonardyne - POSD response: 
POSD S+141.9,N25.7,D64,U3,Q0.002514

: Sonardyne - POSD response: 
POSD S+141.9,N25.7,D64,U3,Q0.002514

: AshtechGps::processRecord() - $GPGGA,220148.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220148.00,,,,,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 R67.39,X-55.37,Y10.06,Z-37.07

: Sonardyne - parsing R67.39,X-55.37,Y10.06,Z-37.07

: Sonardyne - read R = 67.390000 from 67.39,X-55.37,Y10.06,Z-37.07

: Sonardyne - got all data, Vehicle coordinates,
    r=67.390000, x=37.070000, y=-55.370000, z=-10.060000 tat = 610
: Sonardyne - POSD response: 
POSD S+141.2,N23.5,D-66,U7,Q0.005778

: AshtechGps::processRecord() - $GPGGA,220149.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220149.00,,,,,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 R66.74

: Sonardyne - parsing R66.74

: Sonardyne - read R = 66.740000 from 66.74

: Sonardyne - got range only (66.740000), tat = 540
: Sonardyne - POSD response: 
POSD S139.6,N27.9,D24,U2,Q0.002865

: Sonardyne - POSD response: 
POSD S139.6,N27.9,D24,U2,Q0.002865

: AshtechGps::processRecord() - $GPGGA,220150.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220150.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12 10.24 16.99 3.88 3.91 0  -109.22 04:32:59 m

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

: Sonardyne - POS response: 
POS V4,1 R65.98

: Sonardyne - parsing R65.98

: Sonardyne - read R = 65.980000 from 65.98

: Sonardyne - got range only (65.980000), tat = 540
: Sonardyne - POSD response: 
POSD S135.9,N23.8,D73,U4,Q0.004800

: Sonardyne - POSD response: 
POSD S135.9,N23.8,D73,U4,Q0.004800

: AshtechGps::processRecord() - $GPGGA,220151.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220151.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R65.25

: Sonardyne - parsing R65.25

: Sonardyne - read R = 65.250000 from 65.25

: Sonardyne - got range only (65.250000), tat = 540
: Sonardyne - POSD response: 
POSD S139.0,N33.0,D25,U4,Q0.007041

: Sonardyne - POSD response: 
POSD S139.0,N33.0,D25,U4,Q0.007041

: AshtechGps::processRecord() - $GPGGA,220152.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220152.00,,,,,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 R64.63

: Sonardyne - parsing R64.63

: Sonardyne - read R = 64.630000 from 64.63

: Sonardyne - got range only (64.630000), tat = 530
: Sonardyne - POSD response: 
POSD S131.9,N20.2,D142,U1,Q0.011726

: Sonardyne - POSD response: 
POSD S131.9,N20.2,D142,U1,Q0.011726

: AshtechGps::processRecord() - $GPGGA,220153.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220153.00,,,,,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 R63.95

: Sonardyne - parsing R63.95

: Sonardyne - read R = 63.950000 from 63.95

: Sonardyne - got range only (63.950000), tat = 530
: Sonardyne - POSD response: 
POSD S+141.1,N26.3,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+141.1,N26.3,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220154.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220154.00,,,,,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 R63.43

: Sonardyne - parsing R63.43

: Sonardyne - read R = 63.430000 from 63.43

: Sonardyne - got range only (63.430000), tat = 530
: Sonardyne - POSD response: 
POSD S131.2,N25.1,D68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.2,N25.1,D68,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220155.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220155.00,,,,,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 R62.92

: Sonardyne - parsing R62.92

: Sonardyne - read R = 62.920000 from 62.92

: Sonardyne - got range only (62.920000), tat = 530
: Sonardyne - POSD response: 
POSD S137.1,N21.1,D-86,U2,Q0.013500

: Sonardyne - POSD response: 
POSD S137.1,N21.1,D-86,U2,Q0.013500

: AshtechGps::processRecord() - $GPGGA,220156.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220156.00,,,,,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 R62.36

: Sonardyne - parsing R62.36

: Sonardyne - read R = 62.360000 from 62.36

: Sonardyne - got range only (62.360000), tat = 530
: Sonardyne - POSD response: 
POSD S124.9,N20.6,D-93,U4,Q0.011973

: Sonardyne - POSD response: 
POSD S124.9,N20.6,D-93,U4,Q0.011973

: AshtechGps::processRecord() - $GPGGA,220157.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220157.00,,,,,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 R61.96

: Sonardyne - parsing R61.96

: Sonardyne - read R = 61.960000 from 61.96

: Sonardyne - got range only (61.960000), tat = 530
: Sonardyne - POSD response: 
POSD S129.4,N18.0,D89,U3,Q0.006588

: Sonardyne - POSD response: 
POSD S129.4,N18.0,D89,U3,Q0.006588

: AshtechGps::processRecord() - $GPGGA,220158.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220158.00,,,,,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 R61.64

: Sonardyne - parsing R61.64

: Sonardyne - read R = 61.640000 from 61.64

: Sonardyne - got range only (61.640000), tat = 530
: Sonardyne - POSD response: 
POSD S132.9,N25.4,D-17,U4,Q0.000126

: Sonardyne - POSD response: 
POSD S132.9,N25.4,D-17,U4,Q0.000126

: AshtechGps::processRecord() - $GPGGA,220159.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220159.00,,,,,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 R62.29

: Sonardyne - parsing R62.29

: Sonardyne - read R = 62.290000 from 62.29

: Sonardyne - got range only (62.290000), tat = 530
: Sonardyne - POSD response: 
POSD S131.2,N30.7,D-7,U5,Q0.001646

: Sonardyne - POSD response: 
POSD S131.2,N30.7,D-7,U5,Q0.001646

: AshtechGps::processRecord() - $GPGGA,220200.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220200.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.57 16.99 3.88 3.91 0  -110.27 04:33:09 m

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

: Sonardyne - POS response: 
POS V4,1 R62.32

: Sonardyne - parsing R62.32

: Sonardyne - read R = 62.320000 from 62.32

: Sonardyne - got range only (62.320000), tat = 530
: Sonardyne - POSD response: 
POSD S135.3,N30.2,D20,U4,Q0.007184

: Sonardyne - POSD response: 
POSD S135.3,N30.2,D20,U4,Q0.007184

: AshtechGps::processRecord() - $GPGGA,220201.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220201.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R62.90

: Sonardyne - parsing R62.90

: Sonardyne - read R = 62.900000 from 62.90

: Sonardyne - got range only (62.900000), tat = 530
: Sonardyne - POSD response: 
POSD S132.1,N27.6,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.1,N27.6,D29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220202.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220202.00,,,,,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 R62.36

: Sonardyne - parsing R62.36

: Sonardyne - read R = 62.360000 from 62.36

: Sonardyne - got range only (62.360000), tat = 530
: Sonardyne - POSD response: 
POSD S134.1,N27.5,D42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.1,N27.5,D42,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220203.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220203.00,,,,,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 R62.21

: Sonardyne - parsing R62.21

: Sonardyne - read R = 62.210000 from 62.21

: Sonardyne - got range only (62.210000), tat = 530
: Sonardyne - POSD response: 
POSD S125.9,N21.1,D114,U1,Q0.014719

: Sonardyne - POSD response: 
POSD S125.9,N21.1,D114,U1,Q0.014719

: AshtechGps::processRecord() - $GPGGA,220204.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220204.00,,,,,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 R62.60

: Sonardyne - parsing R62.60

: Sonardyne - read R = 62.600000 from 62.60

: Sonardyne - got range only (62.600000), tat = 580
: Sonardyne - POSD response: 
POSD S131.3,N31.0,D-19,U3,Q0.001530

: Sonardyne - POSD response: 
POSD S131.3,N31.0,D-19,U3,Q0.001530

: AshtechGps::processRecord() - $GPGGA,220205.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220205.00,,,,,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 R66.30

: Sonardyne - parsing R66.30

: Sonardyne - read R = 66.300000 from 66.30

: Sonardyne - got range only (66.300000), tat = 529
: Sonardyne - POSD response: 
POSD S126.2,N25.2,D86,U3,Q0.008108

: Sonardyne - POSD response: 
POSD S126.2,N25.2,D86,U3,Q0.008108

: AshtechGps::processRecord() - $GPGGA,220206.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220206.00,,,,,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 R64.23

: Sonardyne - parsing R64.23

: Sonardyne - read R = 64.230000 from 64.23

: Sonardyne - got range only (64.230000), tat = 530
: Sonardyne - POSD response: 
POSD S126.8,N24.9,D59,U3,Q0.008876

: Sonardyne - POSD response: 
POSD S126.8,N24.9,D59,U3,Q0.008876

: AshtechGps::processRecord() - $GPGGA,220207.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220207.00,,,,,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 R64.55

: Sonardyne - parsing R64.55

: Sonardyne - read R = 64.550000 from 64.55

: Sonardyne - got range only (64.550000), tat = 530
: Sonardyne - POSD response: 
POSD S133.6,N31.1,D19,U1,Q0.009783

: Sonardyne - POSD response: 
POSD S133.6,N31.1,D19,U1,Q0.009783

: AshtechGps::processRecord() - $GPGGA,220208.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220208.00,,,,,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 R65.04

: Sonardyne - parsing R65.04

: Sonardyne - read R = 65.040000 from 65.04

: Sonardyne - got range only (65.040000), tat = 530
: Sonardyne - POSD response: 
POSD S127.7,N27.0,D-139,U1,Q0.000737

: Sonardyne - POSD response: 
POSD S127.7,N27.0,D-139,U1,Q0.000737

: AshtechGps::processRecord() - $GPGGA,220209.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220209.00,,,,,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 R68.81

: Sonardyne - parsing R68.81

: Sonardyne - read R = 68.810000 from 68.81

: Sonardyne - got range only (68.810000), tat = 540
: Sonardyne - POSD response: 
POSD S121.9,N29.7,D-35,U2,Q0.000526

: Sonardyne - POSD response: 
POSD S121.9,N29.7,D-35,U2,Q0.000526

: AshtechGps::processRecord() - $GPGGA,220210.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220210.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.80 16.99 3.88 3.91 0  -110.95 04:33:19 m

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

: Sonardyne - POS response: 
POS V4,1 R67.04

: Sonardyne - parsing R67.04

: Sonardyne - read R = 67.040000 from 67.04

: Sonardyne - got range only (67.040000), tat = 540
: Sonardyne - POSD response: 
POSD S129.7,N29.8,D31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.7,N29.8,D31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220211.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220211.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R67.81

: Sonardyne - parsing R67.81

: Sonardyne - read R = 67.810000 from 67.81

: Sonardyne - got range only (67.810000), tat = 540
: Sonardyne - POSD response: 
POSD S122.6,N29.0,D18,U3,Q0.007838

: Sonardyne - POSD response: 
POSD S122.6,N29.0,D18,U3,Q0.007838

: AshtechGps::processRecord() - $GPGGA,220212.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220212.00,,,,,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,220213.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220213.00,,,,,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,220214.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220214.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,220215.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220215.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,220216.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220216.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.79

: Sonardyne - parsing R72.79

: Sonardyne - read R = 72.790000 from 72.79

: Sonardyne - got range only (72.790000), tat = 540
: Sonardyne - POSD response: 
POSD S117.6,N20.0,D-6,U2,Q0.005807

