Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigati: WorkSite::WorkSite -- Finished loading parameters
onS: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
erve: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
r
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
Supe: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
rvi: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
sor:: WorkSite server: 0x22eec
:createTask() - layeredCon: New Navigation component constructor
tro: Navigation - Using only the Dvl to compute altitude.
lServer
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


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

- seabirdServer
: SerialDevice: done...

Supervisor::cr: SerialDevice: done...

eateTask() - bluefinBattDriver
S: Gps: initializing

up: SerialDevice: done...

er: SerialDevice: done...

visor: SerialDevice: done...

::: SerialDevice: done...

cr: Gps: done initializing...

ea: Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
teTask() : Crossbow.cc: Setting polled mode
- dv: Crossbow.cc: In getSerialNumber()
lServ: Crossbow.cc: _device->read failed with error
er
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
S: SerialDevice: done...

: SerialDevice: done...

uperv: seabirdDriver RUNNING...

iso: BluefineBatt::init() - 1 batteries on 10 second interval
r::cr: SerialDevice: done...

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

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


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

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

: SerialDevice: done...

r
Sup: BluefinBatt::init() - querying for batt ids
ervisor::cre: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

ask() - dropWeightServer
Supervisor::creat: SerialDevice: done...

eTask() - : SerialDevice: done...

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...
: ahrs if is Ahrs

: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDeviceDriver::initialize()
: 
 Starting DVL Initialization.

: SerialDevice: done...

:  ng counters to default

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

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

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

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

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: AshtechGps::processRecord() - $GPGGA,221025.00,3636.59762,N,12152.45530,W,1,11,0.8,-4.66,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221025.00,3636.59762,N,12152.45530,W,1,11,0.8,-4.66,M,-33.21,M,,*7A


: successfully parse sentence at 22:10:25

: AshtechGPS::processRecord -sample time is 1142287825
: Sonardyne - LW response: 
LW3

: PeriodicTask::run() () - sampleInterval=500, maxInterval=500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138810
: AshtechGps::processRecord() - $GPGGA,221026.00,3636.59764,N,12152.45523,W,1,11,0.8,-4.68,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221026.00,3636.59764,N,12152.45523,W,1,11,0.8,-4.68,M,-33.21,M,,*73


: successfully parse sentence at 22:10:26

: AshtechGPS::processRecord -sample time is 1142287826
: Parosci.cc -- Parosci initial temp period = 5.842209
: Parosci.cc -- Paroscientific configured.
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

: **** EventTriggers::add() - attaching proxy
:  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,221027.00,3636.59771,N,12152.45513,W,1,11,0.8,-4.83,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221027.00,3636.59771,N,12152.45513,W,1,11,0.8,-4.83,M,-33.21,M,,*70


: successfully parse sentence at 22:10:27

: AshtechGPS::processRecord -sample time is 1142287827
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,221028.00,3636.59782,N,12152.45505,W,1,11,0.8,-4.92,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221028.00,3636.59782,N,12152.45505,W,1,11,0.8,-4.92,M,-33.21,M,,*74


: successfully parse sentence at 22:10:28

: AshtechGPS::processRecord -sample time is 1142287828
:  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,N10.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.9,D0,U0,Q0.000000

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: AshtechGps::processRecord() - $GPGGA,221029.00,3636.59791,N,12152.45502,W,1,11,0.8,-4.94,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221029.00,3636.59791,N,12152.45502,W,1,11,0.8,-4.94,M,-33.21,M,,*76


: successfully parse sentence at 22:10:29

: AshtechGPS::processRecord -sample time is 1142287829
:  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 R334.55

: Sonardyne - parsing R334.55

: Sonardyne - read R = 334.550000 from 334.55

: Sonardyne - got range only (334.550000), tat = 900
: AshtechGps::processRecord() - $GPGGA,221030.00,3636.59801,N,12152.45500,W,1,11,0.8,-4.89,M,-33.21,M,,*76

: Sonardyne - POSD response: 
POSD S107.5,N21.0,D3,U4,Q0.004201

: GpsUtils::parseFix() - $GPGGA,221030.00,3636.59801,N,12152.45500,W,1,11,0.8,-4.89,M,-33.21,M,,*76


: successfully parse sentence at 22:10:30

: AshtechGPS::processRecord -sample time is 1142287830
: Sonardyne - POSD response: 
POSD S107.5,N21.0,D3,U4,Q0.004201

:  wdt = 00894,  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,221031.00,3636.59811,N,12152.45491,W,1,11,0.8,-4.80,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221031.00,3636.59811,N,12152.45491,W,1,11,0.8,-4.80,M,-33.21,M,,*76


: successfully parse sentence at 22:10:31

: AshtechGPS::processRecord -sample time is 1142287831
:  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 R335.85

: Sonardyne - parsing R335.85

: Sonardyne - read R = 335.850000 from 335.85

: Sonardyne - got range only (335.850000), tat = 900
: Sonardyne - POSD response: 
POSD S113.5,N18.2,D-32,U3,Q0.002744

: Sonardyne - POSD response: 
POSD S113.5,N18.2,D-32,U3,Q0.002744

: AshtechGps::processRecord() - $GPGGA,221032.00,3636.59808,N,12152.45479,W,1,11,0.8,-4.69,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221032.00,3636.59808,N,12152.45479,W,1,11,0.8,-4.69,M,-33.21,M,,*7C


: successfully parse sentence at 22:10:32

: AshtechGPS::processRecord -sample time is 1142287832
:  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 R335.63

: Sonardyne - parsing R335.63

: Sonardyne - read R = 335.630000 from 335.63

: Sonardyne - got range only (335.630000), tat = 900
: AshtechGps::processRecord() - $GPGGA,221033.00,3636.59811,N,12152.45464,W,1,11,0.8,-4.69,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221033.00,3636.59811,N,12152.45464,W,1,11,0.8,-4.69,M,-33.21,M,,*79


: Sonardyne - POSD response: 
POSD S112.5,N25.6,D17,U3,Q0.005634

: successfully parse sentence at 22:10:33

: AshtechGPS::processRecord -sample time is 1142287833
: Sonardyne - POSD response: 
POSD S112.5,N25.6,D17,U3,Q0.005634

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

: Seabird/ctdDriver: sending configure commands...(13741)

: AshtechGps::processRecord() - $GPGGA,221034.00,3636.59813,N,12152.45449,W,1,11,0.8,-4.80,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221034.00,3636.59813,N,12152.45449,W,1,11,0.8,-4.80,M,-33.21,M,,*74


: successfully parse sentence at 22:10:34

: AshtechGPS::processRecord -sample time is 1142287834
: Seabird/ctdDriver: setting scans...

:  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 R335.51

: Sonardyne - parsing R335.51

: Sonardyne - read R = 335.510000 from 335.51

: Sonardyne - got range only (335.510000), tat = 900
: Sonardyne - POSD response: 
POSD S114.3,N29.5,D-11,U4,Q0.005925

: Sonardyne - POSD response: 
POSD S114.3,N29.5,D-11,U4,Q0.005925

: AshtechGps::processRecord() - $GPGGA,221035.00,3636.59829,N,12152.45443,W,1,11,0.8,-5.13,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221035.00,3636.59829,N,12152.45443,W,1,11,0.8,-5.13,M,-33.21,M,,*7D


: successfully parse sentence at 22:10:35

: AshtechGPS::processRecord -sample time is 1142287835
:  wdt = 00898,  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,221036.00,3636.59843,N,12152.45444,W,1,11,0.8,-5.07,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221036.00,3636.59843,N,12152.45444,W,1,11,0.8,-5.07,M,-33.21,M,,*70


: successfully parse sentence at 22:10:36

: AshtechGPS::processRecord -sample time is 1142287836
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221037.00,3636.59853,N,12152.45437,W,1,11,0.8,-4.78,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221037.00,3636.59853,N,12152.45437,W,1,11,0.8,-4.78,M,-33.21,M,,*7D


: successfully parse sentence at 22:10:37

: AshtechGPS::processRecord -sample time is 1142287837
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,221038.00,3636.59854,N,12152.45416,W,1,11,0.8,-4.63,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221038.00,3636.59854,N,12152.45416,W,1,11,0.8,-4.63,M,-33.21,M,,*7C


: successfully parse sentence at 22:10:38

: AshtechGPS::processRecord -sample time is 1142287838
: 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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: SerialDevice::confirm() - Timed Out
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221039.00,3636.59854,N,12152.45396,W,1,11,0.8,-4.69,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221039.00,3636.59854,N,12152.45396,W,1,11,0.8,-4.69,M,-33.21,M,,*78


: successfully parse sentence at 22:10:39

: AshtechGPS::processRecord -sample time is 1142287839
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221040.00,3636.59861,N,12152.45382,W,1,11,0.8,-4.77,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221040.00,3636.59861,N,12152.45382,W,1,11,0.8,-4.77,M,-33.21,M,,*7A


: successfully parse sentence at 22:10:40

: AshtechGPS::processRecord -sample time is 1142287840
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221041.00,3636.59866,N,12152.45366,W,1,11,0.8,-4.77,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221041.00,3636.59866,N,12152.45366,W,1,11,0.8,-4.77,M,-33.21,M,,*76


: successfully parse sentence at 22:10:41

: AshtechGPS::processRecord -sample time is 1142287841
:  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,N-0.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221042.00,3636.59878,N,12152.45355,W,1,11,0.8,-4.85,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221042.00,3636.59878,N,12152.45355,W,1,11,0.8,-4.85,M,-33.21,M,,*77


: successfully parse sentence at 22:10:42

: AshtechGPS::processRecord -sample time is 1142287842
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(13741)

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

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

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

: AshtechGps::processRecord() - $GPGGA,221043.00,3636.59883,N,12152.45344,W,1,11,0.8,-4.87,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221043.00,3636.59883,N,12152.45344,W,1,11,0.8,-4.87,M,-33.21,M,,*70


: successfully parse sentence at 22:10:43

: AshtechGPS::processRecord -sample time is 1142287843
: Seabird/ctdDriver::initialize() - confirming voltage...

:  wdt = 00890,  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...

: AshtechGps::processRecord() - $GPGGA,221044.00,3636.59898,N,12152.45335,W,1,11,0.8,-4.93,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221044.00,3636.59898,N,12152.45335,W,1,11,0.8,-4.93,M,-33.21,M,,*7E


: successfully parse sentence at 22:10:44

: AshtechGPS::processRecord -sample time is 1142287844
:  wdt = 00899,  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,221045.00,3636.59908,N,12152.45322,W,1,11,0.8,-4.88,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221045.00,3636.59908,N,12152.45322,W,1,11,0.8,-4.88,M,-33.21,M,,*7B


: successfully parse sentence at 22:10:45

: AshtechGPS::processRecord -sample time is 1142287845
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-1.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N-1.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221046.00,3636.59918,N,12152.45309,W,1,11,0.8,-4.93,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221046.00,3636.59918,N,12152.45309,W,1,11,0.8,-4.93,M,-33.21,M,,*7A


: successfully parse sentence at 22:10:46

: AshtechGPS::processRecord -sample time is 1142287846
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  2.32 16.69 3.92 3.95 0  -131.04 04:41:55 m

: AshtechGps::processRecord() - $GPGGA,221047.00,3636.59942,N,12152.45308,W,1,11,0.8,-4.99,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221047.00,3636.59942,N,12152.45308,W,1,11,0.8,-4.99,M,-33.21,M,,*7F


: successfully parse sentence at 22:10:47

: AshtechGPS::processRecord -sample time is 1142287847
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: 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
: AshtechGps::processRecord() - $GPGGA,221048.00,3636.59946,N,12152.45296,W,1,11,0.8,-4.85,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221048.00,3636.59946,N,12152.45296,W,1,11,0.8,-4.85,M,-33.21,M,,*7F


: successfully parse sentence at 22:10:48

: AshtechGPS::processRecord -sample time is 1142287848
: **** 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 = 0.009999) Behavior depthEnvelope has changed to state Active

: LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer has changed to state Active

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

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

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

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N0.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N0.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221049.00,3636.59960,N,12152.45283,W,1,11,0.8,-4.73,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221049.00,3636.59960,N,12152.45283,W,1,11,0.8,-4.73,M,-33.21,M,,*77


: successfully parse sentence at 22:10:49

: AshtechGPS::processRecord -sample time is 1142287849
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221050.00,3636.59958,N,12152.45259,W,1,11,0.8,-4.67,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221050.00,3636.59958,N,12152.45259,W,1,11,0.8,-4.67,M,-33.21,M,,*76


: successfully parse sentence at 22:10:50

: AshtechGPS::processRecord -sample time is 1142287850
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221051.00,3636.59964,N,12152.45241,W,1,11,0.8,-4.73,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221051.00,3636.59964,N,12152.45241,W,1,11,0.8,-4.73,M,-33.21,M,,*74


: successfully parse sentence at 22:10:51

: AshtechGPS::processRecord -sample time is 1142287851
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221052.00,3636.59970,N,12152.45221,W,1,11,0.8,-4.73,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221052.00,3636.59970,N,12152.45221,W,1,11,0.8,-4.73,M,-33.21,M,,*74


: successfully parse sentence at 22:10:52

: AshtechGPS::processRecord -sample time is 1142287852
: 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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221053.00,3636.59974,N,12152.45202,W,1,11,0.8,-4.78,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221053.00,3636.59974,N,12152.45202,W,1,11,0.8,-4.78,M,-33.21,M,,*7B


: successfully parse sentence at 22:10:53

: AshtechGPS::processRecord -sample time is 1142287853
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221054.00,3636.59983,N,12152.45191,W,1,11,0.8,-4.92,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221054.00,3636.59983,N,12152.45191,W,1,11,0.8,-4.92,M,-33.21,M,,*79


: successfully parse sentence at 22:10:54

: AshtechGPS::processRecord -sample time is 1142287854
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221055.00,3636.59993,N,12152.45180,W,1,11,0.8,-4.95,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221055.00,3636.59993,N,12152.45180,W,1,11,0.8,-4.95,M,-33.21,M,,*7E


: successfully parse sentence at 22:10:55

: AshtechGPS::processRecord -sample time is 1142287855
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 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,221056.00,3636.60005,N,12152.45166,W,1,11,0.8,-4.95,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221056.00,3636.60005,N,12152.45166,W,1,11,0.8,-4.95,M,-33.21,M,,*79


: successfully parse sentence at 22:10:56

: AshtechGPS::processRecord -sample time is 1142287856
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  3.67 16.69 3.92 3.94 0  -131.34 04:42:05 m

: AshtechGps::processRecord() - $GPGGA,221057.00,3636.60019,N,12152.45153,W,1,11,0.8,-5.03,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221057.00,3636.60019,N,12152.45153,W,1,11,0.8,-5.03,M,-33.21,M,,*7D


: successfully parse sentence at 22:10:57

: AshtechGPS::processRecord -sample time is 1142287857
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.999383) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.999383) Behavior setpoint has changed to state Active

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

: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,221058.00,3636.60035,N,12152.45143,W,1,11,0.8,-5.09,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221058.00,3636.60035,N,12152.45143,W,1,11,0.8,-5.09,M,-33.21,M,,*77


: successfully parse sentence at 22:10:58

: AshtechGPS::processRecord -sample time is 1142287858
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221059.00,3636.60053,N,12152.45137,W,1,11,0.8,-5.13,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221059.00,3636.60053,N,12152.45137,W,1,11,0.8,-5.13,M,-33.21,M,,*7E


: successfully parse sentence at 22:10:59

: AshtechGPS::processRecord -sample time is 1142287859
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221100.00,3636.60074,N,12152.45126,W,1,11,0.8,-4.99,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221100.00,3636.60074,N,12152.45126,W,1,11,0.8,-4.99,M,-33.21,M,,*75


: successfully parse sentence at 22:11:0

: AshtechGPS::processRecord -sample time is 1142287860
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221101.00,3636.60085,N,12152.45099,W,1,11,0.8,-4.79,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221101.00,3636.60085,N,12152.45099,W,1,11,0.8,-4.79,M,-33.21,M,,*71


: successfully parse sentence at 22:11:1

: AshtechGPS::processRecord -sample time is 1142287861
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221102.00,3636.60101,N,12152.45065,W,1,11,0.8,-4.74,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221102.00,3636.60101,N,12152.45065,W,1,11,0.8,-4.74,M,-33.21,M,,*71


: successfully parse sentence at 22:11:2

: AshtechGPS::processRecord -sample time is 1142287862
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,221103.00,3636.60107,N,12152.45021,W,1,11,0.8,-4.63,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221103.00,3636.60107,N,12152.45021,W,1,11,0.8,-4.63,M,-33.21,M,,*70


: successfully parse sentence at 22:11:3

: AshtechGPS::processRecord -sample time is 1142287863
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221104.00,3636.60119,N,12152.44978,W,1,11,0.8,-4.64,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221104.00,3636.60119,N,12152.44978,W,1,11,0.8,-4.64,M,-33.21,M,,*7B


: successfully parse sentence at 22:11:4

: AshtechGPS::processRecord -sample time is 1142287864
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221105.00,3636.60142,N,12152.44932,W,1,11,0.8,-4.76,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221105.00,3636.60142,N,12152.44932,W,1,11,0.8,-4.76,M,-33.21,M,,*79


: successfully parse sentence at 22:11:5

: AshtechGPS::processRecord -sample time is 1142287865
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221106.00,3636.60168,N,12152.44884,W,1,11,0.8,-4.92,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221106.00,3636.60168,N,12152.44884,W,1,11,0.8,-4.92,M,-33.21,M,,*74


: successfully parse sentence at 22:11:6

: AshtechGPS::processRecord -sample time is 1142287866
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: BluefinBatt Reply: $aaq0 d- 31.12 11.01 16.69 3.92 3.94 0  -131.85 04:42:15 m

: AshtechGps::processRecord() - $GPGGA,221107.00,3636.60208,N,12152.44843,W,1,11,0.8,-4.97,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221107.00,3636.60208,N,12152.44843,W,1,11,0.8,-4.97,M,-33.21,M,,*7E


: successfully parse sentence at 22:11:7

: AshtechGPS::processRecord -sample time is 1142287867
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,221108.00,3636.60252,N,12152.44805,W,1,11,0.8,-5.10,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221108.00,3636.60252,N,12152.44805,W,1,11,0.8,-5.10,M,-33.21,M,,*72


: successfully parse sentence at 22:11:8

: AshtechGPS::processRecord -sample time is 1142287868
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221109.00,3636.60307,N,12152.44774,W,1,11,0.8,-5.01,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221109.00,3636.60307,N,12152.44774,W,1,11,0.8,-5.01,M,-33.21,M,,*7B


: successfully parse sentence at 22:11:9

: AshtechGPS::processRecord -sample time is 1142287869
:  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,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221110.00,3636.60363,N,12152.44742,W,1,11,0.8,-4.95,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221110.00,3636.60363,N,12152.44742,W,1,11,0.8,-4.95,M,-33.21,M,,*78


: successfully parse sentence at 22:11:10

: AshtechGPS::processRecord -sample time is 1142287870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221111.00,3636.60419,N,12152.44707,W,1,11,0.8,-4.88,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221111.00,3636.60419,N,12152.44707,W,1,11,0.8,-4.88,M,-33.21,M,,*7E


: successfully parse sentence at 22:11:11

: AshtechGPS::processRecord -sample time is 1142287871
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221112.00,3636.60485,N,12152.44687,W,1,11,0.8,-5.03,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221112.00,3636.60485,N,12152.44687,W,1,11,0.8,-5.03,M,-33.21,M,,*73


: successfully parse sentence at 22:11:12

: AshtechGPS::processRecord -sample time is 1142287872
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221113.00,3636.60555,N,12152.44681,W,1,11,0.8,-4.99,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,221113.00,3636.60555,N,12152.44681,W,1,11,0.8,-4.99,M,-33.21,M,,*7A


: successfully parse sentence at 22:11:13

: AshtechGPS::processRecord -sample time is 1142287873
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221114.00,3636.60619,N,12152.44680,W,1,11,0.8,-4.83,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221114.00,3636.60619,N,12152.44680,W,1,11,0.8,-4.83,M,-33.21,M,,*7C


: successfully parse sentence at 22:11:14

: AshtechGPS::processRecord -sample time is 1142287874
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221115.00,3636.60681,N,12152.44675,W,1,11,0.8,-4.59,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221115.00,3636.60681,N,12152.44675,W,1,11,0.8,-4.59,M,-33.21,M,,*71


: successfully parse sentence at 22:11:15

: AshtechGPS::processRecord -sample time is 1142287875
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221116.00,3636.60742,N,12152.44691,W,1,11,0.8,-4.78,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221116.00,3636.60742,N,12152.44691,W,1,11,0.8,-4.78,M,-33.21,M,,*75


: successfully parse sentence at 22:11:16

: AshtechGPS::processRecord -sample time is 1142287876
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.15  9.19 16.69 3.89 3.92 0  -132.84 04:42:25 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221117.00,3636.60805,N,12152.44709,W,1,11,0.8,-4.86,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221117.00,3636.60805,N,12152.44709,W,1,11,0.8,-4.86,M,-33.21,M,,*79


: successfully parse sentence at 22:11:17

: AshtechGPS::processRecord -sample time is 1142287877
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,221118.00,3636.60856,N,12152.44746,W,1,11,0.8,-4.89,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221118.00,3636.60856,N,12152.44746,W,1,11,0.8,-4.89,M,-33.21,M,,*74


: successfully parse sentence at 22:11:18

: AshtechGPS::processRecord -sample time is 1142287878
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221119.00,3636.60913,N,12152.44791,W,1,11,0.8,-4.95,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221119.00,3636.60913,N,12152.44791,W,1,11,0.8,-4.95,M,-33.21,M,,*72


: successfully parse sentence at 22:11:19

: AshtechGPS::processRecord -sample time is 1142287879
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221120.00,3636.60974,N,12152.44845,W,1,11,0.8,-5.05,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221120.00,3636.60974,N,12152.44845,W,1,11,0.8,-5.05,M,-33.21,M,,*77


: successfully parse sentence at 22:11:20

: AshtechGPS::processRecord -sample time is 1142287880
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221121.00,3636.61025,N,12152.44908,W,1,11,0.8,-5.22,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221121.00,3636.61025,N,12152.44908,W,1,11,0.8,-5.22,M,-33.21,M,,*77