: Sonardyne - POSD response: 
POSD S117.6,N20.0,D-6,U2,Q0.005807

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

: AshtechGps::processRecord() - $GPGGA,220217.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220217.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.34

: Sonardyne - parsing R74.34

: Sonardyne - read R = 74.340000 from 74.34

: Sonardyne - got range only (74.340000), tat = 550
: Sonardyne - POSD response: 
POSD S120.1,N23.0,D132,U2,Q0.002129

: Sonardyne - POSD response: 
POSD S120.1,N23.0,D132,U2,Q0.002129

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

: AshtechGps::processRecord() - $GPGGA,220218.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220218.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.01

: Sonardyne - parsing R74.01

: Sonardyne - read R = 74.010000 from 74.01

: Sonardyne - got range only (74.010000), tat = 550
: Sonardyne - POSD response: 
POSD S126.4,N29.6,D33,U3,Q0.006959

: Sonardyne - POSD response: 
POSD S126.4,N29.6,D33,U3,Q0.006959

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

: AshtechGps::processRecord() - $GPGGA,220219.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220219.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.92

: Sonardyne - parsing R74.92

: Sonardyne - read R = 74.920000 from 74.92

: Sonardyne - got range only (74.920000), tat = 550
: Sonardyne - POSD response: 
POSD S124.9,N25.9,D48,U4,Q0.001176

: Sonardyne - POSD response: 
POSD S124.9,N25.9,D48,U4,Q0.001176

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

: AshtechGps::processRecord() - $GPGGA,220220.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220220.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.18 16.99 3.88 3.91 0  -111.88 04:33:29 m

: Sonardyne - POS response: 
POS V4,1 R81.50

: Sonardyne - parsing R81.50

: Sonardyne - read R = 81.500000 from 81.50

: Sonardyne - got range only (81.500000), tat = 560
: Sonardyne - POSD response: 
POSD S114.0,N23.4,D-115,U3,Q0.000735

: Sonardyne - POSD response: 
POSD S114.0,N23.4,D-115,U3,Q0.000735

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

: AshtechGps::processRecord() - $GPGGA,220221.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220221.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220222.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220222.00,,,,,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,220223.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220223.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,220224.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220224.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R82.87

: Sonardyne - parsing R82.87

: Sonardyne - read R = 82.870000 from 82.87

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

: Sonardyne - got range only (82.870000), tat = 560
: Sonardyne - POSD response: 
POSD S113.1,N18.7,D137,U2,Q0.005521

: Sonardyne - POSD response: 
POSD S113.1,N18.7,D137,U2,Q0.005521

: AshtechGps::processRecord() - $GPGGA,220225.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220225.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R83.21

: Sonardyne - parsing R83.21

: Sonardyne - read R = 83.210000 from 83.21

: Sonardyne - got range only (83.210000), tat = 560
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S111.4,N21.8,D6,U1,Q0.002450

: Sonardyne - POSD response: 
POSD S111.4,N21.8,D6,U1,Q0.002450

: AshtechGps::processRecord() - $GPGGA,220226.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220226.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.87

: Sonardyne - parsing R87.87

: Sonardyne - read R = 87.870000 from 87.87

: Sonardyne - got range only (87.870000), tat = 570
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S106.8,N19.2,D-63,U1,Q0.018576

: Sonardyne - POSD response: 
POSD S106.8,N19.2,D-63,U1,Q0.018576

: AshtechGps::processRecord() - $GPGGA,220227.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220227.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.06

: Sonardyne - parsing R86.06

: Sonardyne - read R = 86.060000 from 86.06

: Sonardyne - got range only (86.060000), tat = 560
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S119.1,N19.5,D37,U4,Q0.015999

: Sonardyne - POSD response: 
POSD S119.1,N19.5,D37,U4,Q0.015999

: AshtechGps::processRecord() - $GPGGA,220228.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220228.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.85

: Sonardyne - parsing R86.85

: Sonardyne - read R = 86.850000 from 86.85

: Sonardyne - got range only (86.850000), tat = 560
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S115.1,N20.8,D51,U1,Q0.015386

: Sonardyne - POSD response: 
POSD S115.1,N20.8,D51,U1,Q0.015386

: AshtechGps::processRecord() - $GPGGA,220229.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220229.00,,,,,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 R88.98,X5.41,Y-16.10,Z-87.34

: Sonardyne - parsing R88.98,X5.41,Y-16.10,Z-87.34

: Sonardyne - read R = 88.980000 from 88.98,X5.41,Y-16.10,Z-87.34

: Sonardyne - got all data, Vehicle coordinates,
    r=88.980000, x=87.340000, y=5.410000, z=16.100000 tat = 590
: AshtechGps::processRecord() - $GPGGA,220230.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220230.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  8.45 16.99 3.88 3.91 0  -112.51 04:33:39 m

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

: AshtechGps::processRecord() - $GPGGA,220231.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220231.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220232.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220232.00,,,,,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,220233.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220233.00,,,,,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,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,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,220234.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220234.00,,,,,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,220235.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220235.00,,,,,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,220236.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220236.00,,,,,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 = 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,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,220237.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220237.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.85

: Sonardyne - parsing R98.85

: Sonardyne - read R = 98.850000 from 98.85

: Sonardyne - got range only (98.850000), tat = 580
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S115.0,N24.8,D53,U5,Q0.003998

: Sonardyne - POSD response: 
POSD S115.0,N24.8,D53,U5,Q0.003998

: AshtechGps::processRecord() - $GPGGA,220238.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220238.00,,,,,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,220239.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220239.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,220240.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220240.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.92 16.99 3.88 3.91 0  -113.40 04:33:49 m

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

: AshtechGps::processRecord() - $GPGGA,220241.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220241.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220242.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220242.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R105.33

: Sonardyne - parsing R105.33

: Sonardyne - read R = 105.330000 from 105.33

: Sonardyne - got range only (105.330000), tat = 590
: Sonardyne - POSD response: 
POSD S111.8,N26.6,D-18,U1,Q0.005259

: Sonardyne - POSD response: 
POSD S111.8,N26.6,D-18,U1,Q0.005259

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

: AshtechGps::processRecord() - $GPGGA,220243.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220243.00,,,,,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,220244.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220244.00,,,,,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,220245.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220245.00,,,,,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,N6.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,220246.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220246.00,,,,,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,220247.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220247.00,,,,,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,220248.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220248.00,,,,,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,220249.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220249.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,220250.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220250.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12 10.07 16.99 3.88 3.91 0  -114.06 04:33:59 m

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

: AshtechGps::processRecord() - $GPGGA,220251.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220251.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220252.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220252.00,,,,,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,N5.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,220253.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220253.00,,,,,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,220254.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220254.00,,,,,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,220255.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220255.00,,,,,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,220256.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220256.00,,,,,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,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220257.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220257.00,,,,,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,220258.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220258.00,,,,,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,220259.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220259.00,,,,,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,N9.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220300.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220300.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.96 16.99 3.88 3.91 0  -114.99 04:34:09 m

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

: AshtechGps::processRecord() - $GPGGA,220301.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220301.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220302.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220302.00,,,,,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,220303.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220303.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,220304.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220304.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,220305.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220305.00,,,,,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,220306.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220306.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,220307.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220307.00,,,,,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,220308.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220308.00,,,,,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,220309.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220309.00,,,,,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,220310.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220310.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08 10.68 16.99 3.88 3.91 0  -115.63 04:34:19 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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220311.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220311.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,220312.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220312.00,,,,,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,220313.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220313.00,,,,,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,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,220314.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220314.00,,,,,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 R166.84

: Sonardyne - parsing R166.84

: Sonardyne - read R = 166.840000 from 166.84

: Sonardyne - got range only (166.840000), tat = 670
: Sonardyne - POSD response: 
POSD S109.8,N26.6,D129,U1,Q0.004704

: AshtechGps::processRecord() - $GPGGA,220315.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220315.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - POSD response: 
POSD S109.8,N26.6,D129,U1,Q0.004704

: AshtechGps::processRecord() - 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,220316.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220316.00,,,,,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,220317.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220317.00,,,,,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,220318.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,220318.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220319.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,220319.00,,,,,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,220320.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220320.00,,,,,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- 31.12  8.86 16.99 3.88 3.91 0  -116.58 04:34:29 m

: AshtechGps::processRecord() - $GPGGA,220321.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220321.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: 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,220322.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220322.00,,,,,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,220323.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220323.00,,,,,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,220324.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220324.00,,,,,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,220325.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220325.00,,,,,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 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,220326.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220326.00,,,,,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,220327.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220327.00,,,,,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,220328.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220328.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,220329.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220329.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,220330.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220330.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.80 16.99 3.88 3.91 0  -117.19 04:34:39 m

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

: AshtechGps::processRecord() - $GPGGA,220331.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220331.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220332.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220332.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220333.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220333.00,,,,,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,220334.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220334.00,,,,,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,220335.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220335.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,220336.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220336.00,,,,,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,220337.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220337.00,,,,,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,220338.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220338.00,,,,,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,220339.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220339.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 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,220340.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220340.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.18 16.99 3.88 3.91 0  -118.09 04:34:49 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 R228.69

: Sonardyne - parsing R228.69

: Sonardyne - read R = 228.690000 from 228.69

: Sonardyne - got range only (228.690000), tat = 760
: Sonardyne - POSD response: 
POSD S107.0,N21.3,D-81,U4,Q0.004928

: Sonardyne - POSD response: 
POSD S107.0,N21.3,D-81,U4,Q0.004928

: AshtechGps::processRecord() - $GPGGA,220341.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220341.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220342.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220342.00,,,,,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,220343.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220343.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220344.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220344.00,,,,,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,220345.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220345.00,,,,,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,220346.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220346.00,,,,,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,220347.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220347.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220348.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220348.00,,,,,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,220349.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220349.00,,,,,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,220350.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220350.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.09 16.99 3.88 3.91 0  -118.72 04:34:59 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,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,220351.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220351.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220352.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220352.00,,,,,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,220353.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220353.00,,,,,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,220354.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220354.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,220355.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220355.00,,,,,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,220356.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220356.00,,,,,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,220357.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220357.00,,,,,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,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,220358.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220358.00,,,,,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,220359.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220359.00,,,,,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,220400.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220400.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.18 16.99 3.88 3.91 0  -119.63 04:35:09 m

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

: AshtechGps::processRecord() - $GPGGA,220401.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220401.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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,N7.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220402.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220402.00,,,,,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,220403.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220403.00,,,,,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,220404.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220404.00,,,,,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,N10.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220405.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220405.00,,,,,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,220406.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220406.00,,,,,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,220407.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220407.00,,,,,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,220408.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220408.00,,,,,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,N13.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220409.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220409.00,,,,,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,220410.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220410.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.18 16.99 3.88 3.91 0  -120.22 04:35:19 m

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

: AshtechGps::processRecord() - $GPGGA,220411.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220411.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220412.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220412.00,,,,,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,220413.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220413.00,,,,,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,220414.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220414.00,,,,,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,220415.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220415.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220416.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220416.00,,,,,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,220417.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220417.00,,,,,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,220418.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,220418.00,,,,,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 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,220419.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,220419.00,,,,,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,220420.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220420.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.35 16.99 3.88 3.91 0  -121.14 04:35:29 m

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

: AshtechGps::processRecord() - $GPGGA,220421.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220421.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220422.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220422.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220423.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220423.00,,,,,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,220424.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220424.00,,,,,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,220425.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220425.00,,,,,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,N6.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220426.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220426.00,,,,,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,220427.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220427.00,,,,,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,220428.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220428.00,,,,,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,220429.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220429.00,,,,,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,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220430.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220430.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.96 16.99 3.88 3.91 0  -121.75 04:35:39 m

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

: AshtechGps::processRecord() - $GPGGA,220431.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220431.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220432.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220432.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,220433.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220433.00,,,,,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,220434.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220434.00,,,,,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,220435.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220435.00,,,,,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,220436.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220436.00,,,,,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
:  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,N7.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220437.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220437.00,,,,,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,220438.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,220438.00,,,,,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,220439.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,220439.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,220440.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220440.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  8.82 16.99 3.88 3.91 0  -122.70 04:35:49 m

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

: AshtechGps::processRecord() - $GPGGA,220441.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220441.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220442.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220442.00,,,,,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,220443.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220443.00,,,,,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,N9.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,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,220444.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220444.00,,,,,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,220445.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220445.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052136.3, 600561.4), 
  reached at t = 604.00                                          (wplog)

: Vehicle Position is error is (0.1, 0.9)

: LayeredControl::execute() -- (t = 603.998623) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 604.008623) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,220446.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220446.00,,,,,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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,220447.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220447.00,,,,,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,220448.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220448.00,,,,,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,220449.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220449.00,,,,,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,220450.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220450.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.12 17.08 3.88 3.91 0  -123.26 04:35:59 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,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220451.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220451.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,220452.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,220452.00,,,,,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,220453.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,220453.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220454.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220454.00,,,,,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,220455.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220455.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R311.07

: Sonardyne - parsing R311.07

: Sonardyne - read R = 311.070000 from 311.07

: Sonardyne - got range only (311.070000), tat = 870
: Sonardyne - POSD response: 
POSD S104.3,N20.2,D-79,U1,Q0.003603

: Sonardyne - POSD response: 
POSD S104.3,N20.2,D-79,U1,Q0.003603

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

: AshtechGps::processRecord() - $GPGGA,220456.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220456.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R309.58

: Sonardyne - parsing R309.58

: Sonardyne - read R = 309.580000 from 309.58

: Sonardyne - got range only (309.580000), tat = 860
: Sonardyne - POSD response: 
POSD S107.4,N18.0,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S107.4,N18.0,D46,U0,Q0.000000

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

: LayeredControl::execute() -- (t = 614.997870) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 614.997870) Behavior getgps has changed to state Active

: AshtechGps::processRecord() - $GPGGA,220457.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220457.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R309.75

: Sonardyne - parsing R309.75

: Sonardyne - read R = 309.750000 from 309.75

: Sonardyne - got range only (309.750000), tat = 860
: Sonardyne - POSD response: 
POSD S124.9,N26.2,D-57,U3,Q0.013700

: Sonardyne - POSD response: 
POSD S124.9,N26.2,D-57,U3,Q0.013700

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

: AshtechGps::processRecord() - $GPGGA,220458.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,220458.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R309.50

: Sonardyne - parsing R309.50

: Sonardyne - read R = 309.500000 from 309.50

: Sonardyne - got range only (309.500000), tat = 860
: Sonardyne - POSD response: 
POSD S123.5,N28.1,D59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N28.1,D59,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,220459.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,220459.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.73

: Sonardyne - parsing R308.73

: Sonardyne - read R = 308.730000 from 308.73

: Sonardyne - got range only (308.730000), tat = 860
: Sonardyne - POSD response: 
POSD S125.3,N27.6,D-39,U1,Q0.009112

: Sonardyne - POSD response: 
POSD S125.3,N27.6,D-39,U1,Q0.009112

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

: AshtechGps::processRecord() - $GPGGA,220500.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,220500.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.54

: Sonardyne - parsing R308.54

: Sonardyne - read R = 308.540000 from 308.54

: BluefinBatt Reply: $aaq0 d- 31.30  3.40 17.08 3.88 3.91 0  -124.08 04:36:09 m

: Sonardyne - got range only (308.540000), tat = 860
: Sonardyne - POSD response: 
POSD S126.2,N30.1,D12,U1,Q0.007037

: Sonardyne - POSD response: 
POSD S126.2,N30.1,D12,U1,Q0.007037

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

: AshtechGps::processRecord() - $GPGGA,220501.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,220501.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.77

: Sonardyne - parsing R307.77

: Sonardyne - read R = 307.770000 from 307.77

: Sonardyne - got range only (307.770000), tat = 859
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POSD response: 
POSD S130.5,N30.5,D-44,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S130.5,N30.5,D-44,U1,Q0.013585

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

: AshtechGps::processRecord() - $GPGGA,220502.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,220502.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.21

: Sonardyne - parsing R307.21

: Sonardyne - read R = 307.210000 from 307.21

: Sonardyne - got range only (307.210000), tat = 860
: Sonardyne - POSD response: 
POSD S128.3,N32.3,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.3,N32.3,D-6,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,220503.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,220503.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.04,X160.66,Y-6.52,Z-260.40

: Sonardyne - parsing R306.04,X160.66,Y-6.52,Z-260.40

: Sonardyne - read R = 306.040000 from 306.04,X160.66,Y-6.52,Z-260.40

: Sonardyne - got all data, Vehicle coordinates,
    r=306.040000, x=260.400000, y=160.660000, z=6.520000 tat = 880
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220504.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,220504.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.17

: Sonardyne - parsing R306.17

: Sonardyne - read R = 306.170000 from 306.17

: Sonardyne - got range only (306.170000), tat = 860
: Sonardyne - POSD response: 
POSD S128.3,N29.1,D-30,U1,Q0.007037

: Sonardyne - POSD response: 
POSD S128.3,N29.1,D-30,U1,Q0.007037

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

: AshtechGps::processRecord() - $GPGGA,220505.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,220505.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R305.66

: Sonardyne - parsing R305.66

: Sonardyne - read R = 305.660000 from 305.66

: Sonardyne - got range only (305.660000), tat = 860
: Sonardyne - POSD response: 
POSD S125.7,N26.8,D-39,U4,Q0.004691

: Sonardyne - POSD response: 
POSD S125.7,N26.8,D-39,U4,Q0.004691

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

: AshtechGps::processRecord() - $GPGGA,220506.00,3636.58046,N,12152.49688,W,1,10,0.9,-6.05,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220506.00,3636.58046,N,12152.49688,W,1,10,0.9,-6.05,M,-33.21,M,,*74


: successfully parse sentence at 22:5:6

: AshtechGPS::processRecord -sample time is 1142287506
: Sonardyne - POS response: 
POS V4,1 R305.03,X156.80,Y-2.72,Z-261.63

: Sonardyne - parsing R305.03,X156.80,Y-2.72,Z-261.63

: Sonardyne - read R = 305.030000 from 305.03,X156.80,Y-2.72,Z-261.63

: Sonardyne - got all data, Vehicle coordinates,
    r=305.030000, x=261.630000, y=156.800000, z=2.720000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 1 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,220507.00,3636.58046,N,12152.49624,W,1,10,0.9,-4.98,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,220507.00,3636.58046,N,12152.49624,W,1,10,0.9,-4.98,M,-33.21,M,,*75


: successfully parse sentence at 22:5:7

: AshtechGPS::processRecord -sample time is 1142287507
: Sonardyne - POS response: 
POS V4,1 R304.69

: Sonardyne - parsing R304.69

: Sonardyne - read R = 304.690000 from 304.69

: Sonardyne - got range only (304.690000), tat = 860
: Sonardyne - POSD response: 
POSD S129.8,N33.2,D2,U0,Q0.000000

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POSD response: 
POSD S129.8,N33.2,D2,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,220508.00,3636.58067,N,12152.49577,W,1,10,0.9,-5.68,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220508.00,3636.58067,N,12152.49577,W,1,10,0.9,-5.68,M,-33.21,M,,*72


: successfully parse sentence at 22:5:8

: AshtechGPS::processRecord -sample time is 1142287508
: Sonardyne - POS response: 
POS V4,1 R304.10,X145.24,Y-5.07,Z-267.13

: Sonardyne - parsing R304.10,X145.24,Y-5.07,Z-267.13

: Sonardyne - read R = 304.100000 from 304.10,X145.24,Y-5.07,Z-267.13

: Sonardyne - got all data, Vehicle coordinates,
    r=304.100000, x=267.130000, y=145.240000, z=5.070000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 3 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,220509.00,3636.58029,N,12152.49534,W,1,11,0.9,-5.30,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220509.00,3636.58029,N,12152.49534,W,1,11,0.9,-5.30,M,-33.21,M,,*72


: successfully parse sentence at 22:5:9

: AshtechGPS::processRecord -sample time is 1142287509
: Sonardyne - POS response: 
POS V4,1 R303.57,X136.36,Y-11.36,Z-270.98

: Sonardyne - parsing R303.57,X136.36,Y-11.36,Z-270.98

: Sonardyne - read R = 303.570000 from 303.57,X136.36,Y-11.36,Z-270.98

: Sonardyne - got all data, Vehicle coordinates,
    r=303.570000, x=270.980000, y=136.360000, z=11.360000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 4 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,220510.00,3636.58027,N,12152.49500,W,1,11,0.9,-5.55,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220510.00,3636.58027,N,12152.49500,W,1,11,0.9,-5.55,M,-33.21,M,,*70


: successfully parse sentence at 22:5:10

: AshtechGPS::processRecord -sample time is 1142287510
: Sonardyne - POS response: 
POS V4,1 R303.04

: Sonardyne - parsing R303.04

: Sonardyne - read R = 303.040000 from 303.04

: Sonardyne - got range only (303.040000), tat = 860
: BluefinBatt Reply: $aaq0 d- 31.34  3.40 17.08 3.88 3.91 0  -124.39 04:36:19 m

: Sonardyne - POSD response: 
POSD S132.7,N27.7,D-37,U1,Q0.014719

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POSD response: 
POSD S132.7,N27.7,D-37,U1,Q0.014719

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

: AshtechGps::processRecord() - $GPGGA,220511.00,3636.58009,N,12152.49473,W,1,11,0.9,-5.40,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220511.00,3636.58009,N,12152.49473,W,1,11,0.9,-5.40,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:11

: AshtechGPS::processRecord -sample time is 1142287511
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POS response: 
POS V4,1 R302.79,X126.52,Y-3.29,Z-275.07

: Sonardyne - parsing R302.79,X126.52,Y-3.29,Z-275.07

: Sonardyne - read R = 302.790000 from 302.79,X126.52,Y-3.29,Z-275.07

: Sonardyne - got all data, Vehicle coordinates,
    r=302.790000, x=275.070000, y=126.520000, z=3.290000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 6 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,220512.00,3636.57989,N,12152.49439,W,1,11,0.9,-5.20,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220512.00,3636.57989,N,12152.49439,W,1,11,0.9,-5.20,M,-33.21,M,,*79