: successfully parse sentence at 22:11:21

: AshtechGPS::processRecord -sample time is 1142287881
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221122.00,3636.61074,N,12152.44980,W,1,11,0.8,-5.23,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221122.00,3636.61074,N,12152.44980,W,1,11,0.8,-5.23,M,-33.21,M,,*71


: successfully parse sentence at 22:11:22

: AshtechGPS::processRecord -sample time is 1142287882
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221123.00,3636.61115,N,12152.45059,W,1,11,0.8,-5.19,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221123.00,3636.61115,N,12152.45059,W,1,11,0.8,-5.19,M,-33.21,M,,*73


: successfully parse sentence at 22:11:23

: AshtechGPS::processRecord -sample time is 1142287883
:  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,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221124.00,3636.61143,N,12152.45140,W,1,11,0.8,-4.90,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221124.00,3636.61143,N,12152.45140,W,1,11,0.8,-4.90,M,-33.21,M,,*7E


: successfully parse sentence at 22:11:24

: AshtechGPS::processRecord -sample time is 1142287884
:  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 R359.37

: Sonardyne - parsing R359.37

: Sonardyne - read R = 359.370000 from 359.37

: Sonardyne - got range only (359.370000), tat = 930
: AshtechGps::processRecord() - $GPGGA,221125.00,3636.61144,N,12152.45205,W,1,11,0.8,-4.64,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221125.00,3636.61144,N,12152.45205,W,1,11,0.8,-4.64,M,-33.21,M,,*71


: successfully parse sentence at 22:11:25

: AshtechGPS::processRecord -sample time is 1142287885
: Sonardyne - POSD response: 
POSD S111.5,N22.3,D-109,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.5,N22.3,D-109,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,221126.00,3636.61134,N,12152.45271,W,1,11,0.8,-4.62,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221126.00,3636.61134,N,12152.45271,W,1,11,0.8,-4.62,M,-33.21,M,,*70


: successfully parse sentence at 22:11:26

: AshtechGPS::processRecord -sample time is 1142287886
:  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 R358.67

: Sonardyne - parsing R358.67

: Sonardyne - read R = 358.670000 from 358.67

: Sonardyne - got range only (358.670000), tat = 930
: BluefinBatt Reply: $aaq0 d- 31.12 10.75 16.69 3.89 3.92 0  -133.46 04:42:35 m

: Sonardyne - POSD response: 
POSD S114.8,N28.3,D-27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.8,N28.3,D-27,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221127.00,3636.61118,N,12152.45340,W,1,11,0.8,-4.82,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221127.00,3636.61118,N,12152.45340,W,1,11,0.8,-4.82,M,-33.21,M,,*72


: successfully parse sentence at 22:11:27

: AshtechGPS::processRecord -sample time is 1142287887
: LayeredControl::execute() -- (t = 39.197315) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 39.197315) Behavior descend has changed to state Active

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

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R357.59

: Sonardyne - parsing R357.59

: Sonardyne - read R = 357.590000 from 357.59

: Sonardyne - got range only (357.590000), tat = 930
: AshtechGps::processRecord() - $GPGGA,221128.00,3636.61098,N,12152.45413,W,1,11,0.8,-5.00,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221128.00,3636.61098,N,12152.45413,W,1,11,0.8,-5.00,M,-33.21,M,,*7E


: successfully parse sentence at 22:11:28

: AshtechGPS::processRecord -sample time is 1142287888
: Sonardyne - POSD response: 
POSD S123.5,N29.7,D0,U5,Q0.001613

: Sonardyne - POSD response: 
POSD S123.5,N29.7,D0,U5,Q0.001613

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

: AshtechGps::processRecord() - $GPGGA,221129.00,3636.61086,N,12152.45498,W,1,11,0.8,-4.97,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221129.00,3636.61086,N,12152.45498,W,1,11,0.8,-4.97,M,-33.21,M,,*7C


: successfully parse sentence at 22:11:29

: AshtechGPS::processRecord -sample time is 1142287889
:  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 R357.07,X-306.63,Y38.21,Z-178.93

: Sonardyne - parsing R357.07,X-306.63,Y38.21,Z-178.93

: Sonardyne - read R = 357.070000 from 357.07,X-306.63,Y38.21,Z-178.93

: Sonardyne - got all data, Vehicle coordinates,
    r=357.070000, x=178.930000, y=-306.630000, z=-38.210000 tat = 950
: AshtechGps::processRecord() - $GPGGA,221130.00,3636.61062,N,12152.45572,W,1,11,0.8,-4.94,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221130.00,3636.61062,N,12152.45572,W,1,11,0.8,-4.94,M,-33.21,M,,*78


: successfully parse sentence at 22:11:30

: AshtechGPS::processRecord -sample time is 1142287890
:  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 R356.60

: Sonardyne - parsing R356.60

: Sonardyne - read R = 356.600000 from 356.60

: Sonardyne - got range only (356.600000), tat = 930
: Sonardyne - POSD response: 
POSD S117.2,N28.2,D-10,U5,Q0.003078

: Sonardyne - POSD response: 
POSD S117.2,N28.2,D-10,U5,Q0.003078

: AshtechGps::processRecord() - $GPGGA,221131.00,3636.61040,N,12152.45653,W,1,11,0.8,-4.89,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221131.00,3636.61040,N,12152.45653,W,1,11,0.8,-4.89,M,-33.21,M,,*75


: successfully parse sentence at 22:11:31

: AshtechGPS::processRecord -sample time is 1142287891
:  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 R355.70,X-283.05,Y29.87,Z-213.33

: Sonardyne - parsing R355.70,X-283.05,Y29.87,Z-213.33

: Sonardyne - read R = 355.700000 from 355.70,X-283.05,Y29.87,Z-213.33

: Sonardyne - got all data, Vehicle coordinates,
    r=355.700000, x=213.330000, y=-283.050000, z=-29.870000 tat = 950
: AshtechGps::processRecord() - $GPGGA,221132.00,3636.61008,N,12152.45724,W,1,11,0.8,-4.84,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221132.00,3636.61008,N,12152.45724,W,1,11,0.8,-4.84,M,-33.21,M,,*76


: successfully parse sentence at 22:11:32

: AshtechGPS::processRecord -sample time is 1142287892
:  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 R354.96,X-281.69,Y41.51,Z-211.95

: Sonardyne - parsing R354.96,X-281.69,Y41.51,Z-211.95

: Sonardyne - read R = 354.960000 from 354.96,X-281.69,Y41.51,Z-211.95

: Sonardyne - got all data, Vehicle coordinates,
    r=354.960000, x=211.950000, y=-281.690000, z=-41.510000 tat = 950
: AshtechGps::processRecord() - $GPGGA,221133.00,3636.60964,N,12152.45786,W,1,11,0.8,-4.80,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221133.00,3636.60964,N,12152.45786,W,1,11,0.8,-4.80,M,-33.21,M,,*79


: successfully parse sentence at 22:11:33

: AshtechGPS::processRecord -sample time is 1142287893
:  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 R354.01

: Sonardyne - parsing R354.01

: Sonardyne - read R = 354.010000 from 354.01

: Sonardyne - got range only (354.010000), tat = 920
: AshtechGps::processRecord() - $GPGGA,221134.00,3636.60927,N,12152.45842,W,1,11,0.8,-4.79,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221134.00,3636.60927,N,12152.45842,W,1,11,0.8,-4.79,M,-33.21,M,,*78


: successfully parse sentence at 22:11:34

: AshtechGPS::processRecord -sample time is 1142287894
: Sonardyne - POSD response: 
POSD S115.6,N25.7,D53,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.6,N25.7,D53,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,221135.00,3636.60884,N,12152.45895,W,1,11,0.8,-4.94,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221135.00,3636.60884,N,12152.45895,W,1,11,0.8,-4.94,M,-33.21,M,,*78


: successfully parse sentence at 22:11:35

: AshtechGPS::processRecord -sample time is 1142287895
: Sonardyne - POS response: 
POS V4,1 R353.08

: Sonardyne - parsing R353.08

: Sonardyne - read R = 353.080000 from 353.08

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

: Sonardyne - got range only (353.080000), tat = 920
: Sonardyne - POSD response: 
POSD S116.3,N24.3,D-101,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.3,N24.3,D-101,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221136.00,3636.60854,N,12152.45965,W,1,11,0.8,-5.03,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221136.00,3636.60854,N,12152.45965,W,1,11,0.8,-5.03,M,-33.21,M,,*77


: successfully parse sentence at 22:11:36

: AshtechGPS::processRecord -sample time is 1142287896
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.15  9.06 16.79 3.89 3.92 0  -134.38 04:42:45 m

: Sonardyne - POS response: 
POS V4,1 R353.89

: Sonardyne - parsing R353.89

: Sonardyne - read R = 353.890000 from 353.89

: Sonardyne - got range only (353.890000), tat = 920
: AshtechGps::processRecord() - $GPGGA,221137.00,3636.60820,N,12152.46033,W,1,11,0.8,-4.98,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221137.00,3636.60820,N,12152.46033,W,1,11,0.8,-4.98,M,-33.21,M,,*7F


: successfully parse sentence at 22:11:37

: AshtechGPS::processRecord -sample time is 1142287897
: Sonardyne - POSD response: 
POSD S118.0,N24.8,D-24,U2,Q0.007192

: Sonardyne - POSD response: 
POSD S118.0,N24.8,D-24,U2,Q0.007192

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

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,221138.00,3636.60795,N,12152.46110,W,1,11,0.8,-5.02,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221138.00,3636.60795,N,12152.46110,W,1,11,0.8,-5.02,M,-33.21,M,,*73


: successfully parse sentence at 22:11:38

: AshtechGPS::processRecord -sample time is 1142287898
: Sonardyne - POS response: 
POS V4,1 R351.64

: Sonardyne - parsing R351.64

: Sonardyne - read R = 351.640000 from 351.64

: Sonardyne - got range only (351.640000), tat = 919
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S118.9,N26.7,D-63,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.9,N26.7,D-63,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221139.00,3636.60766,N,12152.46180,W,1,11,0.8,-5.03,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221139.00,3636.60766,N,12152.46180,W,1,11,0.8,-5.03,M,-33.21,M,,*76


: successfully parse sentence at 22:11:39

: AshtechGPS::processRecord -sample time is 1142287899
:  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 R350.65

: Sonardyne - parsing R350.65

: Sonardyne - read R = 350.650000 from 350.65

: Sonardyne - got range only (350.650000), tat = 920
: AshtechGps::processRecord() - $GPGGA,221140.00,3636.60738,N,12152.46256,W,1,11,0.8,-5.05,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221140.00,3636.60738,N,12152.46256,W,1,11,0.8,-5.05,M,-33.21,M,,*7D


: successfully parse sentence at 22:11:40

: AshtechGPS::processRecord -sample time is 1142287900
: Sonardyne - POSD response: 
POSD S114.4,N24.6,D25,U2,Q0.013937

: Sonardyne - POSD response: 
POSD S114.4,N24.6,D25,U2,Q0.013937

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

: AshtechGps::processRecord() - $GPGGA,221141.00,3636.60715,N,12152.46331,W,1,11,0.8,-5.07,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221141.00,3636.60715,N,12152.46331,W,1,11,0.8,-5.07,M,-33.21,M,,*71


: successfully parse sentence at 22:11:41

: AshtechGPS::processRecord -sample time is 1142287901
: Sonardyne - POS response: 
POS V4,1 R350.12

: Sonardyne - parsing R350.12

: Sonardyne - read R = 350.120000 from 350.12

: Sonardyne - got range only (350.120000), tat = 920
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S110.8,N20.5,D106,U4,Q0.007584

: Sonardyne - POSD response: 
POSD S110.8,N20.5,D106,U4,Q0.007584

: AshtechGps::processRecord() - $GPGGA,221142.00,3636.60685,N,12152.46399,W,1,11,0.8,-4.96,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221142.00,3636.60685,N,12152.46399,W,1,11,0.8,-4.96,M,-33.21,M,,*71


: successfully parse sentence at 22:11:42

: AshtechGPS::processRecord -sample time is 1142287902
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221143.00,3636.60658,N,12152.46470,W,1,11,0.8,-4.71,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221143.00,3636.60658,N,12152.46470,W,1,11,0.8,-4.71,M,-33.21,M,,*79


: successfully parse sentence at 22:11:43

: AshtechGPS::processRecord -sample time is 1142287903
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221144.00,3636.60610,N,12152.46527,W,1,11,0.8,-4.65,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221144.00,3636.60610,N,12152.46527,W,1,11,0.8,-4.65,M,-33.21,M,,*74


: successfully parse sentence at 22:11:44

: AshtechGPS::processRecord -sample time is 1142287904
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221145.00,3636.60572,N,12152.46596,W,1,11,0.8,-4.81,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221145.00,3636.60572,N,12152.46596,W,1,11,0.8,-4.81,M,-33.21,M,,*72


: successfully parse sentence at 22:11:45

: AshtechGPS::processRecord -sample time is 1142287905
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221146.00,3636.60539,N,12152.46669,W,1,11,0.8,-4.91,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221146.00,3636.60539,N,12152.46669,W,1,11,0.8,-4.91,M,-33.21,M,,*7C


: successfully parse sentence at 22:11:46

: AshtechGPS::processRecord -sample time is 1142287906
: Sonardyne - POS response: 
POS V4,1 R347.15

: Sonardyne - parsing R347.15

: Sonardyne - read R = 347.150000 from 347.15

: Sonardyne - got range only (347.150000), tat = 920
: BluefinBatt Reply: $aaq0 d- 31.15  9.09 16.79 3.89 3.92 0  -135.03 04:42:55 m

: Sonardyne - POSD response: 
POSD S114.7,N22.7,D61,U5,Q0.007221

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

: Sonardyne - POSD response: 
POSD S114.7,N22.7,D61,U5,Q0.007221

: AshtechGps::processRecord() - $GPGGA,221147.00,3636.60503,N,12152.46739,W,1,11,0.8,-4.73,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221147.00,3636.60503,N,12152.46739,W,1,11,0.8,-4.73,M,-33.21,M,,*7C


: successfully parse sentence at 22:11:47

: AshtechGPS::processRecord -sample time is 1142287907
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  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 R346.13

: Sonardyne - parsing R346.13

: Sonardyne - read R = 346.130000 from 346.13

: Sonardyne - got range only (346.130000), tat = 910
: AshtechGps::processRecord() - $GPGGA,221148.00,3636.60467,N,12152.46804,W,1,11,0.8,-4.61,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221148.00,3636.60467,N,12152.46804,W,1,11,0.8,-4.61,M,-33.21,M,,*72


: successfully parse sentence at 22:11:48

: AshtechGPS::processRecord -sample time is 1142287908
: Sonardyne - POSD response: 
POSD S123.1,N32.8,D-20,U5,Q0.013974

: Sonardyne - POSD response: 
POSD S123.1,N32.8,D-20,U5,Q0.013974

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

: AshtechGps::processRecord() - $GPGGA,221149.00,3636.60426,N,12152.46863,W,1,11,0.8,-4.75,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221149.00,3636.60426,N,12152.46863,W,1,11,0.8,-4.75,M,-33.21,M,,*72


: successfully parse sentence at 22:11:49

: AshtechGPS::processRecord -sample time is 1142287909
: Sonardyne - POS response: 
POS V4,1 R344.73

: Sonardyne - parsing R344.73

: Sonardyne - read R = 344.730000 from 344.73

: Sonardyne - got range only (344.730000), tat = 910
: Sonardyne - POSD response: 
POSD S120.3,N27.8,D-49,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 S120.3,N27.8,D-49,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221150.00,3636.60396,N,12152.46934,W,1,11,0.8,-5.01,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221150.00,3636.60396,N,12152.46934,W,1,11,0.8,-5.01,M,-33.21,M,,*77


: successfully parse sentence at 22:11:50

: AshtechGPS::processRecord -sample time is 1142287910
:  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 R345.66

: Sonardyne - parsing R345.66

: Sonardyne - read R = 345.660000 from 345.66

: Sonardyne - got range only (345.660000), tat = 910
: AshtechGps::processRecord() - $GPGGA,221151.00,3636.60379,N,12152.47019,W,1,11,0.8,-5.47,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221151.00,3636.60379,N,12152.47019,W,1,11,0.8,-5.47,M,-33.21,M,,*72


: successfully parse sentence at 22:11:51

: AshtechGPS::processRecord -sample time is 1142287911
: Sonardyne - POSD response: 
POSD S115.5,N24.4,D49,U1,Q0.004928

: Sonardyne - POSD response: 
POSD S115.5,N24.4,D49,U1,Q0.004928

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

: AshtechGps::processRecord() - $GPGGA,221152.00,3636.60356,N,12152.47096,W,1,11,0.8,-5.47,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221152.00,3636.60356,N,12152.47096,W,1,11,0.8,-5.47,M,-33.21,M,,*7B


: successfully parse sentence at 22:11:52

: AshtechGPS::processRecord -sample time is 1142287912
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221153.00,3636.60330,N,12152.47169,W,1,11,0.8,-5.36,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221153.00,3636.60330,N,12152.47169,W,1,11,0.8,-5.36,M,-33.21,M,,*7D


: successfully parse sentence at 22:11:53

: AshtechGPS::processRecord -sample time is 1142287913
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221154.00,3636.60309,N,12152.47242,W,1,11,0.8,-5.37,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221154.00,3636.60309,N,12152.47242,W,1,11,0.8,-5.37,M,-33.21,M,,*7B


: successfully parse sentence at 22:11:54

: AshtechGPS::processRecord -sample time is 1142287914
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221155.00,3636.60288,N,12152.47318,W,1,11,0.8,-5.18,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221155.00,3636.60288,N,12152.47318,W,1,11,0.8,-5.18,M,-33.21,M,,*71


: successfully parse sentence at 22:11:55

: AshtechGPS::processRecord -sample time is 1142287915
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R342.95,X263.14,Y219.93,Z0.00

: Sonardyne - parsing R342.95,X263.14,Y219.93,Z0.00

: Sonardyne - read R = 342.950000 from 342.95,X263.14,Y219.93,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=342.950000, x=0.000000, y=263.140000, z=-219.930000 tat = 930
: AshtechGps::processRecord() - $GPGGA,221156.00,3636.60260,N,12152.47390,W,1,11,0.8,-5.01,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221156.00,3636.60260,N,12152.47390,W,1,11,0.8,-5.01,M,-33.21,M,,*7C


: successfully parse sentence at 22:11:56

: AshtechGPS::processRecord -sample time is 1142287916
: BluefinBatt Reply: $aaq0 d- 31.12  9.73 16.89 3.89 3.91 0  -135.91 04:43:05 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 R342.59

: Sonardyne - parsing R342.59

: Sonardyne - read R = 342.590000 from 342.59

: Sonardyne - got range only (342.590000), tat = 910
: AshtechGps::processRecord() - $GPGGA,221157.00,3636.60231,N,12152.47467,W,1,11,0.8,-4.90,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221157.00,3636.60231,N,12152.47467,W,1,11,0.8,-4.90,M,-33.21,M,,*7F


: successfully parse sentence at 22:11:57

: AshtechGPS::processRecord -sample time is 1142287917
: Sonardyne - POSD response: 
POSD S110.0,N27.4,D-31,U3,Q0.009981

: Sonardyne - POSD response: 
POSD S110.0,N27.4,D-31,U3,Q0.009981

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,221158.00,3636.60197,N,12152.47535,W,1,11,0.8,-4.78,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221158.00,3636.60197,N,12152.47535,W,1,11,0.8,-4.78,M,-33.21,M,,*7F


: successfully parse sentence at 22:11:58

: AshtechGPS::processRecord -sample time is 1142287918
: Sonardyne - POS response: 
POS V4,1 R342.35

: Sonardyne - parsing R342.35

: Sonardyne - read R = 342.350000 from 342.35

: Sonardyne - got range only (342.350000), tat = 910
: Sonardyne - POSD response: 
POSD S113.5,N25.3,D-51,U5,Q0.013619

: Sonardyne - POSD response: 
POSD S113.5,N25.3,D-51,U5,Q0.013619

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

: AshtechGps::processRecord() - $GPGGA,221159.00,3636.60160,N,12152.47597,W,1,11,0.8,-4.76,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221159.00,3636.60160,N,12152.47597,W,1,11,0.8,-4.76,M,-33.21,M,,*70


: successfully parse sentence at 22:11:59

: AshtechGPS::processRecord -sample time is 1142287919
:  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 R340.75

: Sonardyne - parsing R340.75

: Sonardyne - read R = 340.750000 from 340.75

: Sonardyne - got range only (340.750000), tat = 910
: AshtechGps::processRecord() - $GPGGA,221200.00,3636.60134,N,12152.47668,W,1,11,0.8,-4.94,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221200.00,3636.60134,N,12152.47668,W,1,11,0.8,-4.94,M,-33.21,M,,*71


: successfully parse sentence at 22:12:0

: AshtechGPS::processRecord -sample time is 1142287920
: Sonardyne - POSD response: 
POSD S114.7,N30.9,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.7,N30.9,D-20,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,221201.00,3636.60101,N,12152.47741,W,1,11,0.8,-5.01,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221201.00,3636.60101,N,12152.47741,W,1,11,0.8,-5.01,M,-33.21,M,,*71


: successfully parse sentence at 22:12:1

: AshtechGPS::processRecord -sample time is 1142287921
: Sonardyne - POS response: 
POS V4,1 R339.51

: Sonardyne - parsing R339.51

: Sonardyne - read R = 339.510000 from 339.51

: Sonardyne - got range only (339.510000), tat = 910
: Sonardyne - POSD response: 
POSD S109.3,N23.8,D-46,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S109.3,N23.8,D-46,U1,Q0.013937

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

: AshtechGps::processRecord() - $GPGGA,221202.00,3636.60078,N,12152.47820,W,1,11,0.8,-5.14,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221202.00,3636.60078,N,12152.47820,W,1,11,0.8,-5.14,M,-33.21,M,,*71


: successfully parse sentence at 22:12:2

: AshtechGPS::processRecord -sample time is 1142287922
:  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 R339.51

: Sonardyne - parsing R339.51

: Sonardyne - read R = 339.510000 from 339.51

: Sonardyne - got range only (339.510000), tat = 900
: AshtechGps::processRecord() - $GPGGA,221203.00,3636.60058,N,12152.47898,W,1,11,0.8,-5.32,M,-33.21,M,,*75

: Sonardyne - POSD response: 
POSD S111.4,N18.7,D-36,U2,Q0.001677

: GpsUtils::parseFix() - $GPGGA,221203.00,3636.60058,N,12152.47898,W,1,11,0.8,-5.32,M,-33.21,M,,*75


: successfully parse sentence at 22:12:3

: AshtechGPS::processRecord -sample time is 1142287923
: Sonardyne - POSD response: 
POSD S111.4,N18.7,D-36,U2,Q0.001677

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

: AshtechGps::processRecord() - $GPGGA,221204.00,3636.60042,N,12152.47980,W,1,11,0.8,-5.20,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221204.00,3636.60042,N,12152.47980,W,1,11,0.8,-5.20,M,-33.21,M,,*72


: successfully parse sentence at 22:12:4

: AshtechGPS::processRecord -sample time is 1142287924
: Sonardyne - POS response: 
POS V4,1 R340.28

: Sonardyne - parsing R340.28

: Sonardyne - read R = 340.280000 from 340.28

: Sonardyne - got range only (340.280000), tat = 900
: Sonardyne - POSD response: 
POSD S115.6,N23.7,D8,U3,Q0.011750

: Sonardyne - POSD response: 
POSD S115.6,N23.7,D8,U3,Q0.011750

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

: AshtechGps::processRecord() - $GPGGA,221205.00,3636.60023,N,12152.48060,W,1,11,0.8,-5.03,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221205.00,3636.60023,N,12152.48060,W,1,11,0.8,-5.03,M,-33.21,M,,*7D


: successfully parse sentence at 22:12:5

: AshtechGPS::processRecord -sample time is 1142287925
:  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 R338.64

: Sonardyne - parsing R338.64

: Sonardyne - read R = 338.640000 from 338.64

: Sonardyne - got range only (338.640000), tat = 900
: Sonardyne - POSD response: 
POSD S107.0,N18.6,D-107,U3,Q0.007862

: AshtechGps::processRecord() - $GPGGA,221206.00,3636.59994,N,12152.48130,W,1,11,0.8,-5.04,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221206.00,3636.59994,N,12152.48130,W,1,11,0.8,-5.04,M,-33.21,M,,*72


: successfully parse sentence at 22:12:6

: AshtechGPS::processRecord -sample time is 1142287926
: Sonardyne - POSD response: 
POSD S107.0,N18.6,D-107,U3,Q0.007862

: BluefinBatt Reply: $aaq0 d- 31.15  8.25 16.89 3.89 3.91 0  -136.56 04:43:15 m

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

: AshtechGps::processRecord() - $GPGGA,221207.00,3636.59968,N,12152.48202,W,1,11,0.8,-5.00,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221207.00,3636.59968,N,12152.48202,W,1,11,0.8,-5.00,M,-33.21,M,,*76


: successfully parse sentence at 22:12:7

: AshtechGPS::processRecord -sample time is 1142287927
: Sonardyne - POS response: 
POS V4,1 R337.93

: Sonardyne - parsing R337.93

: Sonardyne - read R = 337.930000 from 337.93

: Sonardyne - got range only (337.930000), tat = 899
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S112.8,N25.3,D-57,U1,Q0.016633

: Sonardyne - POSD response: 
POSD S112.8,N25.3,D-57,U1,Q0.016633

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

: AshtechGps::processRecord() - $GPGGA,221208.00,3636.59940,N,12152.48270,W,1,11,0.8,-4.96,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,221208.00,3636.59940,N,12152.48270,W,1,11,0.8,-4.96,M,-33.21,M,,*78


: successfully parse sentence at 22:12:8

: AshtechGPS::processRecord -sample time is 1142287928
:  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 R337.42

: Sonardyne - parsing R337.42

: Sonardyne - read R = 337.420000 from 337.42

: Sonardyne - got range only (337.420000), tat = 900
: Sonardyne - POSD response: 
POSD S114.1,N27.4,D31,U4,Q0.015155

: AshtechGps::processRecord() - $GPGGA,221209.00,3636.59916,N,12152.48344,W,1,11,0.8,-4.97,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221209.00,3636.59916,N,12152.48344,W,1,11,0.8,-4.97,M,-33.21,M,,*7D


: successfully parse sentence at 22:12:9

: AshtechGPS::processRecord -sample time is 1142287929
: Sonardyne - POSD response: 
POSD S114.1,N27.4,D31,U4,Q0.015155

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

: AshtechGps::processRecord() - $GPGGA,221210.00,3636.59887,N,12152.48418,W,1,11,0.8,-4.87,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221210.00,3636.59887,N,12152.48418,W,1,11,0.8,-4.87,M,-33.21,M,,*73


: successfully parse sentence at 22:12:10

: AshtechGPS::processRecord -sample time is 1142287930
: Sonardyne - POS response: 
POS V4,1 R337.06,X251.45,Y224.46,Z0.00

: Sonardyne - parsing R337.06,X251.45,Y224.46,Z0.00

: Sonardyne - read R = 337.060000 from 337.06,X251.45,Y224.46,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=337.060000, x=0.000000, y=251.450000, z=-224.460000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221211.00,3636.59859,N,12152.48491,W,1,11,0.8,-4.83,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221211.00,3636.59859,N,12152.48491,W,1,11,0.8,-4.83,M,-33.21,M,,*74


: successfully parse sentence at 22:12:11

: AshtechGPS::processRecord -sample time is 1142287931
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221212.00,3636.59831,N,12152.48563,W,1,11,0.8,-4.98,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221212.00,3636.59831,N,12152.48563,W,1,11,0.8,-4.98,M,-33.21,M,,*7F


: successfully parse sentence at 22:12:12

: AshtechGPS::processRecord -sample time is 1142287932
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221213.00,3636.59810,N,12152.48636,W,1,11,0.8,-5.11,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221213.00,3636.59810,N,12152.48636,W,1,11,0.8,-5.11,M,-33.21,M,,*7E


: successfully parse sentence at 22:12:13

: AshtechGPS::processRecord -sample time is 1142287933
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,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,221214.00,3636.59793,N,12152.48718,W,1,11,0.8,-5.17,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221214.00,3636.59793,N,12152.48718,W,1,11,0.8,-5.17,M,-33.21,M,,*76


: successfully parse sentence at 22:12:14

: AshtechGPS::processRecord -sample time is 1142287934
:  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 R336.85

: Sonardyne - parsing R336.85

: Sonardyne - read R = 336.850000 from 336.85

: Sonardyne - got range only (336.850000), tat = 900
: Sonardyne - POSD response: 
POSD S110.6,N25.6,D-32,U2,Q0.004490

: AshtechGps::processRecord() - $GPGGA,221215.00,3636.59773,N,12152.48799,W,1,11,0.8,-5.02,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221215.00,3636.59773,N,12152.48799,W,1,11,0.8,-5.02,M,-33.21,M,,*74


: successfully parse sentence at 22:12:15

: AshtechGPS::processRecord -sample time is 1142287935
: Sonardyne - POSD response: 
POSD S110.6,N25.6,D-32,U2,Q0.004490

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

: AshtechGps::processRecord() - $GPGGA,221216.00,3636.59744,N,12152.48872,W,1,11,0.8,-4.92,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221216.00,3636.59744,N,12152.48872,W,1,11,0.8,-4.92,M,-33.21,M,,*71


: successfully parse sentence at 22:12:16

: AshtechGPS::processRecord -sample time is 1142287936
: Sonardyne - POS response: 
POS V4,1 R335.34

: Sonardyne - parsing R335.34

: Sonardyne - read R = 335.340000 from 335.34

: Sonardyne - got range only (335.340000), tat = 900
: BluefinBatt Reply: $aaq0 d- 31.12  9.06 16.89 3.88 3.91 0  -137.52 04:43:25 m

: Sonardyne - POSD response: 
POSD S114.7,N26.6,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.7,N26.6,D6,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,221217.00,3636.59720,N,12152.48945,W,1,11,0.8,-5.06,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,221217.00,3636.59720,N,12152.48945,W,1,11,0.8,-5.06,M,-33.21,M,,*7B


: successfully parse sentence at 22:12:17

: AshtechGPS::processRecord -sample time is 1142287937
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R334.51

: Sonardyne - parsing R334.51

: Sonardyne - read R = 334.510000 from 334.51

: Sonardyne - got range only (334.510000), tat = 900
: Sonardyne - POSD response: 
POSD S107.0,N17.6,D61,U3,Q0.006488

: AshtechGps::processRecord() - $GPGGA,221218.00,3636.59690,N,12152.49020,W,1,11,0.8,-5.04,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221218.00,3636.59690,N,12152.49020,W,1,11,0.8,-5.04,M,-33.21,M,,*77


: successfully parse sentence at 22:12:18

: AshtechGPS::processRecord -sample time is 1142287938
: Sonardyne - POSD response: 
POSD S107.0,N17.6,D61,U3,Q0.006488

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

: AshtechGps::processRecord() - $GPGGA,221219.00,3636.59678,N,12152.49102,W,1,11,0.8,-5.17,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221219.00,3636.59678,N,12152.49102,W,1,11,0.8,-5.17,M,-33.21,M,,*73


: successfully parse sentence at 22:12:19

: AshtechGPS::processRecord -sample time is 1142287939
: Sonardyne - POS response: 
POS V4,1 R334.30,X259.71,Y186.72,Z-97.17

: Sonardyne - parsing R334.30,X259.71,Y186.72,Z-97.17

: Sonardyne - read R = 334.300000 from 334.30,X259.71,Y186.72,Z-97.17

: Sonardyne - got all data, Vehicle coordinates,
    r=334.300000, x=97.170000, y=259.710000, z=-186.720000 tat = 920
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221220.00,3636.59651,N,12152.49174,W,1,11,0.8,-4.89,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221220.00,3636.59651,N,12152.49174,W,1,11,0.8,-4.89,M,-33.21,M,,*75


: successfully parse sentence at 22:12:20

: AshtechGPS::processRecord -sample time is 1142287940
: Sonardyne - POS response: 
POS V4,1 R333.93

: Sonardyne - parsing R333.93

: Sonardyne - read R = 333.930000 from 333.93

: Sonardyne - got range only (333.930000), tat = 900
: Sonardyne - POSD response: 
POSD S108.8,N18.6,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.8,N18.6,D-9,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,221221.00,3636.59620,N,12152.49243,W,1,11,0.8,-4.66,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,221221.00,3636.59620,N,12152.49243,W,1,11,0.8,-4.66,M,-33.21,M,,*74


: successfully parse sentence at 22:12:21

: AshtechGPS::processRecord -sample time is 1142287941
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R334.98

: Sonardyne - parsing R334.98

: Sonardyne - read R = 334.980000 from 334.98

: Sonardyne - got range only (334.980000), tat = 899
: Sonardyne - POSD response: 
POSD S111.5,N20.1,D-57,U1,Q0.002206

: AshtechGps::processRecord() - $GPGGA,221222.00,3636.59584,N,12152.49309,W,1,11,0.8,-4.66,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221222.00,3636.59584,N,12152.49309,W,1,11,0.8,-4.66,M,-33.21,M,,*75


: successfully parse sentence at 22:12:22

: AshtechGPS::processRecord -sample time is 1142287942
: Sonardyne - POSD response: 
POSD S111.5,N20.1,D-57,U1,Q0.002206

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

: AshtechGps::processRecord() - $GPGGA,221223.00,3636.59549,N,12152.49377,W,1,11,0.8,-4.92,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221223.00,3636.59549,N,12152.49377,W,1,11,0.8,-4.92,M,-33.21,M,,*77


: successfully parse sentence at 22:12:23

: AshtechGPS::processRecord -sample time is 1142287943
: Sonardyne - POS response: 
POS V4,1 R332.04,X257.10,Y210.12,Z0.00

: Sonardyne - parsing R332.04,X257.10,Y210.12,Z0.00

: Sonardyne - read R = 332.040000 from 332.04,X257.10,Y210.12,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=332.040000, x=0.000000, y=257.100000, z=-210.120000 tat = 920
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221224.00,3636.59532,N,12152.49461,W,1,11,0.8,-5.17,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221224.00,3636.59532,N,12152.49461,W,1,11,0.8,-5.17,M,-33.21,M,,*70


: successfully parse sentence at 22:12:24

: AshtechGPS::processRecord -sample time is 1142287944
: Sonardyne - POS response: 
POS V4,1 R332.33

: Sonardyne - parsing R332.33

: Sonardyne - read R = 332.330000 from 332.33

: Sonardyne - got range only (332.330000), tat = 890
: Sonardyne - POSD response: 
POSD S109.4,N24.3,D-63,U3,Q0.000165

: Sonardyne - POSD response: 
POSD S109.4,N24.3,D-63,U3,Q0.000165

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

: AshtechGps::processRecord() - $GPGGA,221225.00,3636.59518,N,12152.49544,W,1,11,0.8,-5.27,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221225.00,3636.59518,N,12152.49544,W,1,11,0.8,-5.27,M,-33.21,M,,*7C


: successfully parse sentence at 22:12:25

: AshtechGPS::processRecord -sample time is 1142287945
:  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 R332.63

: Sonardyne - parsing R332.63

: Sonardyne - read R = 332.630000 from 332.63

: Sonardyne - got range only (332.630000), tat = 900
: Sonardyne - POSD response: 
POSD S109.3,N27.3,D-31,U1,Q0.007459

: AshtechGps::processRecord() - $GPGGA,221226.00,3636.59503,N,12152.49627,W,1,11,0.8,-4.97,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221226.00,3636.59503,N,12152.49627,W,1,11,0.8,-4.97,M,-33.21,M,,*79


: successfully parse sentence at 22:12:26

: AshtechGPS::processRecord -sample time is 1142287946
: Sonardyne - POSD response: 
POSD S109.3,N27.3,D-31,U1,Q0.007459

: BluefinBatt Reply: $aaq0 d- 31.12  8.89 16.89 3.88 3.91 0  -138.13 04:43:35 m

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

: AshtechGps::processRecord() - $GPGGA,221227.00,3636.59478,N,12152.49701,W,1,11,0.8,-4.75,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221227.00,3636.59478,N,12152.49701,W,1,11,0.8,-4.75,M,-33.21,M,,*7C


: successfully parse sentence at 22:12:27

: AshtechGPS::processRecord -sample time is 1142287947
: Sonardyne - POS response: 
POS V4,1 R332.90

: Sonardyne - parsing R332.90

: Sonardyne - read R = 332.900000 from 332.90

: Sonardyne - got range only (332.900000), tat = 890
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POSD response: 
POSD S117.7,N32.3,D8,U3,Q0.011105

: Sonardyne - POSD response: 
POSD S117.7,N32.3,D8,U3,Q0.011105

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

: AshtechGps::processRecord() - $GPGGA,221228.00,3636.59455,N,12152.49772,W,1,11,0.8,-4.93,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221228.00,3636.59455,N,12152.49772,W,1,11,0.8,-4.93,M,-33.21,M,,*70


: successfully parse sentence at 22:12:28

: AshtechGPS::processRecord -sample time is 1142287948
:  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 R332.27

: Sonardyne - parsing R332.27

: Sonardyne - read R = 332.270000 from 332.27

: Sonardyne - got range only (332.270000), tat = 890
: Sonardyne - POSD response: 
POSD S108.7,N18.6,D18,U1,Q0.011843

: AshtechGps::processRecord() - $GPGGA,221229.00,3636.59432,N,12152.49845,W,1,12,0.7,-5.11,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221229.00,3636.59432,N,12152.49845,W,1,12,0.7,-5.11,M,-33.21,M,,*7C


: successfully parse sentence at 22:12:29

: AshtechGPS::processRecord -sample time is 1142287949
: Sonardyne - POSD response: 
POSD S108.7,N18.6,D18,U1,Q0.011843

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

: AshtechGps::processRecord() - $GPGGA,221230.00,3636.59420,N,12152.49928,W,1,11,0.8,-5.03,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221230.00,3636.59420,N,12152.49928,W,1,11,0.8,-5.03,M,-33.21,M,,*72


: successfully parse sentence at 22:12:30

: AshtechGPS::processRecord -sample time is 1142287950
: Sonardyne - POS response: 
POS V4,1 R332.30

: Sonardyne - parsing R332.30

: Sonardyne - read R = 332.300000 from 332.30

: Sonardyne - got range only (332.300000), tat = 890
: Sonardyne - POSD response: 
POSD S111.9,N30.0,D-8,U1,Q0.003195

: Sonardyne - POSD response: 
POSD S111.9,N30.0,D-8,U1,Q0.003195

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

: AshtechGps::processRecord() - $GPGGA,221231.00,3636.59395,N,12152.50005,W,1,11,0.8,-4.81,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,221231.00,3636.59395,N,12152.50005,W,1,11,0.8,-4.81,M,-33.21,M,,*7F


: successfully parse sentence at 22:12:31

: AshtechGPS::processRecord -sample time is 1142287951
:  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 R331.54

: Sonardyne - parsing R331.54

: Sonardyne - read R = 331.540000 from 331.54

: Sonardyne - got range only (331.540000), tat = 940
: AshtechGps::processRecord() - $GPGGA,221232.00,3636.59363,N,12152.50076,W,1,11,0.8,-4.69,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221232.00,3636.59363,N,12152.50076,W,1,11,0.8,-4.69,M,-33.21,M,,*77


: successfully parse sentence at 22:12:32

: AshtechGPS::processRecord -sample time is 1142287952
: Sonardyne - POSD response: 
POSD S111.0,N22.9,D27,U2,Q0.008160

: Sonardyne - POSD response: 
POSD S111.0,N22.9,D27,U2,Q0.008160

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

: AshtechGps::processRecord() - $GPGGA,221233.00,3636.59337,N,12152.50147,W,1,11,0.8,-4.71,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221233.00,3636.59337,N,12152.50147,W,1,11,0.8,-4.71,M,-33.21,M,,*7D


: successfully parse sentence at 22:12:33

: AshtechGPS::processRecord -sample time is 1142287953
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221234.00,3636.59299,N,12152.50212,W,1,11,0.8,-4.83,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221234.00,3636.59299,N,12152.50212,W,1,11,0.8,-4.83,M,-33.21,M,,*71


: successfully parse sentence at 22:12:34

: AshtechGPS::processRecord -sample time is 1142287954
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221235.00,3636.59276,N,12152.50288,W,1,11,0.8,-4.96,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,221235.00,3636.59276,N,12152.50288,W,1,11,0.8,-4.96,M,-33.21,M,,*76


: successfully parse sentence at 22:12:35

: AshtechGPS::processRecord -sample time is 1142287955
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221236.00,3636.59254,N,12152.50370,W,1,11,0.8,-5.10,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,221236.00,3636.59254,N,12152.50370,W,1,11,0.8,-5.10,M,-33.21,M,,*7C


: successfully parse sentence at 22:12:36

: AshtechGPS::processRecord -sample time is 1142287956
: BluefinBatt Reply: $aaq0 d- 31.12  9.19 16.89 3.88 3.91 0  -138.99 04:43:45 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 R333.90

: Sonardyne - parsing R333.90

: Sonardyne - read R = 333.900000 from 333.90

: Sonardyne - got range only (333.900000), tat = 899
: Sonardyne - POSD response: 
POSD S105.2,N14.5,D9,U1,Q0.006403

: AshtechGps::processRecord() - $GPGGA,221237.00,3636.59241,N,12152.50458,W,1,11,0.8,-5.14,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,221237.00,3636.59241,N,12152.50458,W,1,11,0.8,-5.14,M,-33.21,M,,*70


: successfully parse sentence at 22:12:37

: AshtechGPS::processRecord -sample time is 1142287957
: Sonardyne - POSD response: 
POSD S105.2,N14.5,D9,U1,Q0.006403

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,221238.00,3636.59220,N,12152.50537,W,1,11,0.8,-5.11,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221238.00,3636.59220,N,12152.50537,W,1,11,0.8,-5.11,M,-33.21,M,,*75


: successfully parse sentence at 22:12:38

: AshtechGPS::processRecord -sample time is 1142287958
: Sonardyne - POS response: 
POS V4,1 R333.29

: Sonardyne - parsing R333.29

: Sonardyne - read R = 333.290000 from 333.29

: Sonardyne - got range only (333.290000), tat = 900
: Sonardyne - POSD response: 
POSD S108.0,N19.9,D90,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.0,N19.9,D90,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,221239.00,3636.59210,N,12152.50621,W,1,11,0.8,-5.17,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221239.00,3636.59210,N,12152.50621,W,1,11,0.8,-5.17,M,-33.21,M,,*75


: successfully parse sentence at 22:12:39

: AshtechGPS::processRecord -sample time is 1142287959
:  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 R329.75

: Sonardyne - parsing R329.75

: Sonardyne - read R = 329.750000 from 329.75

: Sonardyne - got range only (329.750000), tat = 890
: Sonardyne - POSD response: 
POSD S110.8,N23.1,D-47,U3,Q0.008983

: AshtechGps::processRecord() - $GPGGA,221240.00,3636.59189,N,12152.50703,W,1,11,0.8,-5.10,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221240.00,3636.59189,N,12152.50703,W,1,11,0.8,-5.10,M,-33.21,M,,*7E


: successfully parse sentence at 22:12:40

: AshtechGPS::processRecord -sample time is 1142287960
: Sonardyne - POSD response: 
POSD S110.8,N23.1,D-47,U3,Q0.008983

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

: AshtechGps::processRecord() - $GPGGA,221241.00,3636.59167,N,12152.50782,W,1,11,0.8,-5.00,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,221241.00,3636.59167,N,12152.50782,W,1,11,0.8,-5.00,M,-33.21,M,,*77


: successfully parse sentence at 22:12:41

: AshtechGPS::processRecord -sample time is 1142287961
: Sonardyne - POS response: 
POS V4,1 R329.83,X251.62,Y178.71,Z-116.34