: successfully parse sentence at 22:5:12

: AshtechGPS::processRecord -sample time is 1142287512
: Sonardyne - POS response: 
POS V4,1 R302.46,X120.02,Y-5.50,Z-277.57

: Sonardyne - parsing R302.46,X120.02,Y-5.50,Z-277.57

: Sonardyne - read R = 302.460000 from 302.46,X120.02,Y-5.50,Z-277.57

: Sonardyne - got all data, Vehicle coordinates,
    r=302.460000, x=277.570000, y=120.020000, z=5.500000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 7 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,220513.00,3636.57971,N,12152.49410,W,1,11,0.9,-5.31,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220513.00,3636.57971,N,12152.49410,W,1,11,0.9,-5.31,M,-33.21,M,,*74


: successfully parse sentence at 22:5:13

: AshtechGPS::processRecord -sample time is 1142287513
: Sonardyne - POS response: 
POS V4,1 R302.08,X116.70,Y-14.70,Z-278.24

: Sonardyne - parsing R302.08,X116.70,Y-14.70,Z-278.24

: Sonardyne - read R = 302.080000 from 302.08,X116.70,Y-14.70,Z-278.24

: Sonardyne - got all data, Vehicle coordinates,
    r=302.080000, x=278.240000, y=116.700000, z=14.700000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220514.00,3636.57951,N,12152.49384,W,1,11,0.9,-5.32,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,220514.00,3636.57951,N,12152.49384,W,1,11,0.9,-5.32,M,-33.21,M,,*78


: successfully parse sentence at 22:5:14

: AshtechGPS::processRecord -sample time is 1142287514
: Sonardyne - POS response: 
POS V4,1 R301.70,X108.00,Y-12.92,Z-281.42

: Sonardyne - parsing R301.70,X108.00,Y-12.92,Z-281.42

: Sonardyne - read R = 301.700000 from 301.70,X108.00,Y-12.92,Z-281.42

: Sonardyne - got all data, Vehicle coordinates,
    r=301.700000, x=281.420000, y=108.000000, z=12.920000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220515.00,3636.57935,N,12152.49351,W,1,11,0.9,-5.22,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220515.00,3636.57935,N,12152.49351,W,1,11,0.9,-5.22,M,-33.21,M,,*72


: successfully parse sentence at 22:5:15

: AshtechGPS::processRecord -sample time is 1142287515
: Sonardyne - POS response: 
POS V4,1 R300.92,X97.01,Y-8.12,Z-284.74

: Sonardyne - parsing R300.92,X97.01,Y-8.12,Z-284.74

: Sonardyne - read R = 300.920000 from 300.92,X97.01,Y-8.12,Z-284.74

: Sonardyne - got all data, Vehicle coordinates,
    r=300.920000, x=284.740000, y=97.010000, z=8.120000 tat = 880
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 633.196623) 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 = 633.396609) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 633.396609) Behavior missionTimer has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,220516.00,3636.57915,N,12152.49325,W,1,11,0.9,-5.17,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,220516.00,3636.57915,N,12152.49325,W,1,11,0.9,-5.17,M,-33.21,M,,*76


: successfully parse sentence at 22:5:16

: AshtechGPS::processRecord -sample time is 1142287516
: Sonardyne - POS response: 
POS V4,1 R300.73,X84.61,Y-1.25,Z-288.58

: Sonardyne - parsing R300.73,X84.61,Y-1.25,Z-288.58

: Sonardyne - read R = 300.730000 from 300.73,X84.61,Y-1.25,Z-288.58

: Sonardyne - got all data, Vehicle coordinates,
    r=300.730000, x=288.580000, y=84.610000, z=1.250000 tat = 879
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220517.00,3636.57896,N,12152.49295,W,1,11,0.9,-5.27,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220517.00,3636.57896,N,12152.49295,W,1,11,0.9,-5.27,M,-33.21,M,,*74


: successfully parse sentence at 22:5:17

: AshtechGPS::processRecord -sample time is 1142287517
: Sonardyne - POS response: 
POS V4,1 R300.53,X76.10,Y5.02,Z-290.69

: Sonardyne - parsing R300.53,X76.10,Y5.02,Z-290.69

: Sonardyne - read R = 300.530000 from 300.53,X76.10,Y5.02,Z-290.69

: Sonardyne - got all data, Vehicle coordinates,
    r=300.530000, x=290.690000, y=76.100000, z=-5.020000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220518.00,3636.57882,N,12152.49267,W,1,11,0.9,-5.41,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220518.00,3636.57882,N,12152.49267,W,1,11,0.9,-5.41,M,-33.21,M,,*73


: successfully parse sentence at 22:5:18

: AshtechGPS::processRecord -sample time is 1142287518
: Sonardyne - POS response: 
POS V4,1 R300.35,X66.67,Y1.32,Z-292.86

: Sonardyne - parsing R300.35,X66.67,Y1.32,Z-292.86

: Sonardyne - read R = 300.350000 from 300.35,X66.67,Y1.32,Z-292.86

: Sonardyne - got all data, Vehicle coordinates,
    r=300.350000, x=292.860000, y=66.670000, z=-1.320000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220519.00,3636.57869,N,12152.49248,W,1,11,0.9,-5.49,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220519.00,3636.57869,N,12152.49248,W,1,11,0.9,-5.49,M,-33.21,M,,*72


: successfully parse sentence at 22:5:19

: AshtechGPS::processRecord -sample time is 1142287519
: Sonardyne - POS response: 
POS V4,1 R299.80,X59.08,Y1.73,Z-293.91

: Sonardyne - parsing R299.80,X59.08,Y1.73,Z-293.91

: Sonardyne - read R = 299.800000 from 299.80,X59.08,Y1.73,Z-293.91

: Sonardyne - got all data, Vehicle coordinates,
    r=299.800000, x=293.910000, y=59.080000, z=-1.730000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220520.00,3636.57856,N,12152.49238,W,1,11,0.9,-5.35,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,220520.00,3636.57856,N,12152.49238,W,1,11,0.9,-5.35,M,-33.21,M,,*78


: successfully parse sentence at 22:5:20

: AshtechGPS::processRecord -sample time is 1142287520
: BluefinBatt Reply: $aaq0 d- 31.34  3.23 17.08 3.91 3.93 0  -124.77 04:36:29 m

: Sonardyne - POS response: 
POS V4,1 R299.68,X49.64,Y8.03,Z-295.43

: Sonardyne - parsing R299.68,X49.64,Y8.03,Z-295.43

: Sonardyne - read R = 299.680000 from 299.68,X49.64,Y8.03,Z-295.43

: Sonardyne - got all data, Vehicle coordinates,
    r=299.680000, x=295.430000, y=49.640000, z=-8.030000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220521.00,3636.57843,N,12152.49220,W,1,11,0.9,-5.27,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220521.00,3636.57843,N,12152.49220,W,1,11,0.9,-5.27,M,-33.21,M,,*77


: successfully parse sentence at 22:5:21

: AshtechGPS::processRecord -sample time is 1142287521
: Sonardyne - POS response: 
POS V4,1 R299.42,X25.08,Y5.42,Z-298.32

: Sonardyne - parsing R299.42,X25.08,Y5.42,Z-298.32

: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - read R = 299.420000 from 299.42,X25.08,Y5.42,Z-298.32

: Sonardyne - got all data, Vehicle coordinates,
    r=299.420000, x=298.320000, y=25.080000, z=-5.420000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220522.00,3636.57829,N,12152.49204,W,1,11,0.9,-5.09,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220522.00,3636.57829,N,12152.49204,W,1,11,0.9,-5.09,M,-33.21,M,,*72


: successfully parse sentence at 22:5:22

: AshtechGPS::processRecord -sample time is 1142287522
: Sonardyne - POS response: 
POS V4,1 R299.23,X14.75,Y8.39,Z-298.75

: Sonardyne - parsing R299.23,X14.75,Y8.39,Z-298.75

: Sonardyne - read R = 299.230000 from 299.23,X14.75,Y8.39,Z-298.75

: Sonardyne - got all data, Vehicle coordinates,
    r=299.230000, x=298.750000, y=14.750000, z=-8.390000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220523.00,3636.57812,N,12152.49182,W,1,11,0.9,-4.96,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,220523.00,3636.57812,N,12152.49182,W,1,11,0.9,-4.96,M,-33.21,M,,*71


: successfully parse sentence at 22:5:23

: AshtechGPS::processRecord -sample time is 1142287523
: Sonardyne - POS response: 
POS V4,1 R298.87,X7.82,Y1.02,Z-298.76

: Sonardyne - parsing R298.87,X7.82,Y1.02,Z-298.76

: Sonardyne - read R = 298.870000 from 298.87,X7.82,Y1.02,Z-298.76

: Sonardyne - got all data, Vehicle coordinates,
    r=298.870000, x=298.760000, y=7.820000, z=-1.020000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220524.00,3636.57792,N,12152.49160,W,1,11,0.9,-4.97,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220524.00,3636.57792,N,12152.49160,W,1,11,0.9,-4.97,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:24

: AshtechGPS::processRecord -sample time is 1142287524
: Sonardyne - POS response: 
POS V4,1 R298.47,X1.48,Y15.78,Z-298.05

: Sonardyne - parsing R298.47,X1.48,Y15.78,Z-298.05

: Sonardyne - read R = 298.470000 from 298.47,X1.48,Y15.78,Z-298.05

: Sonardyne - got all data, Vehicle coordinates,
    r=298.470000, x=298.050000, y=1.480000, z=-15.780000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220525.00,3636.57774,N,12152.49140,W,1,11,0.9,-5.08,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220525.00,3636.57774,N,12152.49140,W,1,11,0.9,-5.08,M,-33.21,M,,*70


: successfully parse sentence at 22:5:25

: AshtechGPS::processRecord -sample time is 1142287525
: Sonardyne - POS response: 
POS V4,1 R298.20,X-8.64,Y6.72,Z-298.00

: Sonardyne - parsing R298.20,X-8.64,Y6.72,Z-298.00

: Sonardyne - read R = 298.200000 from 298.20,X-8.64,Y6.72,Z-298.00

: Sonardyne - got all data, Vehicle coordinates,
    r=298.200000, x=298.000000, y=-8.640000, z=-6.720000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220526.00,3636.57762,N,12152.49123,W,1,11,0.9,-5.03,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,220526.00,3636.57762,N,12152.49123,W,1,11,0.9,-5.03,M,-33.21,M,,*7A


: successfully parse sentence at 22:5:26

: AshtechGPS::processRecord -sample time is 1142287526
: Sonardyne - POS response: 
POS V4,1 R298.02,X-12.11,Y12.76,Z-297.50

: Sonardyne - parsing R298.02,X-12.11,Y12.76,Z-297.50

: Sonardyne - read R = 298.020000 from 298.02,X-12.11,Y12.76,Z-297.50

: Sonardyne - got all data, Vehicle coordinates,
    r=298.020000, x=297.500000, y=-12.110000, z=-12.760000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220527.00,3636.57750,N,12152.49109,W,1,11,0.9,-5.02,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220527.00,3636.57750,N,12152.49109,W,1,11,0.9,-5.02,M,-33.21,M,,*73


: successfully parse sentence at 22:5:27

: AshtechGPS::processRecord -sample time is 1142287527
: Sonardyne - POS response: 
POS V4,1 R297.67,X-14.08,Y-5.55,Z-297.28