: Sonardyne - parsing R329.83,X251.62,Y178.71,Z-116.34

: Sonardyne - read R = 329.830000 from 329.83,X251.62,Y178.71,Z-116.34

: Sonardyne - got all data, Vehicle coordinates,
    r=329.830000, x=116.340000, y=251.620000, z=-178.710000 tat = 920
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221242.00,3636.59143,N,12152.50860,W,1,11,0.8,-4.97,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221242.00,3636.59143,N,12152.50860,W,1,11,0.8,-4.97,M,-33.21,M,,*7E


: successfully parse sentence at 22:12:42

: AshtechGPS::processRecord -sample time is 1142287962
: Sonardyne - POS response: 
POS V4,1 R329.72

: Sonardyne - parsing R329.72

: Sonardyne - read R = 329.720000 from 329.72

: Sonardyne - got range only (329.720000), tat = 890
: Sonardyne - POSD response: 
POSD S107.9,N24.4,D-39,U3,Q0.008754

: Sonardyne - POSD response: 
POSD S107.9,N24.4,D-39,U3,Q0.008754

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

: AshtechGps::processRecord() - $GPGGA,221243.00,3636.59117,N,12152.50937,W,1,11,0.8,-4.85,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221243.00,3636.59117,N,12152.50937,W,1,11,0.8,-4.85,M,-33.21,M,,*7E


: successfully parse sentence at 22:12:43

: AshtechGPS::processRecord -sample time is 1142287963
:  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 R329.36

: Sonardyne - parsing R329.36

: Sonardyne - read R = 329.360000 from 329.36

: Sonardyne - got range only (329.360000), tat = 890
: Sonardyne - POSD response: 
POSD S112.7,N23.6,D-81,U1,Q0.009706

: AshtechGps::processRecord() - $GPGGA,221244.00,3636.59093,N,12152.51007,W,1,11,0.8,-4.74,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,221244.00,3636.59093,N,12152.51007,W,1,11,0.8,-4.74,M,-33.21,M,,*71


: successfully parse sentence at 22:12:44

: AshtechGPS::processRecord -sample time is 1142287964
: Sonardyne - POSD response: 
POSD S112.7,N23.6,D-81,U1,Q0.009706

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

: AshtechGps::processRecord() - $GPGGA,221245.00,3636.59059,N,12152.51085,W,1,11,0.8,-4.76,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,221245.00,3636.59059,N,12152.51085,W,1,11,0.8,-4.76,M,-33.21,M,,*7E


: successfully parse sentence at 22:12:45

: AshtechGPS::processRecord -sample time is 1142287965
: Sonardyne - POS response: 
POS V4,1 R330.99

: Sonardyne - parsing R330.99

: Sonardyne - read R = 330.990000 from 330.99

: Sonardyne - got range only (330.990000), tat = 890
: Sonardyne - POSD response: 
POSD S103.6,N14.7,D-50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S103.6,N14.7,D-50,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,221246.00,3636.59033,N,12152.51161,W,1,11,0.8,-4.97,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,221246.00,3636.59033,N,12152.51161,W,1,11,0.8,-4.97,M,-33.21,M,,*75


: successfully parse sentence at 22:12:46

: AshtechGPS::processRecord -sample time is 1142287966
: BluefinBatt Reply: $aaq0 d- 31.12  9.77 16.89 3.88 3.91 0  -139.64 04:43:55 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 R328.42,X255.19,Y184.30,Z-93.63

: Sonardyne - parsing R328.42,X255.19,Y184.30,Z-93.63

: Sonardyne - read R = 328.420000 from 328.42,X255.19,Y184.30,Z-93.63

: Sonardyne - got all data, Vehicle coordinates,
    r=328.420000, x=93.630000, y=255.190000, z=-184.300000 tat = 920
: AshtechGps::processRecord() - $GPGGA,221247.00,3636.59016,N,12152.51241,W,1,11,0.8,-5.22,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221247.00,3636.59016,N,12152.51241,W,1,11,0.8,-5.22,M,-33.21,M,,*7D


: successfully parse sentence at 22:12:47

: AshtechGPS::processRecord -sample time is 1142287967
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R328.56

: Sonardyne - parsing R328.56

: Sonardyne - read R = 328.560000 from 328.56

: Sonardyne - got range only (328.560000), tat = 890
: Sonardyne - POSD response: 
POSD S114.2,N26.1,D52,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221248.00,3636.58994,N,12152.51320,W,1,11,0.8,-5.26,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,221248.00,3636.58994,N,12152.51320,W,1,11,0.8,-5.26,M,-33.21,M,,*72


: Sonardyne - POSD response: 
POSD S114.2,N26.1,D52,U0,Q0.000000

: successfully parse sentence at 22:12:48

: AshtechGPS::processRecord -sample time is 1142287968
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221249.00,3636.58978,N,12152.51406,W,1,11,0.8,-5.38,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,221249.00,3636.58978,N,12152.51406,W,1,11,0.8,-5.38,M,-33.21,M,,*7D


: successfully parse sentence at 22:12:49

: AshtechGPS::processRecord -sample time is 1142287969
: Sonardyne - POS response: 
POS V4,1 R327.68,X248.58,Y213.50,Z0.00

: Sonardyne - parsing R327.68,X248.58,Y213.50,Z0.00

: Sonardyne - read R = 327.680000 from 327.68,X248.58,Y213.50,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=327.680000, x=0.000000, y=248.580000, z=-213.500000 tat = 910
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221250.00,3636.58950,N,12152.51485,W,1,11,0.8,-5.35,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,221250.00,3636.58950,N,12152.51485,W,1,11,0.8,-5.35,M,-33.21,M,,*79


: successfully parse sentence at 22:12:50

: AshtechGPS::processRecord -sample time is 1142287970
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221251.00,3636.58800,N,12152.51525,W,1,07,1.6,-1.79,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,221251.00,3636.58800,N,12152.51525,W,1,07,1.6,-1.79,M,-33.21,M,,*73


: successfully parse sentence at 22:12:51

: AshtechGPS::processRecord -sample time is 1142287971
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221252.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221252.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221253.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221253.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,221254.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221254.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221255.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221255.00,,,,,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,221256.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221256.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.04 10.95 16.89 3.87 3.91 0  -140.52 04:44:05 m

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

: AshtechGps::processRecord() - $GPGGA,221257.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221257.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 129.201149) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 129.20                            (wplog)
  The current location (N,E) = 4052173.6      , 600582.8         (wplog)
  The next waypoint          = 4052114.0      , 600516.6         (wplog)
  The bearing to the next w.p. is 228.0 Degrees.

: LayeredControl::execute() -- (t = 129.201149) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R332.46

: Sonardyne - parsing R332.46

: Sonardyne - read R = 332.460000 from 332.46

: Sonardyne - got range only (332.460000), tat = 900
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POSD response: 
POSD S103.9,N18.1,D-51,U3,Q0.003100

: Sonardyne - POSD response: 
POSD S103.9,N18.1,D-51,U3,Q0.003100

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

: AshtechGps::processRecord() - $GPGGA,221258.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221258.00,,,,,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 R329.96

: Sonardyne - parsing R329.96

: Sonardyne - read R = 329.960000 from 329.96

: Sonardyne - got range only (329.960000), tat = 890
: AshtechGps::processRecord() - $GPGGA,221259.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221259.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S105.5,N14.6,D42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S105.5,N14.6,D42,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,221300.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221300.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R326.71

: Sonardyne - parsing R326.71

: Sonardyne - read R = 326.710000 from 326.71

: Sonardyne - got range only (326.710000), tat = 890
: Sonardyne - POSD response: 
POSD S112.9,N18.6,D-62,U4,Q0.006658

: Sonardyne - POSD response: 
POSD S112.9,N18.6,D-62,U4,Q0.006658

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

: AshtechGps::processRecord() - $GPGGA,221301.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221301.00,,,,,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 R325.21

: Sonardyne - parsing R325.21

: Sonardyne - read R = 325.210000 from 325.21

: Sonardyne - got range only (325.210000), tat = 890
: AshtechGps::processRecord() - $GPGGA,221302.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221302.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.2,N26.7,D-35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.2,N26.7,D-35,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,221303.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221303.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,221304.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221304.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,221305.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221305.00,,,,,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,N12.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.4,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,221306.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221306.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.53 16.89 3.87 3.91 0  -141.24 04:44:15 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 R321.36

: Sonardyne - parsing R321.36

: Sonardyne - read R = 321.360000 from 321.36

: Sonardyne - got range only (321.360000), tat = 880
: AshtechGps::processRecord() - $GPGGA,221307.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221307.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.0,N21.3,D-120,U2,Q0.009027

: Sonardyne - POSD response: 
POSD S118.0,N21.3,D-120,U2,Q0.009027

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221308.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221308.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.95,X-277.50,Y85.21,Z-134.54

: Sonardyne - parsing R319.95,X-277.50,Y85.21,Z-134.54

: Sonardyne - read R = 319.950000 from 319.95,X-277.50,Y85.21,Z-134.54

: Sonardyne - got all data, Vehicle coordinates,
    r=319.950000, x=134.540000, y=-277.500000, z=-85.210000 tat = 910
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221309.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221309.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.23,X-272.78,Y104.98,Z-128.35

: Sonardyne - parsing R319.23,X-272.78,Y104.98,Z-128.35

: Sonardyne - read R = 319.230000 from 319.23,X-272.78,Y104.98,Z-128.35

: Sonardyne - got all data, Vehicle coordinates,
    r=319.230000, x=128.350000, y=-272.780000, z=-104.980000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221310.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221310.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.51

: Sonardyne - parsing R318.51

: Sonardyne - read R = 318.510000 from 318.51

: Sonardyne - got range only (318.510000), tat = 880
: Sonardyne - POSD response: 
POSD S128.3,N31.1,D9,U3,Q0.004757

: Sonardyne - POSD response: 
POSD S128.3,N31.1,D9,U3,Q0.004757

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

: AshtechGps::processRecord() - $GPGGA,221311.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221311.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R323.32

: Sonardyne - parsing R323.32

: Sonardyne - read R = 323.320000 from 323.32

: Sonardyne - got range only (323.320000), tat = 880
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221312.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221312.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S107.9,N25.7,D-50,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S107.9,N25.7,D-50,U1,Q0.008222

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

: AshtechGps::processRecord() - $GPGGA,221313.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221313.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R317.13

: Sonardyne - parsing R317.13

: Sonardyne - read R = 317.130000 from 317.13

: Sonardyne - got range only (317.130000), tat = 870
: Sonardyne - POSD response: 
POSD S122.6,N22.5,D-103,U1,Q0.007972

: Sonardyne - POSD response: 
POSD S122.6,N22.5,D-103,U1,Q0.007972

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

: AshtechGps::processRecord() - $GPGGA,221314.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221314.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R316.02,X-274.01,Y86.97,Z-131.23

: Sonardyne - parsing R316.02,X-274.01,Y86.97,Z-131.23

: Sonardyne - read R = 316.020000 from 316.02,X-274.01,Y86.97,Z-131.23

: Sonardyne - got all data, Vehicle coordinates,
    r=316.020000, x=131.230000, y=-274.010000, z=-86.970000 tat = 900
: AshtechGps::processRecord() - $GPGGA,221315.00,,,,,0,00,,,M,,M,,*4E

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

: GpsUtils::parseFix() - $GPGGA,221315.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R315.37,X-275.69,Y76.86,Z-132.46

: Sonardyne - parsing R315.37,X-275.69,Y76.86,Z-132.46

: Sonardyne - read R = 315.370000 from 315.37,X-275.69,Y76.86,Z-132.46

: Sonardyne - got all data, Vehicle coordinates,
    r=315.370000, x=132.460000, y=-275.690000, z=-76.860000 tat = 900
: AshtechGps::processRecord() - $GPGGA,221316.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221316.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 31.08  8.72 16.89 3.87 3.91 0  -142.22 04:44:25 m

: Sonardyne - POS response: 
POS V4,1 R314.58,X-281.45,Y45.09,Z-133.09

: Sonardyne - parsing R314.58,X-281.45,Y45.09,Z-133.09

: Sonardyne - read R = 314.580000 from 314.58,X-281.45,Y45.09,Z-133.09

: Sonardyne - got all data, Vehicle coordinates,
    r=314.580000, x=133.090000, y=-281.450000, z=-45.090000 tat = 900
: AshtechGps::processRecord() - $GPGGA,221317.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221317.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221318.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221318.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,221319.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221319.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221320.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221320.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221321.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221321.00,,,,,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 R311.32

: Sonardyne - parsing R311.32

: Sonardyne - read R = 311.320000 from 311.32

: Sonardyne - got range only (311.320000), tat = 870
: Sonardyne - POSD response: 
POSD S119.8,N27.4,D0,U4,Q0.012192

: Sonardyne - POSD response: 
POSD S119.8,N27.4,D0,U4,Q0.012192

: AshtechGps::processRecord() - $GPGGA,221322.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221322.00,,,,,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 R311.90

: Sonardyne - parsing R311.90

: Sonardyne - read R = 311.900000 from 311.90

: Sonardyne - got range only (311.900000), tat = 870
: Sonardyne - POSD response: 
POSD S115.2,N23.5,D66,U1,Q0.000244

: Sonardyne - POSD response: 
POSD S115.2,N23.5,D66,U1,Q0.000244

: AshtechGps::processRecord() - $GPGGA,221323.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221323.00,,,,,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 R310.14,X-275.04,Y50.02,Z-134.31

: Sonardyne - parsing R310.14,X-275.04,Y50.02,Z-134.31

: Sonardyne - read R = 310.140000 from 310.14,X-275.04,Y50.02,Z-134.31

: Sonardyne - got all data, Vehicle coordinates,
    r=310.140000, x=134.310000, y=-275.040000, z=-50.020000 tat = 940
: AshtechGps::processRecord() - $GPGGA,221324.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221324.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R309.33

: Sonardyne - parsing R309.33

: Sonardyne - read R = 309.330000 from 309.33

: Sonardyne - got range only (309.330000), tat = 860
: Sonardyne - POSD response: 
POSD S120.9,N27.2,D-3,U2,Q0.008735

: Sonardyne - POSD response: 
POSD S120.9,N27.2,D-3,U2,Q0.008735

: AshtechGps::processRecord() - $GPGGA,221325.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221325.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R308.82

: Sonardyne - parsing R308.82

: Sonardyne - read R = 308.820000 from 308.82

: Sonardyne - got range only (308.820000), tat = 860
: Sonardyne - POSD response: 
POSD S118.3,N29.1,D14,U2,Q0.008305

: Sonardyne - POSD response: 
POSD S118.3,N29.1,D14,U2,Q0.008305

: AshtechGps::processRecord() - $GPGGA,221326.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221326.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R308.25

: Sonardyne - parsing R308.25

: Sonardyne - read R = 308.250000 from 308.25

: Sonardyne - got range only (308.250000), tat = 860
: Sonardyne - POSD response: 
POSD S123.4,N34.3,D3,U5,Q0.011077

: BluefinBatt Reply: $aaq0 d- 31.08  9.30 16.89 3.87 3.91 0  -142.85 04:44:35 m

: Sonardyne - POSD response: 
POSD S123.4,N34.3,D3,U5,Q0.011077

: AshtechGps::processRecord() - $GPGGA,221327.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221327.00,,,,,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 R307.42

: Sonardyne - parsing R307.42

: Sonardyne - read R = 307.420000 from 307.42

: Sonardyne - got range only (307.420000), tat = 860
: Sonardyne - POSD response: 
POSD S123.9,N28.8,D-42,U0,Q0.000000

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POSD response: 
POSD S123.9,N28.8,D-42,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221328.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221328.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R306.67

: Sonardyne - parsing R306.67

: Sonardyne - read R = 306.670000 from 306.67

: Sonardyne - got range only (306.670000), tat = 860
: Sonardyne - POSD response: 
POSD S120.6,N21.8,D-45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.6,N21.8,D-45,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221329.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221329.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R305.78

: Sonardyne - parsing R305.78

: Sonardyne - read R = 305.780000 from 305.78

: Sonardyne - got range only (305.780000), tat = 860
: Sonardyne - POSD response: 
POSD S113.7,N21.9,D-99,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.7,N21.9,D-99,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221330.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221330.00,,,,,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 R305.24

: Sonardyne - parsing R305.24

: Sonardyne - read R = 305.240000 from 305.24

: Sonardyne - got range only (305.240000), tat = 860
: Sonardyne - POSD response: 
POSD S117.8,N30.2,D8,U1,Q0.007972

: Sonardyne - POSD response: 
POSD S117.8,N30.2,D8,U1,Q0.007972

: AshtechGps::processRecord() - $GPGGA,221331.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221331.00,,,,,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 R304.73

: Sonardyne - parsing R304.73

: Sonardyne - read R = 304.730000 from 304.73

: Sonardyne - got range only (304.730000), tat = 860
: Sonardyne - POSD response: 
POSD S118.0,N28.6,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.0,N28.6,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221332.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221332.00,,,,,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 R304.39

: Sonardyne - parsing R304.39

: Sonardyne - read R = 304.390000 from 304.39

: Sonardyne - got range only (304.390000), tat = 860
: Sonardyne - POSD response: 
POSD S122.1,N22.0,D105,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.1,N22.0,D105,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221333.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221333.00,,,,,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 R303.89

: Sonardyne - parsing R303.89

: Sonardyne - read R = 303.890000 from 303.89

: Sonardyne - got range only (303.890000), tat = 860
: Sonardyne - POSD response: 
POSD S117.1,N24.0,D-31,U3,Q0.016199

: Sonardyne - POSD response: 
POSD S117.1,N24.0,D-31,U3,Q0.016199

: AshtechGps::processRecord() - $GPGGA,221334.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221334.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R303.41

: Sonardyne - parsing R303.41

: Sonardyne - read R = 303.410000 from 303.41

: Sonardyne - got range only (303.410000), tat = 900
: Sonardyne - POSD response: 
POSD S121.7,N28.1,D-43,U5,Q0.011686

: Sonardyne - POSD response: 
POSD S121.7,N28.1,D-43,U5,Q0.011686

: AshtechGps::processRecord() - $GPGGA,221335.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221335.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R302.40

: Sonardyne - parsing R302.40

: Sonardyne - read R = 302.400000 from 302.40

: Sonardyne - got range only (302.400000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221336.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221336.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - POSD response: 
POSD S120.1,N24.5,D50,U4,Q0.012864

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S120.1,N24.5,D50,U4,Q0.012864

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

: BluefinBatt Reply: $aaq0 d- 31.08  8.45 16.89 3.88 3.91 0  -143.81 04:44:45 m

: Sonardyne - POS response: 
POS V4,1 R301.58,X227.62,Y197.85,Z0.00

: Sonardyne - parsing R301.58,X227.62,Y197.85,Z0.00

: Sonardyne - read R = 301.580000 from 301.58,X227.62,Y197.85,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=301.580000, x=0.000000, y=227.620000, z=-197.850000 tat = 880
: AshtechGps::processRecord() - $GPGGA,221337.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221337.00,,,,,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

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POS response: 
POS V4,1 R300.85,X224.86,Y199.86,Z0.00

: Sonardyne - parsing R300.85,X224.86,Y199.86,Z0.00

: Sonardyne - read R = 300.850000 from 300.85,X224.86,Y199.86,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=300.850000, x=0.000000, y=224.860000, z=-199.860000 tat = 880
: AshtechGps::processRecord() - $GPGGA,221338.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221338.00,,,,,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 R300.22

: Sonardyne - parsing R300.22

: Sonardyne - read R = 300.220000 from 300.22

: Sonardyne - got range only (300.220000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221339.00,,,,,0,00,,,M,,M,,*40

: Sonardyne - POSD response: 
POSD S108.0,N20.8,D-15,U5,Q0.009001

: GpsUtils::parseFix() - $GPGGA,221339.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.0,N20.8,D-15,U5,Q0.009001

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

: Sonardyne - POS response: 
POS V4,1 R300.48

: Sonardyne - parsing R300.48

: Sonardyne - read R = 300.480000 from 300.48

: Sonardyne - got range only (300.480000), tat = 850
: Sonardyne - POSD response: 
POSD S108.7,N17.1,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221340.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221340.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S108.7,N17.1,D17,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R304.44

: Sonardyne - parsing R304.44

: Sonardyne - read R = 304.440000 from 304.44

: Sonardyne - got range only (304.440000), tat = 860
: AshtechGps::processRecord() - $GPGGA,221341.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221341.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.6,N17.5,D113,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.6,N17.5,D113,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R300.05

: Sonardyne - parsing R300.05

: Sonardyne - read R = 300.050000 from 300.05

: Sonardyne - got range only (300.050000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221342.00,,,,,0,00,,,M,,M,,*4C

: Sonardyne - POSD response: 
POSD S114.0,N20.8,D-111,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,221342.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S114.0,N20.8,D-111,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 R299.09

: Sonardyne - parsing R299.09

: Sonardyne - read R = 299.090000 from 299.09

: Sonardyne - got range only (299.090000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221343.00,,,,,0,00,,,M,,M,,*4D

: Sonardyne - POSD response: 
POSD S118.6,N25.9,D-42,U2,Q0.013847

: GpsUtils::parseFix() - $GPGGA,221343.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.6,N25.9,D-42,U2,Q0.013847

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

: Sonardyne - POS response: 
POS V4,1 R298.85

: Sonardyne - parsing R298.85

: Sonardyne - read R = 298.850000 from 298.85

: Sonardyne - got range only (298.850000), tat = 850
: Sonardyne - POSD response: 
POSD S118.0,N21.6,D-70,U4,Q0.011673

: AshtechGps::processRecord() - $GPGGA,221344.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221344.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.0,N21.6,D-70,U4,Q0.011673

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

: Sonardyne - POS response: 
POS V4,1 R298.24

: Sonardyne - parsing R298.24

: Sonardyne - read R = 298.240000 from 298.24

: Sonardyne - got range only (298.240000), tat = 850
: Sonardyne - POSD response: 
POSD S116.3,N21.7,D13,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,221345.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221345.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.3,N21.7,D13,U1,Q0.016633

:  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 R299.23

: Sonardyne - parsing R299.23

: Sonardyne - read R = 299.230000 from 299.23

: Sonardyne - got range only (299.230000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221346.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221346.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.9,N18.8,D-105,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.9,N18.8,D-105,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.12  8.82 16.89 3.88 3.91 0  -144.42 04:44:55 m

: Sonardyne - POS response: 
POS V4,1 R297.19

: Sonardyne - parsing R297.19

: Sonardyne - read R = 297.190000 from 297.19

: Sonardyne - got range only (297.190000), tat = 850
: Sonardyne - POSD response: 
POSD S113.2,N23.4,D23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221347.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221347.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S113.2,N23.4,D23,U0,Q0.000000

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

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: 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 = 850
: Sonardyne - POSD response: 
POSD S111.0,N22.0,D61,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221348.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221348.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S111.0,N22.0,D61,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R296.38

: Sonardyne - parsing R296.38

: Sonardyne - read R = 296.380000 from 296.38

: Sonardyne - got range only (296.380000), tat = 850
: AshtechGps::processRecord() - $GPGGA,221349.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221349.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.7,N24.8,D-84,U5,Q0.013829

: Sonardyne - POSD response: 
POSD S116.7,N24.8,D-84,U5,Q0.013829

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

: AshtechGps::processRecord() - $GPGGA,221350.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221350.00,,,,,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,221351.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221351.00,,,,,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,221352.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221352.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221353.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221353.00,,,,,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 R295.83

: Sonardyne - parsing R295.83

: Sonardyne - read R = 295.830000 from 295.83

: Sonardyne - got range only (295.830000), tat = 840
: Sonardyne - POSD response: 
POSD S117.6,N21.1,D-124,U5,Q0.006072

: Sonardyne - POSD response: 
POSD S117.6,N21.1,D-124,U5,Q0.006072

:  Waypoint has set the state to finished.

: Waypoint (4052114.0, 600516.6), 
  reached at t = 185.80                                          (wplog)

: Vehicle Position is error is (-0.5, 0.8)

: LayeredControl::execute() -- (t = 185.797272) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 185.80                            (wplog)
  The current location (N,E) = 4052114.5      , 600515.7         (wplog)
  The next waypoint          = 4052024.7      , 600561.5         (wplog)
  The bearing to the next w.p. is 153.0 Degrees.

: LayeredControl::execute() -- (t = 185.807271) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,221354.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221354.00,,,,,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 R294.52

: Sonardyne - parsing R294.52

: Sonardyne - read R = 294.520000 from 294.52

: Sonardyne - got range only (294.520000), tat = 840
: Sonardyne - POSD response: 
POSD S108.3,N15.5,D-123,U3,Q0.008891

: Sonardyne - POSD response: 
POSD S108.3,N15.5,D-123,U3,Q0.008891

: AshtechGps::processRecord() - $GPGGA,221355.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221355.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R296.84

: Sonardyne - parsing R296.84

: Sonardyne - read R = 296.840000 from 296.84

: Sonardyne - got range only (296.840000), tat = 850
: Sonardyne - POSD response: 
POSD S108.6,N18.3,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.6,N18.3,D33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221356.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221356.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R294.10,X-258.43,Y87.31,Z-109.94

: Sonardyne - parsing R294.10,X-258.43,Y87.31,Z-109.94

: Sonardyne - read R = 294.100000 from 294.10,X-258.43,Y87.31,Z-109.94

: Sonardyne - got all data, Vehicle coordinates,
    r=294.100000, x=109.940000, y=-258.430000, z=-87.310000 tat = 870
: BluefinBatt Reply: $aaq0 d- 31.08  8.69 16.99 3.88 3.91 0  -145.30 04:45:05 m

: AshtechGps::processRecord() - $GPGGA,221357.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221357.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,221358.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221358.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,221359.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221359.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,221400.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221400.00,,,,,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 R289.87,X-131.71,Y43.92,Z-254.45

: Sonardyne - parsing R289.87,X-131.71,Y43.92,Z-254.45

: Sonardyne - read R = 289.870000 from 289.87,X-131.71,Y43.92,Z-254.45

: Sonardyne - got all data, Vehicle coordinates,
    r=289.870000, x=254.450000, y=-131.710000, z=-43.920000 tat = 860
: AshtechGps::processRecord() - $GPGGA,221401.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221401.00,,,,,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,221402.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221402.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,221403.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221403.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,221404.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221404.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221405.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221405.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R283.70,X106.03,Y-14.90,Z-262.72

: Sonardyne - parsing R283.70,X106.03,Y-14.90,Z-262.72

: Sonardyne - read R = 283.700000 from 283.70,X106.03,Y-14.90,Z-262.72

: Sonardyne - got all data, Vehicle coordinates,
    r=283.700000, x=262.720000, y=106.030000, z=14.900000 tat = 860
: AshtechGps::processRecord() - $GPGGA,221406.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221406.00,,,,,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 R282.87,X139.30,Y-13.08,Z-245.85

: Sonardyne - parsing R282.87,X139.30,Y-13.08,Z-245.85

: Sonardyne - read R = 282.870000 from 282.87,X139.30,Y-13.08,Z-245.85

: Sonardyne - got all data, Vehicle coordinates,
    r=282.870000, x=245.850000, y=139.300000, z=13.080000 tat = 850
: BluefinBatt Reply: $aaq0 d- 31.08  8.96 16.89 3.88 3.91 0  -145.83 04:45:15 m

: AshtechGps::processRecord() - $GPGGA,221407.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221407.00,,,,,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 R281.75

: Sonardyne - parsing R281.75

: Sonardyne - read R = 281.750000 from 281.75

: Sonardyne - got range only (281.750000), tat = 830
: Sonardyne - POSD response: 
POSD S137.1,N27.9,D-54,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N27.9,D-54,U0,Q0.000000

: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,221408.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221408.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R280.51

: Sonardyne - parsing R280.51

: Sonardyne - read R = 280.510000 from 280.51

: Sonardyne - got range only (280.510000), tat = 830
: Sonardyne - POSD response: 
POSD S128.6,N29.8,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.6,N29.8,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221409.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221409.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R279.51

: Sonardyne - parsing R279.51

: Sonardyne - read R = 279.510000 from 279.51

: Sonardyne - got range only (279.510000), tat = 820
: Sonardyne - POSD response: 
POSD S133.1,N32.6,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.1,N32.6,D-25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221410.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221410.00,,,,,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 R278.55

: Sonardyne - parsing R278.55

: Sonardyne - read R = 278.550000 from 278.55

: Sonardyne - got range only (278.550000), tat = 820
: Sonardyne - POSD response: 
POSD S132.6,N23.8,D86,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.6,N23.8,D86,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221411.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221411.00,,,,,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 R277.61

: Sonardyne - parsing R277.61

: Sonardyne - read R = 277.610000 from 277.61

: Sonardyne - got range only (277.610000), tat = 820
: Sonardyne - POSD response: 
POSD S132.1,N30.0,D-39,U2,Q0.014719

: Sonardyne - POSD response: 
POSD S132.1,N30.0,D-39,U2,Q0.014719

: AshtechGps::processRecord() - $GPGGA,221412.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221412.00,,,,,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,221413.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221413.00,,,,,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,221414.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221414.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,221415.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221415.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R273.24,X140.84,Y17.45,Z-233.49

: Sonardyne - parsing R273.24,X140.84,Y17.45,Z-233.49

: Sonardyne - read R = 273.240000 from 273.24,X140.84,Y17.45,Z-233.49

: Sonardyne - got all data, Vehicle coordinates,
    r=273.240000, x=233.490000, y=140.840000, z=-17.450000 tat = 840
: AshtechGps::processRecord() - $GPGGA,221416.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221416.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.08  9.33 16.89 3.87 3.90 0  -146.91 04:45:25 m

: Sonardyne - POS response: 
POS V4,1 R271.90,X132.73,Y13.45,Z-236.92

: Sonardyne - parsing R271.90,X132.73,Y13.45,Z-236.92

: Sonardyne - read R = 271.900000 from 271.90,X132.73,Y13.45,Z-236.92

: Sonardyne - got all data, Vehicle coordinates,
    r=271.900000, x=236.920000, y=132.730000, z=-13.450000 tat = 840
: AshtechGps::processRecord() - $GPGGA,221417.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221417.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R270.63

: Sonardyne - parsing R270.63

: Sonardyne - read R = 270.630000 from 270.63

: Sonardyne - got range only (270.630000), tat = 810
: Sonardyne - POSD response: 
POSD S131.3,N24.1,D-26,U2,Q0.004117

: AshtechGps::processRecord() - $GPGGA,221418.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221418.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.3,N24.1,D-26,U2,Q0.004117

:  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 R268.26,X119.84,Y23.87,Z-238.82

: Sonardyne - parsing R268.26,X119.84,Y23.87,Z-238.82

: Sonardyne - read R = 268.260000 from 268.26,X119.84,Y23.87,Z-238.82

: Sonardyne - got all data, Vehicle coordinates,
    r=268.260000, x=238.820000, y=119.840000, z=-23.870000 tat = 829
: AshtechGps::processRecord() - $GPGGA,221419.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221419.00,,,,,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 R266.88,X112.64,Y17.41,Z-241.32

: Sonardyne - parsing R266.88,X112.64,Y17.41,Z-241.32

: Sonardyne - read R = 266.880000 from 266.88,X112.64,Y17.41,Z-241.32

: Sonardyne - got all data, Vehicle coordinates,
    r=266.880000, x=241.320000, y=112.640000, z=-17.410000 tat = 830
: AshtechGps::processRecord() - $GPGGA,221420.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221420.00,,,,,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,221421.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221421.00,,,,,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,221422.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221422.00,,,,,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,221423.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221423.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221424.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221424.00,,,,,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 R260.91,X85.89,Y13.89,Z-245.98

: Sonardyne - parsing R260.91,X85.89,Y13.89,Z-245.98

: Sonardyne - read R = 260.910000 from 260.91,X85.89,Y13.89,Z-245.98

: Sonardyne - got all data, Vehicle coordinates,
    r=260.910000, x=245.980000, y=85.890000, z=-13.890000 tat = 820
: AshtechGps::processRecord() - $GPGGA,221425.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221425.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R259.49,X80.96,Y11.69,Z-246.26

: Sonardyne - parsing R259.49,X80.96,Y11.69,Z-246.26

: Sonardyne - read R = 259.490000 from 259.49,X80.96,Y11.69,Z-246.26

: Sonardyne - got all data, Vehicle coordinates,
    r=259.490000, x=246.260000, y=80.960000, z=-11.690000 tat = 820
: AshtechGps::processRecord() - $GPGGA,221426.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221426.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R258.18,X77.77,Y9.26,Z-246.01

: Sonardyne - parsing R258.18,X77.77,Y9.26,Z-246.01

: Sonardyne - read R = 258.180000 from 258.18,X77.77,Y9.26,Z-246.01

: Sonardyne - got all data, Vehicle coordinates,
    r=258.180000, x=246.010000, y=77.770000, z=-9.260000 tat = 820
: BluefinBatt Reply: $aaq0 d- 31.08  8.99 16.89 3.87 3.90 0  -147.54 04:45:35 m

: AshtechGps::processRecord() - $GPGGA,221427.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221427.00,,,,,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 R256.85,X74.36,Y0.04,Z-245.86

: Sonardyne - parsing R256.85,X74.36,Y0.04,Z-245.86

: Sonardyne - read R = 256.850000 from 256.85,X74.36,Y0.04,Z-245.86

: Sonardyne - got all data, Vehicle coordinates,
    r=256.850000, x=245.860000, y=74.360000, z=-0.040000 tat = 820
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221428.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221428.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R255.38,X72.79,Y5.62,Z-244.72

: Sonardyne - parsing R255.38,X72.79,Y5.62,Z-244.72

: Sonardyne - read R = 255.380000 from 255.38,X72.79,Y5.62,Z-244.72

: Sonardyne - got all data, Vehicle coordinates,
    r=255.380000, x=244.720000, y=72.790000, z=-5.620000 tat = 810
: AshtechGps::processRecord() - $GPGGA,221429.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221429.00,,,,,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 R253.55,X67.87,Y5.00,Z-244.25

: Sonardyne - parsing R253.55,X67.87,Y5.00,Z-244.25

: Sonardyne - read R = 253.550000 from 253.55,X67.87,Y5.00,Z-244.25

: Sonardyne - got all data, Vehicle coordinates,
    r=253.550000, x=244.250000, y=67.870000, z=-5.000000 tat = 810
: AshtechGps::processRecord() - $GPGGA,221430.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221430.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R252.21

: Sonardyne - parsing R252.21

: Sonardyne - read R = 252.210000 from 252.21

: Sonardyne - got range only (252.210000), tat = 790
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S137.4,N33.1,D12,U4,Q0.004083

: Sonardyne - POSD response: 
POSD S137.4,N33.1,D12,U4,Q0.004083

: AshtechGps::processRecord() - $GPGGA,221431.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221431.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R253.35

: Sonardyne - parsing R253.35

: Sonardyne - read R = 253.350000 from 253.35

: Sonardyne - got range only (253.350000), tat = 790
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.0,N32.2,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.0,N32.2,D8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221432.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221432.00,,,,,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 R248.81,X56.61,Y7.21,Z-242.18

: Sonardyne - parsing R248.81,X56.61,Y7.21,Z-242.18

: Sonardyne - read R = 248.810000 from 248.81,X56.61,Y7.21,Z-242.18

: Sonardyne - got all data, Vehicle coordinates,
    r=248.810000, x=242.180000, y=56.610000, z=-7.210000 tat = 810
: AshtechGps::processRecord() - $GPGGA,221433.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221433.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.07,X56.74,Y19.62,Z-239.66

: Sonardyne - parsing R247.07,X56.74,Y19.62,Z-239.66

: Sonardyne - read R = 247.070000 from 247.07,X56.74,Y19.62,Z-239.66

: Sonardyne - got all data, Vehicle coordinates,
    r=247.070000, x=239.660000, y=56.740000, z=-19.620000 tat = 799
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221434.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221434.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.71

: Sonardyne - parsing R248.71

: Sonardyne - read R = 248.710000 from 248.71

: Sonardyne - got range only (248.710000), tat = 780
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S124.8,N23.4,D-83,U2,Q0.012782

: Sonardyne - POSD response: 
POSD S124.8,N23.4,D-83,U2,Q0.012782

: AshtechGps::processRecord() - $GPGGA,221435.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221435.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.04,X54.14,Y11.03,Z-237.71

: Sonardyne - parsing R244.04,X54.14,Y11.03,Z-237.71

: Sonardyne - read R = 244.040000 from 244.04,X54.14,Y11.03,Z-237.71

: Sonardyne - got all data, Vehicle coordinates,
    r=244.040000, x=237.710000, y=54.140000, z=-11.030000 tat = 800
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221436.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221436.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.29,X52.31,Y14.74,Z-236.11

: Sonardyne - parsing R242.29,X52.31,Y14.74,Z-236.11

: Sonardyne - read R = 242.290000 from 242.29,X52.31,Y14.74,Z-236.11

: Sonardyne - got all data, Vehicle coordinates,
    r=242.290000, x=236.110000, y=52.310000, z=-14.740000 tat = 800
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.08  8.72 16.89 3.87 3.90 0  -148.49 04:45:45 m

: AshtechGps::processRecord() - $GPGGA,221437.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221437.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.96

: Sonardyne - parsing R245.96

: Sonardyne - read R = 245.960000 from 245.96

: Sonardyne - got range only (245.960000), tat = 780
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S125.5,N25.3,D-21,U2,Q0.012710

: Sonardyne - POSD response: 
POSD S125.5,N25.3,D-21,U2,Q0.012710

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221438.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221438.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.67,X61.73,Y54.43,Z-225.10

: Sonardyne - parsing R239.67,X61.73,Y54.43,Z-225.10

: Sonardyne - read R = 239.670000 from 239.67,X61.73,Y54.43,Z-225.10

: Sonardyne - got all data, Vehicle coordinates,
    r=239.670000, x=225.100000, y=61.730000, z=-54.430000 tat = 790
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221439.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221439.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.38

: Sonardyne - parsing R238.38

: Sonardyne - read R = 238.380000 from 238.38

: Sonardyne - got range only (238.380000), tat = 770
: Sonardyne - POSD response: 
POSD S136.3,N22.5,D-46,U1,Q0.014513

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

: Sonardyne - POSD response: 
POSD S136.3,N22.5,D-46,U1,Q0.014513

: AshtechGps::processRecord() - $GPGGA,221440.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221440.00,,,,,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,221441.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221441.00,,,,,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,221442.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221442.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221443.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221443.00,,,,,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 R231.52,X48.26,Y6.85,Z-226.33

: Sonardyne - parsing R231.52,X48.26,Y6.85,Z-226.33

: Sonardyne - read R = 231.520000 from 231.52,X48.26,Y6.85,Z-226.33

: Sonardyne - got all data, Vehicle coordinates,
    r=231.520000, x=226.330000, y=48.260000, z=-6.850000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221444.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221444.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R229.58,X48.06,Y11.36,Z-224.21

: Sonardyne - parsing R229.58,X48.06,Y11.36,Z-224.21

: Sonardyne - read R = 229.580000 from 229.58,X48.06,Y11.36,Z-224.21

: Sonardyne - got all data, Vehicle coordinates,
    r=229.580000, x=224.210000, y=48.060000, z=-11.360000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221445.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221445.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R227.84,X46.20,Y-0.48,Z-223.11

: Sonardyne - parsing R227.84,X46.20,Y-0.48,Z-223.11

: Sonardyne - read R = 227.840000 from 227.84,X46.20,Y-0.48,Z-223.11

: Sonardyne - got all data, Vehicle coordinates,
    r=227.840000, x=223.110000, y=46.200000, z=0.480000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221446.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221446.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 31.08  9.16 16.89 3.87 3.90 0  -149.11 04:45:55 m

: Sonardyne - POS response: 
POS V4,1 R226.12,X43.35,Y-8.83,Z-221.75

: Sonardyne - parsing R226.12,X43.35,Y-8.83,Z-221.75

: Sonardyne - read R = 226.120000 from 226.12,X43.35,Y-8.83,Z-221.75

: Sonardyne - got all data, Vehicle coordinates,
    r=226.120000, x=221.750000, y=43.350000, z=8.830000 tat = 780
: AshtechGps::processRecord() - $GPGGA,221447.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221447.00,,,,,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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R224.58,X43.40,Y4.95,Z-220.29

: Sonardyne - parsing R224.58,X43.40,Y4.95,Z-220.29

: Sonardyne - read R = 224.580000 from 224.58,X43.40,Y4.95,Z-220.29

: Sonardyne - got all data, Vehicle coordinates,
    r=224.580000, x=220.290000, y=43.400000, z=-4.950000 tat = 769
: AshtechGps::processRecord() - $GPGGA,221448.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221448.00,,,,,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 R222.68,X44.02,Y0.18,Z-218.28

: Sonardyne - parsing R222.68,X44.02,Y0.18,Z-218.28

: Sonardyne - read R = 222.680000 from 222.68,X44.02,Y0.18,Z-218.28

: Sonardyne - got all data, Vehicle coordinates,
    r=222.680000, x=218.280000, y=44.020000, z=-0.180000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221449.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221449.00,,,,,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 R221.86

: Sonardyne - parsing R221.86

: Sonardyne - read R = 221.860000 from 221.86

: Sonardyne - got range only (221.860000), tat = 750
: Sonardyne - POSD response: 
POSD S135.9,N22.2,D-115,U4,Q0.000808

: Sonardyne - POSD response: 
POSD S135.9,N22.2,D-115,U4,Q0.000808

: AshtechGps::processRecord() - $GPGGA,221450.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221450.00,,,,,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 R219.19,X46.30,Y15.65,Z-213.67

: Sonardyne - parsing R219.19,X46.30,Y15.65,Z-213.67

: Sonardyne - read R = 219.190000 from 219.19,X46.30,Y15.65,Z-213.67

: Sonardyne - got all data, Vehicle coordinates,
    r=219.190000, x=213.670000, y=46.300000, z=-15.650000 tat = 770
: AshtechGps::processRecord() - $GPGGA,221451.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221451.00,,,,,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 R218.12,X44.57,Y5.24,Z-213.45

: Sonardyne - parsing R218.12,X44.57,Y5.24,Z-213.45

: Sonardyne - read R = 218.120000 from 218.12,X44.57,Y5.24,Z-213.45

: Sonardyne - got all data, Vehicle coordinates,
    r=218.120000, x=213.450000, y=44.570000, z=-5.240000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221452.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221452.00,,,,,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 R216.88,X44.41,Y1.72,Z-212.27

: Sonardyne - parsing R216.88,X44.41,Y1.72,Z-212.27

: Sonardyne - read R = 216.880000 from 216.88,X44.41,Y1.72,Z-212.27

: Sonardyne - got all data, Vehicle coordinates,
    r=216.880000, x=212.270000, y=44.410000, z=-1.720000 tat = 760
: AshtechGps::processRecord() - $GPGGA,221453.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221453.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,221454.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221454.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,221455.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221455.00,,,,,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,221456.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221456.00,,,,,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,N5.3,D0,U0,Q0.000000

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

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

: BluefinBatt Reply: $aaq0 d- 31.04  9.26 16.99 3.87 3.90 0  -150.07 04:46:05 m

: AshtechGps::processRecord() - $GPGGA,221457.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221457.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.12,X44.08,Y2.48,Z-205.43

: Sonardyne - parsing R210.12,X44.08,Y2.48,Z-205.43

: Sonardyne - read R = 210.120000 from 210.12,X44.08,Y2.48,Z-205.43

: Sonardyne - got all data, Vehicle coordinates,
    r=210.120000, x=205.430000, y=44.080000, z=-2.480000 tat = 750
:  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 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221458.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221458.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.55,X43.26,Y-0.81,Z-204.01

: Sonardyne - parsing R208.55,X43.26,Y-0.81,Z-204.01

: Sonardyne - read R = 208.550000 from 208.55,X43.26,Y-0.81,Z-204.01

: Sonardyne - got all data, Vehicle coordinates,
    r=208.550000, x=204.010000, y=43.260000, z=0.810000 tat = 750
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221459.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221459.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R206.83,X42.92,Y-3.41,Z-202.29

: Sonardyne - parsing R206.83,X42.92,Y-3.41,Z-202.29

: Sonardyne - read R = 206.830000 from 206.83,X42.92,Y-3.41,Z-202.29

: Sonardyne - got all data, Vehicle coordinates,
    r=206.830000, x=202.290000, y=42.920000, z=3.410000 tat = 750
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221500.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221500.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R205.02,X43.86,Y1.55,Z-200.27

: Sonardyne - parsing R205.02,X43.86,Y1.55,Z-200.27

: Sonardyne - read R = 205.020000 from 205.02,X43.86,Y1.55,Z-200.27

: Sonardyne - got all data, Vehicle coordinates,
    r=205.020000, x=200.270000, y=43.860000, z=-1.550000 tat = 750
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221501.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221501.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R203.24,X43.51,Y0.72,Z-198.53

: Sonardyne - parsing R203.24,X43.51,Y0.72,Z-198.53

: Sonardyne - read R = 203.240000 from 203.24,X43.51,Y0.72,Z-198.53

: Sonardyne - got all data, Vehicle coordinates,
    r=203.240000, x=198.530000, y=43.510000, z=-0.720000 tat = 740
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221502.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221502.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.22,X45.29,Y9.02,Z-196.87

: Sonardyne - parsing R202.22,X45.29,Y9.02,Z-196.87

: Sonardyne - read R = 202.220000 from 202.22,X45.29,Y9.02,Z-196.87

: Sonardyne - got all data, Vehicle coordinates,
    r=202.220000, x=196.870000, y=45.290000, z=-9.020000 tat = 740
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221503.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221503.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R201.19,X40.75,Y-17.75,Z-196.22

: Sonardyne - parsing R201.19,X40.75,Y-17.75,Z-196.22

: Sonardyne - read R = 201.190000 from 201.19,X40.75,Y-17.75,Z-196.22

: Sonardyne - got all data, Vehicle coordinates,
    r=201.190000, x=196.220000, y=40.750000, z=17.750000 tat = 740
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221504.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221504.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R199.38

: Sonardyne - parsing R199.38

: Sonardyne - read R = 199.380000 from 199.38

: Sonardyne - got range only (199.380000), tat = 720
: Sonardyne - POSD response: 
POSD S137.5,N21.0,D-53,U2,Q0.001595

: Sonardyne - POSD response: 
POSD S137.5,N21.0,D-53,U2,Q0.001595

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

: AshtechGps::processRecord() - $GPGGA,221505.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221505.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R197.68,X47.87,Y8.39,Z-191.61

: Sonardyne - parsing R197.68,X47.87,Y8.39,Z-191.61

: Sonardyne - read R = 197.680000 from 197.68,X47.87,Y8.39,Z-191.61

: Sonardyne - got all data, Vehicle coordinates,
    r=197.680000, x=191.610000, y=47.870000, z=-8.390000 tat = 740
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221506.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221506.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R195.98,X45.77,Y4.83,Z-190.50

: Sonardyne - parsing R195.98,X45.77,Y4.83,Z-190.50

: Sonardyne - read R = 195.980000 from 195.98,X45.77,Y4.83,Z-190.50

: Sonardyne - got all data, Vehicle coordinates,
    r=195.980000, x=190.500000, y=45.770000, z=-4.830000 tat = 730
:  Waypoint has set the state to finished.