: Sonardyne - parsing R297.67,X-14.08,Y-5.55,Z-297.28

: Sonardyne - read R = 297.670000 from 297.67,X-14.08,Y-5.55,Z-297.28

: Sonardyne - got all data, Vehicle coordinates,
    r=297.670000, x=297.280000, y=-14.080000, z=5.550000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220528.00,3636.57741,N,12152.49094,W,1,11,0.9,-5.16,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220528.00,3636.57741,N,12152.49094,W,1,11,0.9,-5.16,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:28

: AshtechGPS::processRecord -sample time is 1142287528
: Sonardyne - POS response: 
POS V4,1 R297.48,X-18.45,Y0.23,Z-296.91

: Sonardyne - parsing R297.48,X-18.45,Y0.23,Z-296.91

: Sonardyne - read R = 297.480000 from 297.48,X-18.45,Y0.23,Z-296.91

: Sonardyne - got all data, Vehicle coordinates,
    r=297.480000, x=296.910000, y=-18.450000, z=-0.230000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220529.00,3636.57735,N,12152.49085,W,1,11,0.9,-5.08,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,220529.00,3636.57735,N,12152.49085,W,1,11,0.9,-5.08,M,-33.21,M,,*71


: successfully parse sentence at 22:5:29

: AshtechGPS::processRecord -sample time is 1142287529
: Sonardyne - POS response: 
POS V4,1 R297.39,X-23.91,Y46.84,Z-292.70

: Sonardyne - parsing R297.39,X-23.91,Y46.84,Z-292.70

: Sonardyne - read R = 297.390000 from 297.39,X-23.91,Y46.84,Z-292.70

: Sonardyne - got all data, Vehicle coordinates,
    r=297.390000, x=292.700000, y=-23.910000, z=-46.840000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220530.00,3636.57725,N,12152.49066,W,1,11,0.9,-4.89,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,220530.00,3636.57725,N,12152.49066,W,1,11,0.9,-4.89,M,-33.21,M,,*7D


: successfully parse sentence at 22:5:30

: AshtechGPS::processRecord -sample time is 1142287530
: BluefinBatt Reply: $aaq0 d- 31.34  3.16 16.99 3.91 3.93 0  -125.01 04:36:39 m

: Sonardyne - POS response: 
POS V4,1 R297.05,X-28.71,Y0.03,Z-295.66

: Sonardyne - parsing R297.05,X-28.71,Y0.03,Z-295.66

: Sonardyne - read R = 297.050000 from 297.05,X-28.71,Y0.03,Z-295.66

: Sonardyne - got all data, Vehicle coordinates,
    r=297.050000, x=295.660000, y=-28.710000, z=-0.030000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220531.00,3636.57714,N,12152.49054,W,1,11,0.9,-4.94,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220531.00,3636.57714,N,12152.49054,W,1,11,0.9,-4.94,M,-33.21,M,,*73


: successfully parse sentence at 22:5:31

: AshtechGPS::processRecord -sample time is 1142287531
: Sonardyne - POS response: 
POS V4,1 R296.86,X-37.14,Y-0.35,Z-294.52

: Sonardyne - parsing R296.86,X-37.14,Y-0.35,Z-294.52

: Sonardyne - read R = 296.860000 from 296.86,X-37.14,Y-0.35,Z-294.52

: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - got all data, Vehicle coordinates,
    r=296.860000, x=294.520000, y=-37.140000, z=0.350000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220532.00,3636.57710,N,12152.49045,W,1,11,0.9,-5.18,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,220532.00,3636.57710,N,12152.49045,W,1,11,0.9,-5.18,M,-33.21,M,,*71


: successfully parse sentence at 22:5:32

: AshtechGPS::processRecord -sample time is 1142287532
: Sonardyne - POS response: 
POS V4,1 R296.93,X-27.16,Y31.38,Z-294.01

: Sonardyne - parsing R296.93,X-27.16,Y31.38,Z-294.01

: Sonardyne - read R = 296.930000 from 296.93,X-27.16,Y31.38,Z-294.01

: Sonardyne - got all data, Vehicle coordinates,
    r=296.930000, x=294.010000, y=-27.160000, z=-31.380000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220533.00,3636.57712,N,12152.49049,W,1,11,0.9,-5.12,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220533.00,3636.57712,N,12152.49049,W,1,11,0.9,-5.12,M,-33.21,M,,*74


: successfully parse sentence at 22:5:33

: AshtechGPS::processRecord -sample time is 1142287533
: Sonardyne - POS response: 
POS V4,1 R296.40,X-38.80,Y23.41,Z-292.91

: Sonardyne - parsing R296.40,X-38.80,Y23.41,Z-292.91

: Sonardyne - read R = 296.400000 from 296.40,X-38.80,Y23.41,Z-292.91

: Sonardyne - got all data, Vehicle coordinates,
    r=296.400000, x=292.910000, y=-38.800000, z=-23.410000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220534.00,3636.57707,N,12152.49034,W,1,11,0.9,-4.91,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220534.00,3636.57707,N,12152.49034,W,1,11,0.9,-4.91,M,-33.21,M,,*77


: Sonardyne - POS response: 
POS V4,1 R296.55

: successfully parse sentence at 22:5:34

: Sonardyne - parsing R296.55

: AshtechGPS::processRecord -sample time is 1142287534
: Sonardyne - read R = 296.550000 from 296.55

: Sonardyne - got range only (296.550000), tat = 850
: Sonardyne - POSD response: 
POSD S137.1,N29.9,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N29.9,D-25,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,220535.00,3636.57688,N,12152.49017,W,1,12,0.7,-4.42,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220535.00,3636.57688,N,12152.49017,W,1,12,0.7,-4.42,M,-33.21,M,,*72


: successfully parse sentence at 22:5:35

: AshtechGPS::processRecord -sample time is 1142287535
: Sonardyne - POS response: 
POS V4,1 R296.48,X-62.41,Y-4.88,Z-289.79

: Sonardyne - parsing R296.48,X-62.41,Y-4.88,Z-289.79

: Sonardyne - read R = 296.480000 from 296.48,X-62.41,Y-4.88,Z-289.79

: Sonardyne - got all data, Vehicle coordinates,
    r=296.480000, x=289.790000, y=-62.410000, z=4.880000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220536.00,3636.57670,N,12152.48993,W,1,12,0.7,-4.43,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220536.00,3636.57670,N,12152.48993,W,1,12,0.7,-4.43,M,-33.21,M,,*73


: successfully parse sentence at 22:5:36

: AshtechGPS::processRecord -sample time is 1142287536
: Sonardyne - POS response: 
POS V4,1 R296.45,X-72.90,Y1.60,Z-287.34

: Sonardyne - parsing R296.45,X-72.90,Y1.60,Z-287.34

: Sonardyne - read R = 296.450000 from 296.45,X-72.90,Y1.60,Z-287.34

: Sonardyne - got all data, Vehicle coordinates,
    r=296.450000, x=287.340000, y=-72.900000, z=-1.600000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220537.00,3636.57656,N,12152.48976,W,1,12,0.7,-4.60,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220537.00,3636.57656,N,12152.48976,W,1,12,0.7,-4.60,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:37

: AshtechGPS::processRecord -sample time is 1142287537
: Sonardyne - POS response: 
POS V4,1 R295.96,X-69.84,Y-15.51,Z-287.19

: Sonardyne - parsing R295.96,X-69.84,Y-15.51,Z-287.19

: Sonardyne - read R = 295.960000 from 295.96,X-69.84,Y-15.51,Z-287.19

: Sonardyne - got all data, Vehicle coordinates,
    r=295.960000, x=287.190000, y=-69.840000, z=15.510000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220538.00,3636.57648,N,12152.48967,W,1,12,0.7,-4.71,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220538.00,3636.57648,N,12152.48967,W,1,12,0.7,-4.71,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:38

: AshtechGPS::processRecord -sample time is 1142287538
: Sonardyne - POS response: 
POS V4,1 R295.29,X-74.11,Y-1.25,Z-285.84

: Sonardyne - parsing R295.29,X-74.11,Y-1.25,Z-285.84

: Sonardyne - read R = 295.290000 from 295.29,X-74.11,Y-1.25,Z-285.84

: Sonardyne - got all data, Vehicle coordinates,
    r=295.290000, x=285.840000, y=-74.110000, z=1.250000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220539.00,3636.57647,N,12152.48959,W,1,12,0.7,-4.78,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,220539.00,3636.57647,N,12152.48959,W,1,12,0.7,-4.78,M,-33.21,M,,*76


: successfully parse sentence at 22:5:39

: AshtechGPS::processRecord -sample time is 1142287539
: Sonardyne - POS response: 
POS V4,1 R295.73,X-76.49,Y13.47,Z-285.35

: Sonardyne - parsing R295.73,X-76.49,Y13.47,Z-285.35

: Sonardyne - read R = 295.730000 from 295.73,X-76.49,Y13.47,Z-285.35

: Sonardyne - got all data, Vehicle coordinates,
    r=295.730000, x=285.350000, y=-76.490000, z=-13.470000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  2.59 16.99 3.91 3.94 0  -125.29 04:36:49 m

: AshtechGps::processRecord() - $GPGGA,220540.00,3636.57646,N,12152.48964,W,1,12,0.7,-4.76,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220540.00,3636.57646,N,12152.48964,W,1,12,0.7,-4.76,M,-33.21,M,,*79


: successfully parse sentence at 22:5:40

: AshtechGPS::processRecord -sample time is 1142287540
: Sonardyne - POS response: 
POS V4,1 R295.76,X-82.53,Y9.77,Z-283.84

: Sonardyne - parsing R295.76,X-82.53,Y9.77,Z-283.84

: Sonardyne - read R = 295.760000 from 295.76,X-82.53,Y9.77,Z-283.84

: Sonardyne - got all data, Vehicle coordinates,
    r=295.760000, x=283.840000, y=-82.530000, z=-9.770000 tat = 870
:  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 3.910000, mean min cell voltage 3.910000

: AshtechGps::processRecord() - $GPGGA,220541.00,3636.57643,N,12152.48950,W,1,12,0.7,-4.66,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,220541.00,3636.57643,N,12152.48950,W,1,12,0.7,-4.66,M,-33.21,M,,*7B


: successfully parse sentence at 22:5:41

: AshtechGPS::processRecord -sample time is 1142287541
: Sonardyne - POS response: 
POS V4,1 R295.85,X-90.76,Y12.47,Z-281.31

: Sonardyne - parsing R295.85,X-90.76,Y12.47,Z-281.31

: Sonardyne - read R = 295.850000 from 295.85,X-90.76,Y12.47,Z-281.31

: Sonardyne - got all data, Vehicle coordinates,
    r=295.850000, x=281.310000, y=-90.760000, z=-12.470000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220542.00,3636.57636,N,12152.48943,W,1,12,0.7,-4.51,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220542.00,3636.57636,N,12152.48943,W,1,12,0.7,-4.51,M,-33.21,M,,*7C


: successfully parse sentence at 22:5:42

: AshtechGPS::processRecord -sample time is 1142287542
: Sonardyne - POS response: 
POS V4,1 R295.87,X-93.70,Y10.74,Z-280.44

: Sonardyne - parsing R295.87,X-93.70,Y10.74,Z-280.44

: Sonardyne - read R = 295.870000 from 295.87,X-93.70,Y10.74,Z-280.44

: Sonardyne - got all data, Vehicle coordinates,
    r=295.870000, x=280.440000, y=-93.700000, z=-10.740000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220543.00,3636.57625,N,12152.48928,W,1,12,0.7,-4.55,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,220543.00,3636.57625,N,12152.48928,W,1,12,0.7,-4.55,M,-33.21,M,,*76


: successfully parse sentence at 22:5:43

: AshtechGPS::processRecord -sample time is 1142287543
: Sonardyne - POS response: 
POS V4,1 R295.60,X-97.82,Y8.29,Z-278.82

: Sonardyne - parsing R295.60,X-97.82,Y8.29,Z-278.82

: Sonardyne - read R = 295.600000 from 295.60,X-97.82,Y8.29,Z-278.82

: Sonardyne - got all data, Vehicle coordinates,
    r=295.600000, x=278.820000, y=-97.820000, z=-8.290000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220544.00,3636.57615,N,12152.48915,W,1,12,0.7,-4.65,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,220544.00,3636.57615,N,12152.48915,W,1,12,0.7,-4.65,M,-33.21,M,,*7F


: successfully parse sentence at 22:5:44

: AshtechGPS::processRecord -sample time is 1142287544
: Sonardyne - POS response: 
POS V4,1 R295.15,X-107.76,Y-5.66,Z-274.71

: Sonardyne - parsing R295.15,X-107.76,Y-5.66,Z-274.71

: Sonardyne - read R = 295.150000 from 295.15,X-107.76,Y-5.66,Z-274.71

: Sonardyne - got all data, Vehicle coordinates,
    r=295.150000, x=274.710000, y=-107.760000, z=5.660000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220545.00,3636.57612,N,12152.48914,W,1,12,0.7,-4.88,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,220545.00,3636.57612,N,12152.48914,W,1,12,0.7,-4.88,M,-33.21,M,,*7B


: successfully parse sentence at 22:5:45

: AshtechGPS::processRecord -sample time is 1142287545
: Sonardyne - POS response: 
POS V4,1 R295.00,X-102.53,Y-9.59,Z-276.44

: Sonardyne - parsing R295.00,X-102.53,Y-9.59,Z-276.44

: Sonardyne - read R = 295.000000 from 295.00,X-102.53,Y-9.59,Z-276.44

: Sonardyne - got all data, Vehicle coordinates,
    r=295.000000, x=276.440000, y=-102.530000, z=9.590000 tat = 869
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220546.00,3636.57617,N,12152.48909,W,1,12,0.7,-5.02,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220546.00,3636.57617,N,12152.48909,W,1,12,0.7,-5.02,M,-33.21,M,,*72


: successfully parse sentence at 22:5:46

: AshtechGPS::processRecord -sample time is 1142287546
: Sonardyne - POS response: 
POS V4,1 R294.59,X-103.72,Y41.73,Z-272.55

: Sonardyne - parsing R294.59,X-103.72,Y41.73,Z-272.55

: Sonardyne - read R = 294.590000 from 294.59,X-103.72,Y41.73,Z-272.55

: Sonardyne - got all data, Vehicle coordinates,
    r=294.590000, x=272.550000, y=-103.720000, z=-41.730000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220547.00,3636.57626,N,12152.48921,W,1,12,0.7,-4.90,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,220547.00,3636.57626,N,12152.48921,W,1,12,0.7,-4.90,M,-33.21,M,,*71


: successfully parse sentence at 22:5:47

: AshtechGPS::processRecord -sample time is 1142287547
: Sonardyne - POS response: 
POS V4,1 R294.79,X-112.78,Y10.99,Z-272.14

: Sonardyne - parsing R294.79,X-112.78,Y10.99,Z-272.14

: Sonardyne - read R = 294.790000 from 294.79,X-112.78,Y10.99,Z-272.14

: Sonardyne - got all data, Vehicle coordinates,
    r=294.790000, x=272.140000, y=-112.780000, z=-10.990000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220548.00,3636.57623,N,12152.48904,W,1,12,0.7,-4.64,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220548.00,3636.57623,N,12152.48904,W,1,12,0.7,-4.64,M,-33.21,M,,*77


: successfully parse sentence at 22:5:48

: AshtechGPS::processRecord -sample time is 1142287548
: Sonardyne - POS response: 
POS V4,1 R295.05,X-127.97,Y13.03,Z-265.53

: Sonardyne - parsing R295.05,X-127.97,Y13.03,Z-265.53

: Sonardyne - read R = 295.050000 from 295.05,X-127.97,Y13.03,Z-265.53

: Sonardyne - got all data, Vehicle coordinates,
    r=295.050000, x=265.530000, y=-127.970000, z=-13.030000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220549.00,3636.57617,N,12152.48899,W,1,12,0.7,-4.53,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220549.00,3636.57617,N,12152.48899,W,1,12,0.7,-4.53,M,-33.21,M,,*70


: successfully parse sentence at 22:5:49

: AshtechGPS::processRecord -sample time is 1142287549
: Sonardyne - POS response: 
POS V4,1 R295.42,X-134.59,Y1.71,Z-262.97

: Sonardyne - parsing R295.42,X-134.59,Y1.71,Z-262.97

: Sonardyne - read R = 295.420000 from 295.42,X-134.59,Y1.71,Z-262.97

: Sonardyne - got all data, Vehicle coordinates,
    r=295.420000, x=262.970000, y=-134.590000, z=-1.710000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220550.00,3636.57608,N,12152.48880,W,1,12,0.7,-4.50,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,220550.00,3636.57608,N,12152.48880,W,1,12,0.7,-4.50,M,-33.21,M,,*7D


: successfully parse sentence at 22:5:50

: AshtechGPS::processRecord -sample time is 1142287550
: Sonardyne - POS response: 
POS V4,1 R295.46,X-141.36,Y15.65,Z-258.98

: Sonardyne - parsing R295.46,X-141.36,Y15.65,Z-258.98

: Sonardyne - read R = 295.460000 from 295.46,X-141.36,Y15.65,Z-258.98

: BluefinBatt Reply: $aaq0 d- 31.34  2.62 16.99 3.91 3.94 0  -125.47 04:36:59 m

: Sonardyne - got all data, Vehicle coordinates,
    r=295.460000, x=258.980000, y=-141.360000, z=-15.650000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220551.00,3636.57600,N,12152.48867,W,1,12,0.7,-4.58,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,220551.00,3636.57600,N,12152.48867,W,1,12,0.7,-4.58,M,-33.21,M,,*75


: successfully parse sentence at 22:5:51

: AshtechGPS::processRecord -sample time is 1142287551
: Sonardyne - POS response: 
POS V4,1 R295.20,X-149.42,Y6.08,Z-254.52

: Sonardyne - parsing R295.20,X-149.42,Y6.08,Z-254.52

: Sonardyne - read R = 295.200000 from 295.20,X-149.42,Y6.08,Z-254.52

: Sonardyne - got all data, Vehicle coordinates,
    r=295.200000, x=254.520000, y=-149.420000, z=-6.080000 tat = 870
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

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

: AshtechGps::processRecord() - $GPGGA,220552.00,3636.57599,N,12152.48868,W,1,12,0.7,-4.62,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220552.00,3636.57599,N,12152.48868,W,1,12,0.7,-4.62,M,-33.21,M,,*73


: successfully parse sentence at 22:5:52

: AshtechGPS::processRecord -sample time is 1142287552
: Sonardyne - POS response: 
POS V4,1 R295.17,X-148.97,Y-6.30,Z-254.74

: Sonardyne - parsing R295.17,X-148.97,Y-6.30,Z-254.74

: Sonardyne - read R = 295.170000 from 295.17,X-148.97,Y-6.30,Z-254.74

: Sonardyne - got all data, Vehicle coordinates,
    r=295.170000, x=254.740000, y=-148.970000, z=6.300000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220553.00,3636.57591,N,12152.48845,W,1,12,0.7,-4.61,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,220553.00,3636.57591,N,12152.48845,W,1,12,0.7,-4.61,M,-33.21,M,,*76


: successfully parse sentence at 22:5:53

: AshtechGPS::processRecord -sample time is 1142287553
: Sonardyne - POS response: 
POS V4,1 R295.09,X-160.26,Y36.12,Z-245.14

: Sonardyne - parsing R295.09,X-160.26,Y36.12,Z-245.14

: Sonardyne - read R = 295.090000 from 295.09,X-160.26,Y36.12,Z-245.14

: Sonardyne - got all data, Vehicle coordinates,
    r=295.090000, x=245.140000, y=-160.260000, z=-36.120000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220554.00,3636.57589,N,12152.48846,W,1,12,0.7,-4.59,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220554.00,3636.57589,N,12152.48846,W,1,12,0.7,-4.59,M,-33.21,M,,*70


: successfully parse sentence at 22:5:54

: AshtechGPS::processRecord -sample time is 1142287554
: Sonardyne - POS response: 
POS V4,1 R294.96,X-154.31,Y-28.46,Z-249.76

: Sonardyne - parsing R294.96,X-154.31,Y-28.46,Z-249.76

: Sonardyne - read R = 294.960000 from 294.96,X-154.31,Y-28.46,Z-249.76

: Sonardyne - got all data, Vehicle coordinates,
    r=294.960000, x=249.760000, y=-154.310000, z=28.460000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220555.00,3636.57586,N,12152.48830,W,1,12,0.7,-4.68,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,220555.00,3636.57586,N,12152.48830,W,1,12,0.7,-4.68,M,-33.21,M,,*7D


: successfully parse sentence at 22:5:55

: AshtechGPS::processRecord -sample time is 1142287555
: Sonardyne - POS response: 
POS V4,1 R294.87,X-156.55,Y13.59,Z-249.51

: Sonardyne - parsing R294.87,X-156.55,Y13.59,Z-249.51

: Sonardyne - read R = 294.870000 from 294.87,X-156.55,Y13.59,Z-249.51

: Sonardyne - got all data, Vehicle coordinates,
    r=294.870000, x=249.510000, y=-156.550000, z=-13.590000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220556.00,3636.57586,N,12152.48829,W,1,12,0.7,-4.69,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220556.00,3636.57586,N,12152.48829,W,1,12,0.7,-4.69,M,-33.21,M,,*77


: successfully parse sentence at 22:5:56

: AshtechGPS::processRecord -sample time is 1142287556
: Sonardyne - POS response: 
POS V4,1 R294.77,X-157.63,Y8.20,Z-248.95

: Sonardyne - parsing R294.77,X-157.63,Y8.20,Z-248.95

: Sonardyne - read R = 294.770000 from 294.77,X-157.63,Y8.20,Z-248.95

: Sonardyne - got all data, Vehicle coordinates,
    r=294.770000, x=248.950000, y=-157.630000, z=-8.200000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220557.00,3636.57585,N,12152.48829,W,1,12,0.7,-4.70,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,220557.00,3636.57585,N,12152.48829,W,1,12,0.7,-4.70,M,-33.21,M,,*7D