: Waypoint (4052024.7, 600561.5), 
  reached at t = 258.19                                          (wplog)

: Vehicle Position is error is (0.4, 0.4)

: LayeredControl::execute() -- (t = 258.192312) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 258.19                            (wplog)
  The current location (N,E) = 4052024.3      , 600561.1         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 139.0 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 258.202312) Behavior waypoint_homing has changed to state Active

: BluefinBatt Reply: $aaq0 d- 31.04  9.36 16.89 3.87 3.90 0  -150.71 04:46:15 m

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

: AshtechGps::processRecord() - $GPGGA,221507.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221507.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R194.35,X42.80,Y-0.21,Z-189.57

: Sonardyne - parsing R194.35,X42.80,Y-0.21,Z-189.57

: Sonardyne - read R = 194.350000 from 194.35,X42.80,Y-0.21,Z-189.57

: Sonardyne - got all data, Vehicle coordinates,
    r=194.350000, x=189.570000, y=42.800000, z=0.210000 tat = 730
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221508.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221508.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.83,X27.27,Y6.12,Z-190.79

: Sonardyne - parsing R192.83,X27.27,Y6.12,Z-190.79

: Sonardyne - read R = 192.830000 from 192.83,X27.27,Y6.12,Z-190.79

: Sonardyne - got all data, Vehicle coordinates,
    r=192.830000, x=190.790000, y=27.270000, z=-6.120000 tat = 730
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221509.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221509.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R191.23,X12.56,Y9.94,Z-190.56

: Sonardyne - parsing R191.23,X12.56,Y9.94,Z-190.56

: Sonardyne - read R = 191.230000 from 191.23,X12.56,Y9.94,Z-190.56

: Sonardyne - got all data, Vehicle coordinates,
    r=191.230000, x=190.560000, y=12.560000, z=-9.940000 tat = 730
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221510.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221510.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.65

: Sonardyne - parsing R189.65

: Sonardyne - read R = 189.650000 from 189.65

: Sonardyne - got range only (189.650000), tat = 700
: Sonardyne - POSD response: 
POSD S+143.7,N31.7,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.7,N31.7,D-21,U0,Q0.000000

: 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,221511.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221511.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.81,X1.43,Y14.08,Z-187.28

: Sonardyne - parsing R187.81,X1.43,Y14.08,Z-187.28

: Sonardyne - read R = 187.810000 from 187.81,X1.43,Y14.08,Z-187.28

: Sonardyne - got all data, Vehicle coordinates,
    r=187.810000, x=187.280000, y=1.430000, z=-14.080000 tat = 720
: Sonardyne - POSD response: 
POSD S+140.2,N24.8,D-88,U8,Q0.000250

: 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,221512.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221512.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.13,X-1.57,Y18.62,Z-185.19

: Sonardyne - parsing R186.13,X-1.57,Y18.62,Z-185.19

: Sonardyne - read R = 186.130000 from 186.13,X-1.57,Y18.62,Z-185.19

: Sonardyne - got all data, Vehicle coordinates,
    r=186.130000, x=185.190000, y=-1.570000, z=-18.620000 tat = 720
: Sonardyne - POSD response: 
POSD S+142.1,N31.3,D0,U8,Q0.000132

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

: AshtechGps::processRecord() - $GPGGA,221513.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221513.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.20,X3.99,Y67.32,Z-174.64

: Sonardyne - parsing R187.20,X3.99,Y67.32,Z-174.64

: Sonardyne - read R = 187.200000 from 187.20,X3.99,Y67.32,Z-174.64

: Sonardyne - got all data, Vehicle coordinates,
    r=187.200000, x=174.640000, y=3.990000, z=-67.320000 tat = 720
: Sonardyne - POSD response: 
POSD S135.2,N25.4,D20,U6,Q0.011742

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

: AshtechGps::processRecord() - $GPGGA,221514.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221514.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R183.73

: Sonardyne - parsing R183.73

: Sonardyne - read R = 183.730000 from 183.73

: Sonardyne - got range only (183.730000), tat = 700
: Sonardyne - POSD response: 
POSD S132.7,N24.1,D115,U2,Q0.004317

: Sonardyne - POSD response: 
POSD S132.7,N24.1,D115,U2,Q0.004317

: 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,221515.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221515.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R181.12,X-4.21,Y28.71,Z-178.78

: Sonardyne - parsing R181.12,X-4.21,Y28.71,Z-178.78

: Sonardyne - read R = 181.120000 from 181.12,X-4.21,Y28.71,Z-178.78

: Sonardyne - got all data, Vehicle coordinates,
    r=181.120000, x=178.780000, y=-4.210000, z=-28.710000 tat = 720
: 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,221516.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221516.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R179.85,X-6.55,Y24.05,Z-178.12

: Sonardyne - parsing R179.85,X-6.55,Y24.05,Z-178.12

: Sonardyne - read R = 179.850000 from 179.85,X-6.55,Y24.05,Z-178.12

: Sonardyne - got all data, Vehicle coordinates,
    r=179.850000, x=178.120000, y=-6.550000, z=-24.050000 tat = 710
: BluefinBatt Reply: $aaq0 d- 31.04  8.92 16.99 3.87 3.90 0  -151.61 04:46:25 m

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

: AshtechGps::processRecord() - $GPGGA,221517.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221517.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R182.23

: Sonardyne - parsing R182.23

: Sonardyne - read R = 182.230000 from 182.23

: Sonardyne - got range only (182.230000), tat = 689
: Sonardyne - POSD response: 
POSD S124.1,N20.6,D-43,U3,Q0.004109

: Sonardyne - POSD response: 
POSD S124.1,N20.6,D-43,U3,Q0.004109

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: 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,221518.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221518.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221519.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221519.00,,,,,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,221520.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221520.00,,,,,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,N6.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221521.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221521.00,,,,,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 R171.26,X-3.79,Y4.91,Z-171.15

: Sonardyne - parsing R171.26,X-3.79,Y4.91,Z-171.15

: Sonardyne - read R = 171.260000 from 171.26,X-3.79,Y4.91,Z-171.15

: Sonardyne - got all data, Vehicle coordinates,
    r=171.260000, x=171.150000, y=-3.790000, z=-4.910000 tat = 700
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,221522.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221522.00,,,,,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 R170.65,X-8.35,Y-24.46,Z-168.68

: Sonardyne - parsing R170.65,X-8.35,Y-24.46,Z-168.68

: Sonardyne - read R = 170.650000 from 170.65,X-8.35,Y-24.46,Z-168.68

: Sonardyne - got all data, Vehicle coordinates,
    r=170.650000, x=168.680000, y=-8.350000, z=24.460000 tat = 700
: AshtechGps::processRecord() - $GPGGA,221523.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221523.00,,,,,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 R168.10,X-0.99,Y17.34,Z-167.20

: Sonardyne - parsing R168.10,X-0.99,Y17.34,Z-167.20

: Sonardyne - read R = 168.100000 from 168.10,X-0.99,Y17.34,Z-167.20

: Sonardyne - got all data, Vehicle coordinates,
    r=168.100000, x=167.200000, y=-0.990000, z=-17.340000 tat = 700
: AshtechGps::processRecord() - $GPGGA,221524.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221524.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R166.50,X0.06,Y14.42,Z-165.87

: Sonardyne - parsing R166.50,X0.06,Y14.42,Z-165.87

: Sonardyne - read R = 166.500000 from 166.50,X0.06,Y14.42,Z-165.87

: Sonardyne - got all data, Vehicle coordinates,
    r=166.500000, x=165.870000, y=0.060000, z=-14.420000 tat = 690
: AshtechGps::processRecord() - $GPGGA,221525.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221525.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R165.05,X-1.57,Y4.91,Z-164.97

: Sonardyne - parsing R165.05,X-1.57,Y4.91,Z-164.97

: Sonardyne - read R = 165.050000 from 165.05,X-1.57,Y4.91,Z-164.97

: Sonardyne - got all data, Vehicle coordinates,
    r=165.050000, x=164.970000, y=-1.570000, z=-4.910000 tat = 690
: AshtechGps::processRecord() - $GPGGA,221526.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221526.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  9.94 16.99 3.87 3.90 0  -152.24 04:46:35 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 R163.37,X-1.97,Y8.31,Z-163.14

: Sonardyne - parsing R163.37,X-1.97,Y8.31,Z-163.14

: Sonardyne - read R = 163.370000 from 163.37,X-1.97,Y8.31,Z-163.14

: Sonardyne - got all data, Vehicle coordinates,
    r=163.370000, x=163.140000, y=-1.970000, z=-8.310000 tat = 690
: AshtechGps::processRecord() - $GPGGA,221527.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221527.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

:  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 R161.79,X-2.52,Y3.54,Z-161.73

: Sonardyne - parsing R161.79,X-2.52,Y3.54,Z-161.73

: Sonardyne - read R = 161.790000 from 161.79,X-2.52,Y3.54,Z-161.73

: Sonardyne - got all data, Vehicle coordinates,
    r=161.790000, x=161.730000, y=-2.520000, z=-3.540000 tat = 690
: AshtechGps::processRecord() - $GPGGA,221528.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221528.00,,,,,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 R159.93,X-1.69,Y6.02,Z-159.81

: Sonardyne - parsing R159.93,X-1.69,Y6.02,Z-159.81

: Sonardyne - read R = 159.930000 from 159.93,X-1.69,Y6.02,Z-159.81

: Sonardyne - got all data, Vehicle coordinates,
    r=159.930000, x=159.810000, y=-1.690000, z=-6.020000 tat = 690
: AshtechGps::processRecord() - $GPGGA,221529.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221529.00,,,,,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 R158.34,X-1.44,Y10.63,Z-157.97

: Sonardyne - parsing R158.34,X-1.44,Y10.63,Z-157.97

: Sonardyne - read R = 158.340000 from 158.34,X-1.44,Y10.63,Z-157.97

: Sonardyne - got all data, Vehicle coordinates,
    r=158.340000, x=157.970000, y=-1.440000, z=-10.630000 tat = 680
: AshtechGps::processRecord() - $GPGGA,221530.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221530.00,,,,,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 R156.74,X-1.37,Y9.23,Z-156.46

: Sonardyne - parsing R156.74,X-1.37,Y9.23,Z-156.46

: Sonardyne - read R = 156.740000 from 156.74,X-1.37,Y9.23,Z-156.46

: Sonardyne - got all data, Vehicle coordinates,
    r=156.740000, x=156.460000, y=-1.370000, z=-9.230000 tat = 680
: AshtechGps::processRecord() - $GPGGA,221531.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221531.00,,,,,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 R154.93,X-2.75,Y0.76,Z-154.90

: Sonardyne - parsing R154.93,X-2.75,Y0.76,Z-154.90

: Sonardyne - read R = 154.930000 from 154.93,X-2.75,Y0.76,Z-154.90

: Sonardyne - got all data, Vehicle coordinates,
    r=154.930000, x=154.900000, y=-2.750000, z=-0.760000 tat = 679
: AshtechGps::processRecord() - $GPGGA,221532.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221532.00,,,,,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 R153.68,X-1.60,Y17.19,Z-152.71

: Sonardyne - parsing R153.68,X-1.60,Y17.19,Z-152.71

: Sonardyne - read R = 153.680000 from 153.68,X-1.60,Y17.19,Z-152.71

: Sonardyne - got all data, Vehicle coordinates,
    r=153.680000, x=152.710000, y=-1.600000, z=-17.190000 tat = 680
: AshtechGps::processRecord() - $GPGGA,221533.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221533.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,221534.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221534.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,221535.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221535.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221536.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221536.00,,,,,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,N13.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $aaq0 d- 31.04  8.82 16.99 3.87 3.90 0  -153.15 04:46:45 m

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

: AshtechGps::processRecord() - $GPGGA,221537.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221537.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R146.97,X-1.04,Y23.28,Z-145.12

: Sonardyne - parsing R146.97,X-1.04,Y23.28,Z-145.12

: Sonardyne - read R = 146.970000 from 146.97,X-1.04,Y23.28,Z-145.12

: Sonardyne - got all data, Vehicle coordinates,
    r=146.970000, x=145.120000, y=-1.040000, z=-23.280000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder!
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221538.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221538.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.33,X-2.92,Y7.03,Z-145.13

: Sonardyne - parsing R145.33,X-2.92,Y7.03,Z-145.13

: Sonardyne - read R = 145.330000 from 145.33,X-2.92,Y7.03,Z-145.13

: Sonardyne - got all data, Vehicle coordinates,
    r=145.330000, x=145.130000, y=-2.920000, z=-7.030000 tat = 670
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221539.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221539.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R143.76,X-4.33,Y-0.92,Z-143.69

: Sonardyne - parsing R143.76,X-4.33,Y-0.92,Z-143.69

: Sonardyne - read R = 143.760000 from 143.76,X-4.33,Y-0.92,Z-143.69

: Sonardyne - got all data, Vehicle coordinates,
    r=143.760000, x=143.690000, y=-4.330000, z=0.920000 tat = 660
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221540.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221540.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R141.88,X-4.09,Y4.31,Z-141.76

: Sonardyne - parsing R141.88,X-4.09,Y4.31,Z-141.76

: Sonardyne - read R = 141.880000 from 141.88,X-4.09,Y4.31,Z-141.76

: Sonardyne - got all data, Vehicle coordinates,
    r=141.880000, x=141.760000, y=-4.090000, z=-4.310000 tat = 660
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221541.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221541.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.07,X-1.35,Y14.74,Z-139.28

: Sonardyne - parsing R140.07,X-1.35,Y14.74,Z-139.28

: Sonardyne - read R = 140.070000 from 140.07,X-1.35,Y14.74,Z-139.28

: Sonardyne - got all data, Vehicle coordinates,
    r=140.070000, x=139.280000, y=-1.350000, z=-14.740000 tat = 660
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221542.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221542.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.49,X-2.73,Y6.22,Z-138.32

: Sonardyne - parsing R138.49,X-2.73,Y6.22,Z-138.32

: Sonardyne - read R = 138.490000 from 138.49,X-2.73,Y6.22,Z-138.32

: Sonardyne - got all data, Vehicle coordinates,
    r=138.490000, x=138.320000, y=-2.730000, z=-6.220000 tat = 660
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221543.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221543.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.62,X-1.84,Y12.76,Z-136.01

: Sonardyne - parsing R136.62,X-1.84,Y12.76,Z-136.01

: Sonardyne - read R = 136.620000 from 136.62,X-1.84,Y12.76,Z-136.01

: Sonardyne - got all data, Vehicle coordinates,
    r=136.620000, x=136.010000, y=-1.840000, z=-12.760000 tat = 660
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221544.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221544.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.06,X-1.44,Y12.71,Z-134.45

: Sonardyne - parsing R135.06,X-1.44,Y12.71,Z-134.45

: Sonardyne - read R = 135.060000 from 135.06,X-1.44,Y12.71,Z-134.45

: Sonardyne - got all data, Vehicle coordinates,
    r=135.060000, x=134.450000, y=-1.440000, z=-12.710000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221545.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221545.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.58,X0.07,Y16.41,Z-132.57

: Sonardyne - parsing R133.58,X0.07,Y16.41,Z-132.57

: Sonardyne - read R = 133.580000 from 133.58,X0.07,Y16.41,Z-132.57

: Sonardyne - got all data, Vehicle coordinates,
    r=133.580000, x=132.570000, y=0.070000, z=-16.410000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221546.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221546.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.09,X-0.59,Y13.35,Z-131.41

: Sonardyne - parsing R132.09,X-0.59,Y13.35,Z-131.41

: Sonardyne - read R = 132.090000 from 132.09,X-0.59,Y13.35,Z-131.41

: Sonardyne - got all data, Vehicle coordinates,
    r=132.090000, x=131.410000, y=-0.590000, z=-13.350000 tat = 649
: BluefinBatt Reply: $aaq0 d- 31.04  8.79 16.99 3.87 3.90 0  -153.75 04:46:55 m

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

: AshtechGps::processRecord() - $GPGGA,221547.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221547.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.63

: Sonardyne - parsing R131.63

: Sonardyne - read R = 131.630000 from 131.63

: Sonardyne - got range only (131.630000), tat = 630
: Sonardyne - POSD response: 
POSD S+143.5,N32.4,D5,U2,Q0.009529

: Sonardyne - POSD response: 
POSD S+143.5,N32.4,D5,U2,Q0.009529

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221548.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221548.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.57

: Sonardyne - parsing R129.57

: Sonardyne - read R = 129.570000 from 129.57

: Sonardyne - got range only (129.570000), tat = 620
: Sonardyne - POSD response: 
POSD S+140.5,N22.9,D-48,U5,Q0.007881

: Sonardyne - POSD response: 
POSD S+140.5,N22.9,D-48,U5,Q0.007881

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

: AshtechGps::processRecord() - $GPGGA,221549.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221549.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.69

: Sonardyne - parsing R130.69

: Sonardyne - read R = 130.690000 from 130.69

: Sonardyne - got range only (130.690000), tat = 620
: Sonardyne - POSD response: 
POSD S134.4,N23.2,D-113,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.4,N23.2,D-113,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,221550.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221550.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R126.04,X-3.17,Y3.03,Z-125.97

: Sonardyne - parsing R126.04,X-3.17,Y3.03,Z-125.97

: Sonardyne - read R = 126.040000 from 126.04,X-3.17,Y3.03,Z-125.97

: Sonardyne - got all data, Vehicle coordinates,
    r=126.040000, x=125.970000, y=-3.170000, z=-3.030000 tat = 640
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221551.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221551.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.66,X-2.23,Y7.57,Z-124.41

: Sonardyne - parsing R124.66,X-2.23,Y7.57,Z-124.41

: Sonardyne - read R = 124.660000 from 124.66,X-2.23,Y7.57,Z-124.41

: Sonardyne - got all data, Vehicle coordinates,
    r=124.660000, x=124.410000, y=-2.230000, z=-7.570000 tat = 640
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221552.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221552.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.86,X-2.38,Y7.30,Z-122.62

: Sonardyne - parsing R122.86,X-2.38,Y7.30,Z-122.62

: Sonardyne - read R = 122.860000 from 122.86,X-2.38,Y7.30,Z-122.62

: Sonardyne - got all data, Vehicle coordinates,
    r=122.860000, x=122.620000, y=-2.380000, z=-7.300000 tat = 640
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221553.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221553.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.20,X-3.18,Y1.15,Z-121.16

: Sonardyne - parsing R121.20,X-3.18,Y1.15,Z-121.16

: Sonardyne - read R = 121.200000 from 121.20,X-3.18,Y1.15,Z-121.16

: Sonardyne - got all data, Vehicle coordinates,
    r=121.200000, x=121.160000, y=-3.180000, z=-1.150000 tat = 630
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221554.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221554.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.81,X-2.49,Y5.00,Z-119.68

: Sonardyne - parsing R119.81,X-2.49,Y5.00,Z-119.68

: Sonardyne - read R = 119.810000 from 119.81,X-2.49,Y5.00,Z-119.68

: Sonardyne - got all data, Vehicle coordinates,
    r=119.810000, x=119.680000, y=-2.490000, z=-5.000000 tat = 630
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221555.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221555.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.23,X-2.60,Y8.11,Z-117.92

: Sonardyne - parsing R118.23,X-2.60,Y8.11,Z-117.92

: Sonardyne - read R = 118.230000 from 118.23,X-2.60,Y8.11,Z-117.92

: Sonardyne - got all data, Vehicle coordinates,
    r=118.230000, x=117.920000, y=-2.600000, z=-8.110000 tat = 630
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221556.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221556.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.53,X-1.30,Y12.53,Z-115.85