: successfully parse sentence at 22:5:57

: AshtechGPS::processRecord -sample time is 1142287557
: Sonardyne - POS response: 
POS V4,1 R294.65,X-161.11,Y-5.46,Z-246.64

: Sonardyne - parsing R294.65,X-161.11,Y-5.46,Z-246.64

: Sonardyne - read R = 294.650000 from 294.65,X-161.11,Y-5.46,Z-246.64

: Sonardyne - got all data, Vehicle coordinates,
    r=294.650000, x=246.640000, y=-161.110000, z=5.460000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220558.00,3636.57583,N,12152.48819,W,1,12,0.7,-4.81,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220558.00,3636.57583,N,12152.48819,W,1,12,0.7,-4.81,M,-33.21,M,,*79


: successfully parse sentence at 22:5:58

: AshtechGPS::processRecord -sample time is 1142287558
: Sonardyne - POS response: 
POS V4,1 R294.69,X-161.56,Y17.76,Z-245.82

: Sonardyne - parsing R294.69,X-161.56,Y17.76,Z-245.82

: Sonardyne - read R = 294.690000 from 294.69,X-161.56,Y17.76,Z-245.82

: Sonardyne - got all data, Vehicle coordinates,
    r=294.690000, x=245.820000, y=-161.560000, z=-17.760000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220559.00,3636.57594,N,12152.48830,W,1,12,0.7,-4.90,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,220559.00,3636.57594,N,12152.48830,W,1,12,0.7,-4.90,M,-33.21,M,,*75


: successfully parse sentence at 22:5:59

: AshtechGPS::processRecord -sample time is 1142287559
: Sonardyne - POS response: 
POS V4,1 R294.77,X-156.22,Y2.89,Z-249.95

: Sonardyne - parsing R294.77,X-156.22,Y2.89,Z-249.95

: Sonardyne - read R = 294.770000 from 294.77,X-156.22,Y2.89,Z-249.95

: Sonardyne - got all data, Vehicle coordinates,
    r=294.770000, x=249.950000, y=-156.220000, z=-2.890000 tat = 920
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220600.00,3636.57601,N,12152.48822,W,1,12,0.7,-4.95,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,220600.00,3636.57601,N,12152.48822,W,1,12,0.7,-4.95,M,-33.21,M,,*73


: successfully parse sentence at 22:6:0

: AshtechGPS::processRecord -sample time is 1142287560
: Sonardyne - POS response: 
POS V4,1 R294.53,X-153.35,Y23.15,Z-250.39

: Sonardyne - parsing R294.53,X-153.35,Y23.15,Z-250.39

: Sonardyne - read R = 294.530000 from 294.53,X-153.35,Y23.15,Z-250.39

: BluefinBatt Reply: $aaq0 d- 31.38  2.49 16.99 3.91 3.94 0  -125.76 04:37:09 m

: Sonardyne - got all data, Vehicle coordinates,
    r=294.530000, x=250.390000, y=-153.350000, z=-23.150000 tat = 869
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220601.00,3636.57609,N,12152.48829,W,1,12,0.7,-4.82,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220601.00,3636.57609,N,12152.48829,W,1,12,0.7,-4.82,M,-33.21,M,,*77


: successfully parse sentence at 22:6:1

: AshtechGPS::processRecord -sample time is 1142287561
: Sonardyne - POS response: 
POS V4,1 R294.83,X-151.94,Y-1.02,Z-252.66

: Sonardyne - parsing R294.83,X-151.94,Y-1.02,Z-252.66

: Sonardyne - read R = 294.830000 from 294.83,X-151.94,Y-1.02,Z-252.66

: Sonardyne - got all data, Vehicle coordinates,
    r=294.830000, x=252.660000, y=-151.940000, z=1.020000 tat = 870
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

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

: AshtechGps::processRecord() - $GPGGA,220602.00,3636.57612,N,12152.48825,W,1,12,0.7,-4.66,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,220602.00,3636.57612,N,12152.48825,W,1,12,0.7,-4.66,M,-33.21,M,,*78


: successfully parse sentence at 22:6:2

: AshtechGPS::processRecord -sample time is 1142287562
: Sonardyne - POS response: 
POS V4,1 R295.21,X-152.58,Y6.35,Z-252.64

: Sonardyne - parsing R295.21,X-152.58,Y6.35,Z-252.64

: Sonardyne - read R = 295.210000 from 295.21,X-152.58,Y6.35,Z-252.64

: Sonardyne - got all data, Vehicle coordinates,
    r=295.210000, x=252.640000, y=-152.580000, z=-6.350000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220603.00,3636.57606,N,12152.48808,W,1,12,0.7,-4.43,M,-33.21,M,,*74

: Sonardyne - POS response: 
POS V4,1 R295.35

: GpsUtils::parseFix() - $GPGGA,220603.00,3636.57606,N,12152.48808,W,1,12,0.7,-4.43,M,-33.21,M,,*74


: Sonardyne - parsing R295.35

: successfully parse sentence at 22:6:3

: Sonardyne - read R = 295.350000 from 295.35

: AshtechGPS::processRecord -sample time is 1142287563
: Sonardyne - got range only (295.350000), tat = 850
: Sonardyne - POSD response: 
POSD S120.1,N25.2,D23,U4,Q0.001664

: Sonardyne - POSD response: 
POSD S120.1,N25.2,D23,U4,Q0.001664

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

: AshtechGps::processRecord() - $GPGGA,220604.00,3636.57591,N,12152.48792,W,1,12,0.7,-4.30,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,220604.00,3636.57591,N,12152.48792,W,1,12,0.7,-4.30,M,-33.21,M,,*76


: successfully parse sentence at 22:6:4

: AshtechGPS::processRecord -sample time is 1142287564
: Sonardyne - POS response: 
POS V4,1 R294.97,X-153.01,Y4.82,Z-252.14

: Sonardyne - parsing R294.97,X-153.01,Y4.82,Z-252.14

: Sonardyne - read R = 294.970000 from 294.97,X-153.01,Y4.82,Z-252.14

: Sonardyne - got all data, Vehicle coordinates,
    r=294.970000, x=252.140000, y=-153.010000, z=-4.820000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220605.00,3636.57580,N,12152.48777,W,1,12,0.7,-4.37,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,220605.00,3636.57580,N,12152.48777,W,1,12,0.7,-4.37,M,-33.21,M,,*7B


: successfully parse sentence at 22:6:5

: AshtechGPS::processRecord -sample time is 1142287565
: Sonardyne - POS response: 
POS V4,1 R294.32,X-157.10,Y9.74,Z-248.69

: Sonardyne - parsing R294.32,X-157.10,Y9.74,Z-248.69

: Sonardyne - read R = 294.320000 from 294.32,X-157.10,Y9.74,Z-248.69

: Sonardyne - got all data, Vehicle coordinates,
    r=294.320000, x=248.690000, y=-157.100000, z=-9.740000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220606.00,3636.57576,N,12152.48768,W,1,12,0.7,-4.54,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,220606.00,3636.57576,N,12152.48768,W,1,12,0.7,-4.54,M,-33.21,M,,*7A


: successfully parse sentence at 22:6:6

: AshtechGPS::processRecord -sample time is 1142287566
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220607.00,3636.57579,N,12152.48762,W,1,12,0.7,-4.56,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220607.00,3636.57579,N,12152.48762,W,1,12,0.7,-4.56,M,-33.21,M,,*7C


: successfully parse sentence at 22:6:7

: AshtechGPS::processRecord -sample time is 1142287567
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220608.00,3636.57577,N,12152.48751,W,1,12,0.7,-4.52,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220608.00,3636.57577,N,12152.48751,W,1,12,0.7,-4.52,M,-33.21,M,,*79


: successfully parse sentence at 22:6:8

: AshtechGPS::processRecord -sample time is 1142287568
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,220609.00,3636.57580,N,12152.48748,W,1,12,0.7,-4.66,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,220609.00,3636.57580,N,12152.48748,W,1,12,0.7,-4.66,M,-33.21,M,,*7F


: successfully parse sentence at 22:6:9

: AshtechGPS::processRecord -sample time is 1142287569
: Sonardyne - POS response: 
POS V4,1 R294.49,X-144.54,Y-7.65,Z-256.46

: Sonardyne - parsing R294.49,X-144.54,Y-7.65,Z-256.46

: Sonardyne - read R = 294.490000 from 294.49,X-144.54,Y-7.65,Z-256.46

: Sonardyne - got all data, Vehicle coordinates,
    r=294.490000, x=256.460000, y=-144.540000, z=7.650000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220610.00,3636.57589,N,12152.48748,W,1,12,0.7,-4.71,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,220610.00,3636.57589,N,12152.48748,W,1,12,0.7,-4.71,M,-33.21,M,,*78


: successfully parse sentence at 22:6:10

: AshtechGPS::processRecord -sample time is 1142287570
: BluefinBatt Reply: $aaq0 d- 31.38  2.55 16.89 3.91 3.94 0  -125.94 04:37:19 m

: Sonardyne - POS response: 
POS V4,1 R294.23,X-144.39,Y20.98,Z-255.51

: Sonardyne - parsing R294.23,X-144.39,Y20.98,Z-255.51

: Sonardyne - read R = 294.230000 from 294.23,X-144.39,Y20.98,Z-255.51

: Sonardyne - got all data, Vehicle coordinates,
    r=294.230000, x=255.510000, y=-144.390000, z=-20.980000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220611.00,3636.57598,N,12152.48741,W,1,12,0.7,-4.64,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220611.00,3636.57598,N,12152.48741,W,1,12,0.7,-4.64,M,-33.21,M,,*74


: successfully parse sentence at 22:6:11

: AshtechGPS::processRecord -sample time is 1142287571
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POS response: 
POS V4,1 R294.79,X-148.07,Y6.70,Z-254.82

: Sonardyne - parsing R294.79,X-148.07,Y6.70,Z-254.82

: Sonardyne - read R = 294.790000 from 294.79,X-148.07,Y6.70,Z-254.82

: Sonardyne - got all data, Vehicle coordinates,
    r=294.790000, x=254.820000, y=-148.070000, z=-6.700000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220612.00,3636.57603,N,12152.48740,W,1,12,0.7,-4.51,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,220612.00,3636.57603,N,12152.48740,W,1,12,0.7,-4.51,M,-33.21,M,,*71


: successfully parse sentence at 22:6:12

: AshtechGPS::processRecord -sample time is 1142287572
: Sonardyne - POS response: 
POS V4,1 R294.90,X-148.15,Y-5.88,Z-254.92

: Sonardyne - parsing R294.90,X-148.15,Y-5.88,Z-254.92

: Sonardyne - read R = 294.900000 from 294.90,X-148.15,Y-5.88,Z-254.92

: Sonardyne - got all data, Vehicle coordinates,
    r=294.900000, x=254.920000, y=-148.150000, z=5.880000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220613.00,3636.57606,N,12152.48731,W,1,12,0.7,-4.57,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,220613.00,3636.57606,N,12152.48731,W,1,12,0.7,-4.57,M,-33.21,M,,*75


: successfully parse sentence at 22:6:13

: AshtechGPS::processRecord -sample time is 1142287573
: Sonardyne - POS response: 
POS V4,1 R294.96,X-147.54,Y13.87,Z-255.03

: Sonardyne - parsing R294.96,X-147.54,Y13.87,Z-255.03

: Sonardyne - read R = 294.960000 from 294.96,X-147.54,Y13.87,Z-255.03

: Sonardyne - got all data, Vehicle coordinates,
    r=294.960000, x=255.030000, y=-147.540000, z=-13.870000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220614.00,3636.57611,N,12152.48728,W,1,12,0.7,-4.52,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220614.00,3636.57611,N,12152.48728,W,1,12,0.7,-4.52,M,-33.21,M,,*79


: successfully parse sentence at 22:6:14

: AshtechGPS::processRecord -sample time is 1142287574
: Sonardyne - POS response: 
POS V4,1 R294.97,X-150.13,Y13.15,Z-253.56

: Sonardyne - parsing R294.97,X-150.13,Y13.15,Z-253.56

: Sonardyne - read R = 294.970000 from 294.97,X-150.13,Y13.15,Z-253.56

: Sonardyne - got all data, Vehicle coordinates,
    r=294.970000, x=253.560000, y=-150.130000, z=-13.150000 tat = 869
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220615.00,3636.57607,N,12152.48712,W,1,12,0.7,-4.47,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220615.00,3636.57607,N,12152.48712,W,1,12,0.7,-4.47,M,-33.21,M,,*72


: successfully parse sentence at 22:6:15

: AshtechGPS::processRecord -sample time is 1142287575
: Sonardyne - POS response: 
POS V4,1 R294.98,X-148.44,Y11.72,Z-254.63

: Sonardyne - parsing R294.98,X-148.44,Y11.72,Z-254.63

: Sonardyne - read R = 294.980000 from 294.98,X-148.44,Y11.72,Z-254.63

: Sonardyne - got all data, Vehicle coordinates,
    r=294.980000, x=254.630000, y=-148.440000, z=-11.720000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220616.00,3636.57608,N,12152.48707,W,1,12,0.7,-4.44,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,220616.00,3636.57608,N,12152.48707,W,1,12,0.7,-4.44,M,-33.21,M,,*79


: successfully parse sentence at 22:6:16

: AshtechGPS::processRecord -sample time is 1142287576
: Sonardyne - POS response: 
POS V4,1 R295.03

: Sonardyne - parsing R295.03

: Sonardyne - read R = 295.030000 from 295.03

: Sonardyne - got range only (295.030000), tat = 840
: Sonardyne - POSD response: 
POSD S132.8,N34.8,D6,U4,Q0.003325

: Sonardyne - POSD response: 
POSD S132.8,N34.8,D6,U4,Q0.003325

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

: AshtechGps::processRecord() - $GPGGA,220617.00,3636.57610,N,12152.48696,W,1,12,0.7,-4.46,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,220617.00,3636.57610,N,12152.48696,W,1,12,0.7,-4.46,M,-33.21,M,,*7A


: successfully parse sentence at 22:6:17

: AshtechGPS::processRecord -sample time is 1142287577
: Sonardyne - POS response: 
POS V4,1 R295.03,X-153.00,Y15.50,Z-251.79

: Sonardyne - parsing R295.03,X-153.00,Y15.50,Z-251.79

: Sonardyne - read R = 295.030000 from 295.03,X-153.00,Y15.50,Z-251.79

: Sonardyne - got all data, Vehicle coordinates,
    r=295.030000, x=251.790000, y=-153.000000, z=-15.500000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220618.00,3636.57610,N,12152.48685,W,1,12,0.7,-4.50,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220618.00,3636.57610,N,12152.48685,W,1,12,0.7,-4.50,M,-33.21,M,,*70


: successfully parse sentence at 22:6:18

: AshtechGPS::processRecord -sample time is 1142287578
: Sonardyne - POS response: 
POS V4,1 R294.96

: Sonardyne - parsing R294.96

: Sonardyne - read R = 294.960000 from 294.96

: Sonardyne - got range only (294.960000), tat = 840
: Sonardyne - POSD response: 
POSD S121.2,N27.2,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.2,N27.2,D-25,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,220619.00,3636.57609,N,12152.48675,W,1,12,0.7,-4.38,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,220619.00,3636.57609,N,12152.48675,W,1,12,0.7,-4.38,M,-33.21,M,,*78


: successfully parse sentence at 22:6:19

: AshtechGPS::processRecord -sample time is 1142287579
: Sonardyne - POS response: 
POS V4,1 R294.83,X-153.59,Y16.66,Z-251.11

: Sonardyne - parsing R294.83,X-153.59,Y16.66,Z-251.11

: Sonardyne - read R = 294.830000 from 294.83,X-153.59,Y16.66,Z-251.11

: Sonardyne - got all data, Vehicle coordinates,
    r=294.830000, x=251.110000, y=-153.590000, z=-16.660000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220620.00,3636.57603,N,12152.48655,W,1,12,0.7,-4.36,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220620.00,3636.57603,N,12152.48655,W,1,12,0.7,-4.36,M,-33.21,M,,*74


: successfully parse sentence at 22:6:20

: AshtechGPS::processRecord -sample time is 1142287580
: BluefinBatt Reply: $aaq0 d- 31.38  2.72 16.99 3.91 3.94 0  -126.21 04:37:29 m

: Sonardyne - POS response: 
POS V4,1 R294.46,X-160.40,Y10.76,Z-246.70

: Sonardyne - parsing R294.46,X-160.40,Y10.76,Z-246.70

: Sonardyne - read R = 294.460000 from 294.46,X-160.40,Y10.76,Z-246.70

: Sonardyne - got all data, Vehicle coordinates,
    r=294.460000, x=246.700000, y=-160.400000, z=-10.760000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220621.00,3636.57605,N,12152.48648,W,1,12,0.7,-4.54,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,220621.00,3636.57605,N,12152.48648,W,1,12,0.7,-4.54,M,-33.21,M,,*7B


: successfully parse sentence at 22:6:21

: AshtechGPS::processRecord -sample time is 1142287581
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POS response: 
POS V4,1 R294.32,X-158.25,Y-19.09,Z-247.43

: Sonardyne - parsing R294.32,X-158.25,Y-19.09,Z-247.43

: Sonardyne - read R = 294.320000 from 294.32,X-158.25,Y-19.09,Z-247.43

: Sonardyne - got all data, Vehicle coordinates,
    r=294.320000, x=247.430000, y=-158.250000, z=19.090000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220622.00,3636.57614,N,12152.48645,W,1,12,0.7,-4.73,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,220622.00,3636.57614,N,12152.48645,W,1,12,0.7,-4.73,M,-33.21,M,,*70


: successfully parse sentence at 22:6:22

: AshtechGPS::processRecord -sample time is 1142287582
: Sonardyne - POS response: 
POS V4,1 R294.91,X-158.56,Y30.27,Z-246.81

: Sonardyne - parsing R294.91,X-158.56,Y30.27,Z-246.81

: Sonardyne - read R = 294.910000 from 294.91,X-158.56,Y30.27,Z-246.81

: Sonardyne - got all data, Vehicle coordinates,
    r=294.910000, x=246.810000, y=-158.560000, z=-30.270000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220623.00,3636.57625,N,12152.48641,W,1,12,0.7,-4.67,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220623.00,3636.57625,N,12152.48641,W,1,12,0.7,-4.67,M,-33.21,M,,*72


: successfully parse sentence at 22:6:23

: AshtechGPS::processRecord -sample time is 1142287583
: Sonardyne - POS response: 
POS V4,1 R295.14,X-165.15,Y13.44,Z-244.23

: Sonardyne - parsing R295.14,X-165.15,Y13.44,Z-244.23

: Sonardyne - read R = 295.140000 from 295.14,X-165.15,Y13.44,Z-244.23

: Sonardyne - got all data, Vehicle coordinates,
    r=295.140000, x=244.230000, y=-165.150000, z=-13.440000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220624.00,3636.57629,N,12152.48629,W,1,12,0.7,-4.45,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,220624.00,3636.57629,N,12152.48629,W,1,12,0.7,-4.45,M,-33.21,M,,*77


: successfully parse sentence at 22:6:24

: AshtechGPS::processRecord -sample time is 1142287584
: Sonardyne - POS response: 
POS V4,1 R295.15,X-158.50,Y-29.95,Z-247.17

: Sonardyne - parsing R295.15,X-158.50,Y-29.95,Z-247.17

: Sonardyne - read R = 295.150000 from 295.15,X-158.50,Y-29.95,Z-247.17

: Sonardyne - got all data, Vehicle coordinates,
    r=295.150000, x=247.170000, y=-158.500000, z=29.950000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220625.00,3636.57628,N,12152.48620,W,1,12,0.7,-4.50,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,220625.00,3636.57628,N,12152.48620,W,1,12,0.7,-4.50,M,-33.21,M,,*7A


: successfully parse sentence at 22:6:25

: AshtechGPS::processRecord -sample time is 1142287585
: Sonardyne - POS response: 
POS V4,1 R294.68

: Sonardyne - parsing R294.68

: Sonardyne - read R = 294.680000 from 294.68

: Sonardyne - got range only (294.680000), tat = 840
: Sonardyne - POSD response: 
POSD S117.2,N18.9,D38,U2,Q0.003712

: Sonardyne - POSD response: 
POSD S117.2,N18.9,D38,U2,Q0.003712

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

: AshtechGps::processRecord() - $GPGGA,220626.00,3636.57633,N,12152.48615,W,1,12,0.7,-4.64,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,220626.00,3636.57633,N,12152.48615,W,1,12,0.7,-4.64,M,-33.21,M,,*72


: successfully parse sentence at 22:6:26

: AshtechGPS::processRecord -sample time is 1142287586
: Sonardyne - POS response: 
POS V4,1 R294.82,X-179.56,Y62.75,Z-225.26

: Sonardyne - parsing R294.82,X-179.56,Y62.75,Z-225.26

: Sonardyne - read R = 294.820000 from 294.82,X-179.56,Y62.75,Z-225.26

: Sonardyne - got all data, Vehicle coordinates,
    r=294.820000, x=225.260000, y=-179.560000, z=-62.750000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220627.00,3636.57644,N,12152.48615,W,1,12,0.7,-4.63,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,220627.00,3636.57644,N,12152.48615,W,1,12,0.7,-4.63,M,-33.21,M,,*74


: successfully parse sentence at 22:6:27

: AshtechGPS::processRecord -sample time is 1142287587
: Sonardyne - POS response: 
POS V4,1 R294.95,X-179.87,Y28.82,Z-231.97

: Sonardyne - parsing R294.95,X-179.87,Y28.82,Z-231.97

: Sonardyne - read R = 294.950000 from 294.95,X-179.87,Y28.82,Z-231.97

: Sonardyne - got all data, Vehicle coordinates,
    r=294.950000, x=231.970000, y=-179.870000, z=-28.820000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,220628.00,3636.57647,N,12152.48605,W,1,12,0.7,-4.44,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,220628.00,3636.57647,N,12152.48605,W,1,12,0.7,-4.44,M,-33.21,M,,*7C


: successfully parse sentence at 22:6:28

: AshtechGPS::processRecord -sample time is 1142287588
: 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 UsblIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task 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 FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
: 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 ****

:  DropWeight Destructor Executing.
: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_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 SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001CB74.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task j - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