: Sonardyne - parsing R116.53,X-1.30,Y12.53,Z-115.85

: Sonardyne - read R = 116.530000 from 116.53,X-1.30,Y12.53,Z-115.85

: Sonardyne - got all data, Vehicle coordinates,
    r=116.530000, x=115.850000, y=-1.300000, z=-12.530000 tat = 630
: BluefinBatt Reply: $aaq0 d- 31.04  8.92 16.99 3.87 3.90 0  -154.62 04:47:05 m

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

: AshtechGps::processRecord() - $GPGGA,221557.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221557.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.66

: Sonardyne - parsing R114.66

: Sonardyne - read R = 114.660000 from 114.66

: Sonardyne - got range only (114.660000), tat = 600
: Sonardyne - POSD response: 
POSD S+144.2,N23.0,D-80,U4,Q0.000365

: Sonardyne - POSD response: 
POSD S+144.2,N23.0,D-80,U4,Q0.000365

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221558.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221558.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.95,X-1.69,Y3.29,Z-112.89

: Sonardyne - parsing R112.95,X-1.69,Y3.29,Z-112.89

: Sonardyne - read R = 112.950000 from 112.95,X-1.69,Y3.29,Z-112.89

: Sonardyne - got all data, Vehicle coordinates,
    r=112.950000, x=112.890000, y=-1.690000, z=-3.290000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.6,N31.6,D-17,U8,Q0.000082

: 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,221559.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221559.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.87

: Sonardyne - parsing R114.87

: Sonardyne - read R = 114.870000 from 114.87

: Sonardyne - got range only (114.870000), tat = 600
: Sonardyne - POSD response: 
POSD S136.2,N25.0,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.2,N25.0,D26,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221600.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221600.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.65,X-1.63,Y2.58,Z-109.60

: Sonardyne - parsing R109.65,X-1.63,Y2.58,Z-109.60

: Sonardyne - read R = 109.650000 from 109.65,X-1.63,Y2.58,Z-109.60

: Sonardyne - got all data, Vehicle coordinates,
    r=109.650000, x=109.600000, y=-1.630000, z=-2.580000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221601.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221601.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.07,X-1.31,Y5.64,Z-107.92

: Sonardyne - parsing R108.07,X-1.31,Y5.64,Z-107.92

: Sonardyne - read R = 108.070000 from 108.07,X-1.31,Y5.64,Z-107.92

: Sonardyne - got all data, Vehicle coordinates,
    r=108.070000, x=107.920000, y=-1.310000, z=-5.640000 tat = 619
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221602.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221602.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.63,X-0.40,Y12.10,Z-105.94

: Sonardyne - parsing R106.63,X-0.40,Y12.10,Z-105.94

: Sonardyne - read R = 106.630000 from 106.63,X-0.40,Y12.10,Z-105.94

: Sonardyne - got all data, Vehicle coordinates,
    r=106.630000, x=105.940000, y=-0.400000, z=-12.100000 tat = 610
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221603.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221603.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R105.52,X-0.05,Y9.13,Z-105.12

: Sonardyne - parsing R105.52,X-0.05,Y9.13,Z-105.12

: Sonardyne - read R = 105.520000 from 105.52,X-0.05,Y9.13,Z-105.12

: Sonardyne - got all data, Vehicle coordinates,
    r=105.520000, x=105.120000, y=-0.050000, z=-9.130000 tat = 610
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221604.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221604.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.95,X-0.64,Y6.61,Z-103.73

: Sonardyne - parsing R103.95,X-0.64,Y6.61,Z-103.73

: Sonardyne - read R = 103.950000 from 103.95,X-0.64,Y6.61,Z-103.73

: Sonardyne - got all data, Vehicle coordinates,
    r=103.950000, x=103.730000, y=-0.640000, z=-6.610000 tat = 610
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221605.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221605.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.41

: Sonardyne - parsing R102.41

: Sonardyne - read R = 102.410000 from 102.41

: Sonardyne - got range only (102.410000), tat = 590
: Sonardyne - POSD response: 
POSD S136.1,N21.6,D-85,U4,Q0.000867

: Sonardyne - POSD response: 
POSD S136.1,N21.6,D-85,U4,Q0.000867

: 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,221606.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221606.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R100.63,X-1.46,Y3.17,Z-100.57

: Sonardyne - parsing R100.63,X-1.46,Y3.17,Z-100.57

: Sonardyne - read R = 100.630000 from 100.63,X-1.46,Y3.17,Z-100.57

: Sonardyne - got all data, Vehicle coordinates,
    r=100.630000, x=100.570000, y=-1.460000, z=-3.170000 tat = 610
: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $aaq0 d- 31.00  9.06 16.99 3.87 3.90 0  -155.23 04:47:15 m

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

: AshtechGps::processRecord() - $GPGGA,221607.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221607.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.79,X-1.82,Y-0.09,Z-98.77

: Sonardyne - parsing R98.79,X-1.82,Y-0.09,Z-98.77

: Sonardyne - read R = 98.790000 from 98.79,X-1.82,Y-0.09,Z-98.77

: Sonardyne - got all data, Vehicle coordinates,
    r=98.790000, x=98.770000, y=-1.820000, z=0.090000 tat = 600
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221608.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221608.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R97.29,X-1.25,Y4.43,Z-97.18

: Sonardyne - parsing R97.29,X-1.25,Y4.43,Z-97.18

: Sonardyne - read R = 97.290000 from 97.29,X-1.25,Y4.43,Z-97.18

: Sonardyne - got all data, Vehicle coordinates,
    r=97.290000, x=97.180000, y=-1.250000, z=-4.430000 tat = 600
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221609.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221609.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R95.56,X-1.12,Y1.14,Z-95.54

: Sonardyne - parsing R95.56,X-1.12,Y1.14,Z-95.54

: Sonardyne - read R = 95.560000 from 95.56,X-1.12,Y1.14,Z-95.54

: Sonardyne - got all data, Vehicle coordinates,
    r=95.560000, x=95.540000, y=-1.120000, z=-1.140000 tat = 600
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221610.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221610.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.99,X-0.88,Y2.01,Z-93.97

: Sonardyne - parsing R93.99,X-0.88,Y2.01,Z-93.97

: Sonardyne - read R = 93.990000 from 93.99,X-0.88,Y2.01,Z-93.97

: Sonardyne - got all data, Vehicle coordinates,
    r=93.990000, x=93.970000, y=-0.880000, z=-2.010000 tat = 590
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221611.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221611.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.81,X-1.10,Y1.05,Z-92.80

: Sonardyne - parsing R92.81,X-1.10,Y1.05,Z-92.80

: Sonardyne - read R = 92.810000 from 92.81,X-1.10,Y1.05,Z-92.80

: Sonardyne - got all data, Vehicle coordinates,
    r=92.810000, x=92.800000, y=-1.100000, z=-1.050000 tat = 590
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221612.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221612.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.84,X-0.29,Y4.26,Z-90.74

: Sonardyne - parsing R90.84,X-0.29,Y4.26,Z-90.74

: Sonardyne - read R = 90.840000 from 90.84,X-0.29,Y4.26,Z-90.74

: Sonardyne - got all data, Vehicle coordinates,
    r=90.840000, x=90.740000, y=-0.290000, z=-4.260000 tat = 590
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221613.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221613.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.05,X-0.69,Y-0.09,Z-89.05

: Sonardyne - parsing R89.05,X-0.69,Y-0.09,Z-89.05

: Sonardyne - read R = 89.050000 from 89.05,X-0.69,Y-0.09,Z-89.05

: Sonardyne - got all data, Vehicle coordinates,
    r=89.050000, x=89.050000, y=-0.690000, z=0.090000 tat = 590
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221614.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221614.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.47

: Sonardyne - parsing R87.47

: Sonardyne - read R = 87.470000 from 87.47

: Sonardyne - got range only (87.470000), tat = 560
: Sonardyne - POSD response: 
POSD S137.3,N25.4,D-33,U4,Q0.000122

: Sonardyne - POSD response: 
POSD S137.3,N25.4,D-33,U4,Q0.000122

: 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,221615.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221615.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.92,X-0.87,Y-0.99,Z-85.91

: Sonardyne - parsing R85.92,X-0.87,Y-0.99,Z-85.91

: Sonardyne - read R = 85.920000 from 85.92,X-0.87,Y-0.99,Z-85.91

: Sonardyne - got all data, Vehicle coordinates,
    r=85.920000, x=85.910000, y=-0.870000, z=0.990000 tat = 580
: 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,221616.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221616.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.67

: Sonardyne - parsing R90.67

: Sonardyne - read R = 90.670000 from 90.67

: Sonardyne - got range only (90.670000), tat = 570
: Sonardyne - POSD response: 
POSD S126.4,N25.8,D-107,U2,Q0.007742

: Sonardyne - POSD response: 
POSD S126.4,N25.8,D-107,U2,Q0.007742

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $aaq0 d- 31.04  8.86 16.99 3.87 3.90 0  -156.16 04:47:25 m

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

: AshtechGps::processRecord() - $GPGGA,221617.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221617.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R82.83

: Sonardyne - parsing R82.83

: Sonardyne - read R = 82.830000 from 82.83

: Sonardyne - got range only (82.830000), tat = 560
: Sonardyne - POSD response: 
POSD S+144.2,N23.8,D-65,U2,Q0.000365

: Sonardyne - POSD response: 
POSD S+144.2,N23.8,D-65,U2,Q0.000365

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221618.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221618.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R84.49

: Sonardyne - parsing R84.49

: Sonardyne - read R = 84.490000 from 84.49

: Sonardyne - got range only (84.490000), tat = 560
: Sonardyne - POSD response: 
POSD S137.3,N26.7,D9,U1,Q0.003654

: Sonardyne - POSD response: 
POSD S137.3,N26.7,D9,U1,Q0.003654

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

: AshtechGps::processRecord() - $GPGGA,221619.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221619.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R83.52

: Sonardyne - parsing R83.52

: Sonardyne - read R = 83.520000 from 83.52

: Sonardyne - got range only (83.520000), tat = 560
: Sonardyne - POSD response: 
POSD S125.6,N19.9,D16,U5,Q0.002251

: Sonardyne - POSD response: 
POSD S125.6,N19.9,D16,U5,Q0.002251

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

: AshtechGps::processRecord() - $GPGGA,221620.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221620.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R78.07,X0.35,Y2.14,Z-78.04

: Sonardyne - parsing R78.07,X0.35,Y2.14,Z-78.04

: Sonardyne - read R = 78.070000 from 78.07,X0.35,Y2.14,Z-78.04

: Sonardyne - got all data, Vehicle coordinates,
    r=78.070000, x=78.040000, y=0.350000, z=-2.140000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221621.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221621.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R79.41

: Sonardyne - parsing R79.41

: Sonardyne - read R = 79.410000 from 79.41

: Sonardyne - got range only (79.410000), tat = 550
: Sonardyne - POSD response: 
POSD S139.5,N21.3,D21,U1,Q0.009340

: Sonardyne - POSD response: 
POSD S139.5,N21.3,D21,U1,Q0.009340

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221622.00,,,,,0,00,,,M,,M,,*4F

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.55,X0.02,Y3.82,Z-74.45

: Sonardyne - parsing R74.55,X0.02,Y3.82,Z-74.45

: Sonardyne - read R = 74.550000 from 74.55,X0.02,Y3.82,Z-74.45

: Sonardyne - got all data, Vehicle coordinates,
    r=74.550000, x=74.450000, y=0.020000, z=-3.820000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.88

: Sonardyne - parsing R72.88

: Sonardyne - read R = 72.880000 from 72.88

: Sonardyne - got range only (72.880000), tat = 540
: Sonardyne - POSD response: 
POSD S+143.8,N26.4,D19,U4,Q0.000073

: Sonardyne - POSD response: 
POSD S+143.8,N26.4,D19,U4,Q0.000073

: 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,221624.00,,,,,0,00,,,M,,M,,*49

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.28,X-0.18,Y4.23,Z-71.15

: Sonardyne - parsing R71.28,X-0.18,Y4.23,Z-71.15

: Sonardyne - read R = 71.280000 from 71.28,X-0.18,Y4.23,Z-71.15

: Sonardyne - got all data, Vehicle coordinates,
    r=71.280000, x=71.150000, y=-0.180000, z=-4.230000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.8,N33.2,D-31,U8,Q0.000089

: 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,221625.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.76

: Sonardyne - parsing R69.76

: Sonardyne - read R = 69.760000 from 69.76

: Sonardyne - got range only (69.760000), tat = 540
: Sonardyne - POSD response: 
POSD S+144.7,N25.8,D-78,U5,Q0.000108

: Sonardyne - POSD response: 
POSD S+144.7,N25.8,D-78,U5,Q0.000108

: 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,221626.00,,,,,0,00,,,M,,M,,*4B

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.13,X0.04,Y3.29,Z-68.05

: Sonardyne - parsing R68.13,X0.04,Y3.29,Z-68.05

: Sonardyne - read R = 68.130000 from 68.13,X0.04,Y3.29,Z-68.05

: Sonardyne - got all data, Vehicle coordinates,
    r=68.130000, x=68.050000, y=0.040000, z=-3.290000 tat = 560
: Sonardyne - POSD response: 
POSD S+143.6,N22.8,D-83,U8,Q0.000115

: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $aaq0 d- 31.04  9.40 16.99 3.87 3.90 0  -156.79 04:47:35 m

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.47,X-0.11,Y3.96,Z-66.35

: Sonardyne - parsing R66.47,X-0.11,Y3.96,Z-66.35

: Sonardyne - read R = 66.470000 from 66.47,X-0.11,Y3.96,Z-66.35

: Sonardyne - got all data, Vehicle coordinates,
    r=66.470000, x=66.350000, y=-0.110000, z=-3.960000 tat = 560
: Sonardyne - POSD response: 
POSD S+140.1,N19.8,D-111,U8,Q0.000105

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R64.92,X-0.13,Y4.57,Z-64.76

: Sonardyne - parsing R64.92,X-0.13,Y4.57,Z-64.76

: Sonardyne - read R = 64.920000 from 64.92,X-0.13,Y4.57,Z-64.76

: Sonardyne - got all data, Vehicle coordinates,
    r=64.920000, x=64.760000, y=-0.130000, z=-4.570000 tat = 560
: Sonardyne - POSD response: 
POSD S+144.4,N30.6,D24,U8,Q0.000093

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.41,X-0.93,Y3.63,Z-63.30

: Sonardyne - parsing R63.41,X-0.93,Y3.63,Z-63.30

: Sonardyne - read R = 63.410000 from 63.41,X-0.93,Y3.63,Z-63.30

: Sonardyne - got all data, Vehicle coordinates,
    r=63.410000, x=63.300000, y=-0.930000, z=-3.630000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.1,N23.1,D-101,U7,Q0.000122

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R61.80,X-0.58,Y3.29,Z-61.71

: Sonardyne - parsing R61.80,X-0.58,Y3.29,Z-61.71

: Sonardyne - read R = 61.800000 from 61.80,X-0.58,Y3.29,Z-61.71

: Sonardyne - got all data, Vehicle coordinates,
    r=61.800000, x=61.710000, y=-0.580000, z=-3.290000 tat = 549
: Sonardyne - POSD response: 
POSD S+144.7,N29.9,D-40,U8,Q0.000098

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R60.53,X-0.92,Y1.07,Z-60.52

: Sonardyne - parsing R60.53,X-0.92,Y1.07,Z-60.52

: Sonardyne - read R = 60.530000 from 60.53,X-0.92,Y1.07,Z-60.52

: Sonardyne - got all data, Vehicle coordinates,
    r=60.530000, x=60.520000, y=-0.920000, z=-1.070000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.6,N28.0,D-46,U8,Q0.000114

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R58.41,X-0.33,Y2.40,Z-58.36

: Sonardyne - parsing R58.41,X-0.33,Y2.40,Z-58.36

: Sonardyne - read R = 58.410000 from 58.41,X-0.33,Y2.40,Z-58.36

: Sonardyne - got all data, Vehicle coordinates,
    r=58.410000, x=58.360000, y=-0.330000, z=-2.400000 tat = 550
: Sonardyne - POSD response: 
POSD S+144.7,N28.9,D-43,U8,Q0.000085

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.73,X-0.20,Y2.86,Z-56.66

: Sonardyne - parsing R56.73,X-0.20,Y2.86,Z-56.66

: Sonardyne - read R = 56.730000 from 56.73,X-0.20,Y2.86,Z-56.66

: Sonardyne - got all data, Vehicle coordinates,
    r=56.730000, x=56.660000, y=-0.200000, z=-2.860000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.5,N22.6,D-112,U8,Q0.000054

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.10,X-0.06,Y1.57,Z-55.08

: Sonardyne - parsing R55.10,X-0.06,Y1.57,Z-55.08

: Sonardyne - read R = 55.100000 from 55.10,X-0.06,Y1.57,Z-55.08

: Sonardyne - got all data, Vehicle coordinates,
    r=55.100000, x=55.080000, y=-0.060000, z=-1.570000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.8,N28.7,D-116,U8,Q0.000076

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.53

: Sonardyne - parsing R53.53

: Sonardyne - read R = 53.530000 from 53.53

: Sonardyne - got range only (53.530000), tat = 520
: Sonardyne - POSD response: 
POSD S+144.1,N20.0,D-100,U5,Q0.000084

: Sonardyne - POSD response: 
POSD S+144.1,N20.0,D-100,U5,Q0.000084

: 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,221636.00,,,,,0,00,,,M,,M,,*4A

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.50

: Sonardyne - parsing R52.50

: Sonardyne - read R = 52.500000 from 52.50

: Sonardyne - got range only (52.500000), tat = 520
: Sonardyne - POSD response: 
POSD S+143.5,N21.0,D-40,U4,Q0.000436

: Sonardyne - POSD response: 
POSD S+143.5,N21.0,D-40,U4,Q0.000436

: BluefinBatt Reply: $aaq0 d- 31.08  8.28 16.99 3.87 3.90 0  -157.73 04:47:45 m

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

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


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.35,X-0.46,Y0.72,Z-50.34

: Sonardyne - parsing R50.35,X-0.46,Y0.72,Z-50.34

: Sonardyne - read R = 50.350000 from 50.35,X-0.46,Y0.72,Z-50.34

: Sonardyne - got all data, Vehicle coordinates,
    r=50.350000, x=50.340000, y=-0.460000, z=-0.720000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.6,N24.7,D-78,U7,Q0.000076

: WaypointHoming: The Usbl has aquired the transponder!
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R48.85,X-0.67,Y0.70,Z-48.84

: Sonardyne - parsing R48.85,X-0.67,Y0.70,Z-48.84

: Sonardyne - read R = 48.850000 from 48.85,X-0.67,Y0.70,Z-48.84

: Sonardyne - got all data, Vehicle coordinates,
    r=48.850000, x=48.840000, y=-0.670000, z=-0.700000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.7,N32.1,D-42,U8,Q0.000085

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R47.02,X-0.40,Y2.00,Z-46.98

: Sonardyne - parsing R47.02,X-0.40,Y2.00,Z-46.98

: Sonardyne - read R = 47.020000 from 47.02,X-0.40,Y2.00,Z-46.98

: Sonardyne - got all data, Vehicle coordinates,
    r=47.020000, x=46.980000, y=-0.400000, z=-2.000000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.6,N32.4,D-34,U8,Q0.000095

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R45.29,X-0.55,Y-0.24,Z-45.29

: Sonardyne - parsing R45.29,X-0.55,Y-0.24,Z-45.29

: Sonardyne - read R = 45.290000 from 45.29,X-0.55,Y-0.24,Z-45.29

: Sonardyne - got all data, Vehicle coordinates,
    r=45.290000, x=45.290000, y=-0.550000, z=0.240000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.3,N24.0,D139,U7,Q0.000057

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

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


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

: Sonardyne - POS response: 
POS V4,1 R44.30

: Sonardyne - parsing R44.30

: Sonardyne - read R = 44.300000 from 44.30

: Sonardyne - got range only (44.300000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.6,N24.6,D22,U2,Q0.003511

: Sonardyne - POSD response: 
POSD S+144.6,N24.6,D22,U2,Q0.003511

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,221642.00,,,,,0,00,,,M,,M,,*49

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R41.84,X-0.14,Y-0.38,Z-41.83

: Sonardyne - parsing R41.84,X-0.14,Y-0.38,Z-41.83

: Sonardyne - read R = 41.840000 from 41.84,X-0.14,Y-0.38,Z-41.83

: Sonardyne - got all data, Vehicle coordinates,
    r=41.840000, x=41.830000, y=-0.140000, z=0.380000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.6,N25.3,D-56,U7,Q0.000067

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,221643.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R40.53

: Sonardyne - parsing R40.53

: Sonardyne - read R = 40.530000 from 40.53

: Sonardyne - got range only (40.530000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.5,N21.2,D-105,U5,Q0.000050

: Sonardyne - POSD response: 
POSD S+144.5,N21.2,D-105,U5,Q0.000050

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,221644.00,,,,,0,00,,,M,,M,,*4F

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R40.37

: Sonardyne - parsing R40.37

: Sonardyne - read R = 40.370000 from 40.37

: Sonardyne - got range only (40.370000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.1,N18.9,D-81,U3,Q0.004501

: Sonardyne - POSD response: 
POSD S+144.1,N18.9,D-81,U3,Q0.004501

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R38.83

: Sonardyne - parsing R38.83

: Sonardyne - read R = 38.830000 from 38.83

: Sonardyne - got range only (38.830000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N27.2,D-62,U3,Q0.017413

: Sonardyne - POSD response: 
POSD S+144.9,N27.2,D-62,U3,Q0.017413

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R36.37,X-0.09,Y0.70,Z-36.36

: Sonardyne - parsing R36.37,X-0.09,Y0.70,Z-36.36

: Sonardyne - read R = 36.370000 from 36.37,X-0.09,Y0.70,Z-36.36

: Sonardyne - got all data, Vehicle coordinates,
    r=36.370000, x=36.360000, y=-0.090000, z=-0.700000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N23.8,D-94,U8,Q0.000079

: WaypointHoming: The Usbl has aquired the transponder!
: BluefinBatt Reply: $aaq0 d- 31.04  9.60 17.08 3.87 3.90 0  -158.35 04:47:55 m

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R34.37

: Sonardyne - parsing R34.37

: Sonardyne - read R = 34.370000 from 34.37

: Sonardyne - got range only (34.370000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N31.0,D-42,U3,Q0.000282

: Sonardyne - POSD response: 
POSD S+144.9,N31.0,D-42,U3,Q0.000282

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

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


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

: Sonardyne - POS response: 
POS V4,1 R35.23

: Sonardyne - parsing R35.23

: Sonardyne - read R = 35.230000 from 35.23

: Sonardyne - got range only (35.230000), tat = 490
: Sonardyne - POSD response: 
POSD S133.2,N22.6,D-37,U1,Q0.007820

: Sonardyne - POSD response: 
POSD S133.2,N22.6,D-37,U1,Q0.007820

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R30.23,X-0.57,Y-1.36,Z-30.19

: Sonardyne - parsing R30.23,X-0.57,Y-1.36,Z-30.19

: Sonardyne - read R = 30.230000 from 30.23,X-0.57,Y-1.36,Z-30.19

: Sonardyne - got all data, Vehicle coordinates,
    r=30.230000, x=30.190000, y=-0.570000, z=1.360000 tat = 510
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,221650.00,,,,,0,00,,,M,,M,,*4A

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R28.46,X-0.47,Y-1.31,Z-28.43

: Sonardyne - parsing R28.46,X-0.47,Y-1.31,Z-28.43

: Sonardyne - read R = 28.460000 from 28.46,X-0.47,Y-1.31,Z-28.43

: Sonardyne - got all data, Vehicle coordinates,
    r=28.460000, x=28.430000, y=-0.470000, z=1.310000 tat = 510
: AshtechGps::processRecord() - $GPGGA,221651.00,,,,,0,00,,,M,,M,,*4B

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R27.00,X-0.51,Y-1.09,Z-26.97

: Sonardyne - parsing R27.00,X-0.51,Y-1.09,Z-26.97

: Sonardyne - read R = 27.000000 from 27.00,X-0.51,Y-1.09,Z-26.97

: Sonardyne - got all data, Vehicle coordinates,
    r=27.000000, x=26.970000, y=-0.510000, z=1.090000 tat = 510
: AshtechGps::processRecord() - $GPGGA,221652.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R25.75,X-0.39,Y-1.14,Z-25.72

: Sonardyne - parsing R25.75,X-0.39,Y-1.14,Z-25.72

: Sonardyne - read R = 25.750000 from 25.75,X-0.39,Y-1.14,Z-25.72

: Sonardyne - got all data, Vehicle coordinates,
    r=25.750000, x=25.720000, y=-0.390000, z=1.140000 tat = 500
: AshtechGps::processRecord() - $GPGGA,221653.00,,,,,0,00,,,M,,M,,*49

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.48,X-0.34,Y-1.16,Z-24.45

: Sonardyne - parsing R24.48,X-0.34,Y-1.16,Z-24.45

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

: Sonardyne - read R = 24.480000 from 24.48,X-0.34,Y-1.16,Z-24.45

: Sonardyne - got all data, Vehicle coordinates,
    r=24.480000, x=24.450000, y=-0.340000, z=1.160000 tat = 500
: AshtechGps::processRecord() - $GPGGA,221654.00,,,,,0,00,,,M,,M,,*4E

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.03,X-0.19,Y-1.06,Z-23.00

: Sonardyne - parsing R23.03,X-0.19,Y-1.06,Z-23.00

: Sonardyne - read R = 23.030000 from 23.03,X-0.19,Y-1.06,Z-23.00

: Sonardyne - got all data, Vehicle coordinates,
    r=23.030000, x=23.000000, y=-0.190000, z=1.060000 tat = 500
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.31,X-0.05,Y-1.23,Z-21.28

: Sonardyne - parsing R21.31,X-0.05,Y-1.23,Z-21.28

: Sonardyne - read R = 21.310000 from 21.31,X-0.05,Y-1.23,Z-21.28

: Sonardyne - got all data, Vehicle coordinates,
    r=21.310000, x=21.280000, y=-0.050000, z=1.230000 tat = 500
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.53,X-0.01,Y-1.22,Z-19.49

: Sonardyne - parsing R19.53,X-0.01,Y-1.22,Z-19.49

: Sonardyne - read R = 19.530000 from 19.53,X-0.01,Y-1.22,Z-19.49

: Sonardyne - got all data, Vehicle coordinates,
    r=19.530000, x=19.490000, y=-0.010000, z=1.220000 tat = 500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.04  9.40 16.99 3.87 3.90 0  -159.30 04:48:05 m

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.84,X-0.12,Y-1.45,Z-17.78

: Sonardyne - parsing R17.84,X-0.12,Y-1.45,Z-17.78

: Sonardyne - read R = 17.840000 from 17.84,X-0.12,Y-1.45,Z-17.78

: Sonardyne - got all data, Vehicle coordinates,
    r=17.840000, x=17.780000, y=-0.120000, z=1.450000 tat = 490
:  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 3.870000, mean min cell voltage 3.870000

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.26,X-0.20,Y-1.80,Z-16.15

: Sonardyne - parsing R16.26,X-0.20,Y-1.80,Z-16.15

: Sonardyne - read R = 16.260000 from 16.26,X-0.20,Y-1.80,Z-16.15

: Sonardyne - got all data, Vehicle coordinates,
    r=16.260000, x=16.150000, y=-0.200000, z=1.800000 tat = 490
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.62,X-0.23,Y-2.00,Z-14.48

: Sonardyne - parsing R14.62,X-0.23,Y-2.00,Z-14.48

: Sonardyne - read R = 14.620000 from 14.62,X-0.23,Y-2.00,Z-14.48

: Sonardyne - got all data, Vehicle coordinates,
    r=14.620000, x=14.480000, y=-0.230000, z=2.000000 tat = 490
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.08,X-0.22,Y-2.07,Z-12.91

: Sonardyne - parsing R13.08,X-0.22,Y-2.07,Z-12.91

: Sonardyne - read R = 13.080000 from 13.08,X-0.22,Y-2.07,Z-12.91

: Sonardyne - got all data, Vehicle coordinates,
    r=13.080000, x=12.910000, y=-0.220000, z=2.070000 tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.60,X-0.24,Y-2.18,Z-11.39

: Sonardyne - parsing R11.60,X-0.24,Y-2.18,Z-11.39

: Sonardyne - read R = 11.600000 from 11.60,X-0.24,Y-2.18,Z-11.39

: Sonardyne - got all data, Vehicle coordinates,
    r=11.600000, x=11.390000, y=-0.240000, z=2.180000 tat = 480
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.06,X-0.21,Y-2.41,Z-9.76

: Sonardyne - parsing R10.06,X-0.21,Y-2.41,Z-9.76

: Sonardyne - read R = 10.060000 from 10.06,X-0.21,Y-2.41,Z-9.76

: Sonardyne - got all data, Vehicle coordinates,
    r=10.060000, x=9.760000, y=-0.210000, z=2.410000 tat = 480
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


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

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

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


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

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

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


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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,N7.5,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,221706.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.03,X-0.17,Y4.03,Z0.00

: Sonardyne - parsing R4.03,X-0.17,Y4.03,Z0.00

: Sonardyne - read R = 4.030000 from 4.03,X-0.17,Y4.03,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.030000, x=0.000000, y=-0.170000, z=-4.030000 tat = 470
: 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

: BluefinBatt Reply: $aaq0 d- 31.04  9.09 17.08 3.87 3.90 0  -159.95 04:48:15 m

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.870000, mean min cell voltage 3.870000

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

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


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

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

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


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N10.5,D0,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,221710.00,,,,,0,00,,,M,,M,,*4F

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.02

: Sonardyne - parsing R5.02

: Sonardyne - read R = 5.020000 from 5.02

: Sonardyne - got range only (5.020000), tat = 450
: Sonardyne - POSD response: 
POSD S+140.9,N32.3,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.9,N32.3,D26,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,221711.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221711.00,,,,,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

:  WaypointHoming has set the state to finished.

: WaypointHoming (4051827.9, 600612.5), 
  reached at t = 383.59                                          (wplog)

: Vehicle Position is error is (0.2, 0.1)

: LayeredControl::execute() -- (t = 383.593722) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 383.60                            (wplog)
  The current location (N,E) = 4051827.7      , 600612.4         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 63.9 Degrees.

: LayeredControl::execute() -- (t = 383.603721) Behavior waypoint has changed to state Active

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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,N6.8,D0,U0,Q0.000000

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

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

: GpsUtils::parseFix() - $GPGGA,221714.00,,,,,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 R13.02

: Sonardyne - parsing R13.02

: Sonardyne - read R = 13.020000 from 13.02

: Sonardyne - got range only (13.020000), tat = 460
: Sonardyne - POSD response: 
POSD S130.4,N30.7,D6,U3,Q0.003557

: Sonardyne - POSD response: 
POSD S130.4,N30.7,D6,U3,Q0.003557

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R12.71

: Sonardyne - parsing R12.71

: Sonardyne - read R = 12.710000 from 12.71

: Sonardyne - got range only (12.710000), tat = 460
: Sonardyne - POSD response: 
POSD S123.9,N31.1,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.9,N31.1,D18,U0,Q0.000000

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

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


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

: BluefinBatt Reply: $aaq0 d- 31.00  9.33 17.08 3.87 3.90 0  -160.87 04:48:25 m

: Sonardyne - POS response: 
POS V4,1 R13.94

: Sonardyne - parsing R13.94

: Sonardyne - read R = 13.940000 from 13.94

: Sonardyne - got range only (13.940000), tat = 470
: Sonardyne - POSD response: 
POSD S125.6,N29.4,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N29.4,D18,U0,Q0.000000

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R15.11

: Sonardyne - parsing R15.11

: Sonardyne - read R = 15.110000 from 15.11

: Sonardyne - got range only (15.110000), tat = 470
: Sonardyne - POSD response: 
POSD S129.8,N30.9,D40,U2,Q0.007704

: Sonardyne - POSD response: 
POSD S129.8,N30.9,D40,U2,Q0.007704

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R16.73

: Sonardyne - parsing R16.73

: Sonardyne - read R = 16.730000 from 16.73

: Sonardyne - got range only (16.730000), tat = 470
: Sonardyne - POSD response: 
POSD S123.5,N18.4,D141,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N18.4,D141,U0,Q0.000000

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

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


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

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

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


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

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

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


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

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

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


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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.02

: Sonardyne - parsing R22.02

: Sonardyne - read R = 22.020000 from 22.02

: Sonardyne - got range only (22.020000), tat = 480
: Sonardyne - POSD response: 
POSD S132.9,N24.6,D93,U2,Q0.001415

: Sonardyne - POSD response: 
POSD S132.9,N24.6,D93,U2,Q0.001415

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

: AshtechGps::processRecord() - $GPGGA,221724.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.03

: Sonardyne - parsing R21.03

: Sonardyne - read R = 21.030000 from 21.03

: Sonardyne - got range only (21.030000), tat = 470
: Sonardyne - POSD response: 
POSD S+140.7,N29.0,D102,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+140.7,N29.0,D102,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,221725.00,,,,,0,00,,,M,,M,,*49

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.26

: Sonardyne - parsing R21.26

: Sonardyne - read R = 21.260000 from 21.26

: Sonardyne - got range only (21.260000), tat = 470
: Sonardyne - POSD response: 
POSD S+142.9,N30.1,D15,U3,Q0.008236

: Sonardyne - POSD response: 
POSD S+142.9,N30.1,D15,U3,Q0.008236

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 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 S+143.4,N28.6,D53,U3,Q0.004284

: Sonardyne - POSD response: 
POSD S+143.4,N28.6,D53,U3,Q0.004284

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

: BluefinBatt Reply: $aaq0 d- 31.00 10.27 17.08 3.87 3.90 0  -161.46 04:48:35 m

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.02

: Sonardyne - parsing R21.02

: Sonardyne - read R = 21.020000 from 21.02

: Sonardyne - got range only (21.020000), tat = 470
: Sonardyne - POSD response: 
POSD S138.9,N25.7,D-65,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.9,N25.7,D-65,U0,Q0.000000

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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.05

: Sonardyne - parsing R21.05

: Sonardyne - read R = 21.050000 from 21.05

: Sonardyne - got range only (21.050000), tat = 470
: Sonardyne - POSD response: 
POSD S138.7,N23.3,D-134,U3,Q0.004776

: Sonardyne - POSD response: 
POSD S138.7,N23.3,D-134,U3,Q0.004776

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.38

: Sonardyne - parsing R21.38

: Sonardyne - read R = 21.380000 from 21.38

: Sonardyne - got range only (21.380000), tat = 470
: Sonardyne - POSD response: 
POSD S137.9,N28.1,D97,U4,Q0.004086

: Sonardyne - POSD response: 
POSD S137.9,N28.1,D97,U4,Q0.004086

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

: AshtechGps::processRecord() - $GPGGA,221730.00,,,,,0,00,,,M,,M,,*4D

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.17

: Sonardyne - parsing R22.17

: Sonardyne - read R = 22.170000 from 22.17

: Sonardyne - got range only (22.170000), tat = 480
: Sonardyne - POSD response: 
POSD S137.9,N29.5,D5,U3,Q0.010039

: Sonardyne - POSD response: 
POSD S137.9,N29.5,D5,U3,Q0.010039

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.28

: Sonardyne - parsing R23.28

: Sonardyne - read R = 23.280000 from 23.28

: Sonardyne - got range only (23.280000), tat = 480
: Sonardyne - POSD response: 
POSD S138.5,N26.2,D61,U3,Q0.005620

: Sonardyne - POSD response: 
POSD S138.5,N26.2,D61,U3,Q0.005620

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.80

: Sonardyne - parsing R23.80

: Sonardyne - read R = 23.800000 from 23.80

: Sonardyne - got range only (23.800000), tat = 480
: Sonardyne - POSD response: 
POSD S137.7,N33.9,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N33.9,D-16,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,221733.00,,,,,0,00,,,M,,M,,*4E

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.51

: Sonardyne - parsing R24.51

: Sonardyne - read R = 24.510000 from 24.51

: Sonardyne - got range only (24.510000), tat = 480
: Sonardyne - POSD response: 
POSD S133.7,N29.3,D23,U3,Q0.008601

: Sonardyne - POSD response: 
POSD S133.7,N29.3,D23,U3,Q0.008601

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

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.25

: Sonardyne - parsing R27.25

: Sonardyne - read R = 27.250000 from 27.25

: Sonardyne - got range only (27.250000), tat = 480
: Sonardyne - POSD response: 
POSD S126.8,N19.3,D24,U1,Q0.017227

: Sonardyne - POSD response: 
POSD S126.8,N19.3,D24,U1,Q0.017227

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

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

: GpsUtils::parseFix() - $GPGGA,221735.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.29

: Sonardyne - parsing R27.29

: Sonardyne - read R = 27.290000 from 27.29

: Sonardyne - got range only (27.290000), tat = 480
: Sonardyne - POSD response: 
POSD S126.8,N28.9,D50,U5,Q0.004890

: Sonardyne - POSD response: 
POSD S126.8,N28.9,D50,U5,Q0.004890

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

: AshtechGps::processRecord() - $GPGGA,221736.00,,,,,0,00,,,M,,M,,*4B

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


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

: BluefinBatt Reply: $aaq0 d- 31.00  9.60 17.08 3.87 3.89 0  -162.44 04:48:45 m

: AshtechGps::processRecord() - $GPGGA,221737.00,,,,,0,00,,,M,,M,,*4A

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.870000, mean min cell voltage 3.870000

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

: GpsUtils::parseFix() - $GPGGA,221738.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221739.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221739.00,,,,,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 R33.88

: Sonardyne - parsing R33.88

: Sonardyne - read R = 33.880000 from 33.88

: Sonardyne - got range only (33.880000), tat = 490
: Sonardyne - POSD response: 
POSD S124.3,N26.1,D-18,U2,Q0.005500

: Sonardyne - POSD response: 
POSD S124.3,N26.1,D-18,U2,Q0.005500

: AshtechGps::processRecord() - $GPGGA,221740.00,,,,,0,00,,,M,,M,,*4A

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R33.62

: Sonardyne - parsing R33.62

: Sonardyne - read R = 33.620000 from 33.62

: Sonardyne - got range only (33.620000), tat = 490
: Sonardyne - POSD response: 
POSD S118.6,N26.6,D61,U2,Q0.006139

: Sonardyne - POSD response: 
POSD S118.6,N26.6,D61,U2,Q0.006139

: AshtechGps::processRecord() - $GPGGA,221741.00,,,,,0,00,,,M,,M,,*4B

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R39.53

: Sonardyne - parsing R39.53

: Sonardyne - read R = 39.530000 from 39.53

: Sonardyne - got range only (39.530000), tat = 500
: Sonardyne - POSD response: 
POSD S120.0,N25.7,D-1,U1,Q0.007972

: Sonardyne - POSD response: 
POSD S120.0,N25.7,D-1,U1,Q0.007972

: AshtechGps::processRecord() - $GPGGA,221742.00,,,,,0,00,,,M,,M,,*48

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R36.91

: Sonardyne - parsing R36.91

: Sonardyne - read R = 36.910000 from 36.91

: Sonardyne - got range only (36.910000), tat = 500
: Sonardyne - POSD response: 
POSD S115.8,N26.3,D51,U1,Q0.006921

: Sonardyne - POSD response: 
POSD S115.8,N26.3,D51,U1,Q0.006921

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

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


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R39.69

: Sonardyne - parsing R39.69

: Sonardyne - read R = 39.690000 from 39.69

: Sonardyne - got range only (39.690000), tat = 500
: Sonardyne - POSD response: 
POSD S110.1,N17.4,D-118,U1,Q0.009340

: Sonardyne - POSD response: 
POSD S110.1,N17.4,D-118,U1,Q0.009340

: AshtechGps::processRecord() - $GPGGA,221744.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221744.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R41.46

: Sonardyne - parsing R41.46

: Sonardyne - read R = 41.460000 from 41.46

: Sonardyne - got range only (41.460000), tat = 500
: Sonardyne - POSD response: 
POSD S110.9,N15.2,D144,U1,Q0.011612

: Sonardyne - POSD response: 
POSD S110.9,N15.2,D144,U1,Q0.011612

: AshtechGps::processRecord() - $GPGGA,221745.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221745.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,221746.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221746.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.00  9.16 17.08 3.87 3.89 0  -163.08 04:48:55 m

: AshtechGps::processRecord() - $GPGGA,221747.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221747.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221748.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221748.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221749.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221749.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.55

: Sonardyne - parsing R50.55

: Sonardyne - read R = 50.550000 from 50.55

: Sonardyne - got range only (50.550000), tat = 510
: Sonardyne - POSD response: 
POSD S120.3,N24.8,D-51,U3,Q0.002965

: Sonardyne - POSD response: 
POSD S120.3,N24.8,D-51,U3,Q0.002965

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

: AshtechGps::processRecord() - $GPGGA,221750.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221750.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.97

: Sonardyne - parsing R49.97

: Sonardyne - read R = 49.970000 from 49.97

: Sonardyne - got range only (49.970000), tat = 510
: Sonardyne - POSD response: 
POSD S118.6,N24.3,D127,U1,Q0.006921

: Sonardyne - POSD response: 
POSD S118.6,N24.3,D127,U1,Q0.006921

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

: AshtechGps::processRecord() - $GPGGA,221751.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221751.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221752.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221752.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221753.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221753.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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,N10.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221754.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,221754.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,221755.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,221755.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,221756.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221756.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.06 17.08 3.87 3.90 0  -163.98 04:49:05 m

: AshtechGps::processRecord() - $GPGGA,221757.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221757.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221758.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221758.00,,,,,0,00,,,M,,M,,*43


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

: LayeredControl::execute() -- (t = 430.800488) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 430.80                            (wplog)
  The current location (N,E) = 4051852.2      , 600661.6         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 340.6 Degrees.

: LayeredControl::execute() -- (t = 430.800488) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,221759.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221759.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221800.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221800.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221801.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221801.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R70.89

: Sonardyne - parsing R70.89

: Sonardyne - read R = 70.890000 from 70.89

: Sonardyne - got range only (70.890000), tat = 540
: Sonardyne - POSD response: 
POSD S114.4,N30.8,D-52,U2,Q0.004077

: Sonardyne - POSD response: 
POSD S114.4,N30.8,D-52,U2,Q0.004077

: AshtechGps::processRecord() - $GPGGA,221802.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221802.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221803.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221803.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221804.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221804.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221805.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221805.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221806.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221806.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.97

: Sonardyne - parsing R71.97

: Sonardyne - read R = 71.970000 from 71.97

: Sonardyne - got range only (71.970000), tat = 540
: Sonardyne - POSD response: 
POSD S121.1,N25.3,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.1,N25.3,D46,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.04  8.55 17.08 3.87 3.90 0  -164.61 04:49:15 m

: AshtechGps::processRecord() - $GPGGA,221807.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221807.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.04

: Sonardyne - parsing R73.04

: Sonardyne - read R = 73.040000 from 73.04

: Sonardyne - got range only (73.040000), tat = 540
: Sonardyne - POSD response: 
POSD S125.8,N31.7,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N31.7,D16,U0,Q0.000000

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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221808.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221808.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,221809.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221809.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,221810.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221810.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221811.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221811.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R73.49,X55.58,Y48.09,Z0.00

: Sonardyne - parsing R73.49,X55.58,Y48.09,Z0.00

: Sonardyne - read R = 73.490000 from 73.49,X55.58,Y48.09,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=73.490000, x=0.000000, y=55.580000, z=-48.090000 tat = 570
: AshtechGps::processRecord() - $GPGGA,221812.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221812.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R72.99

: Sonardyne - parsing R72.99

: Sonardyne - read R = 72.990000 from 72.99

: Sonardyne - got range only (72.990000), tat = 539
: Sonardyne - POSD response: 
POSD S136.7,N22.7,D-122,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N22.7,D-122,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221813.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221813.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R72.80

: Sonardyne - parsing R72.80

: Sonardyne - read R = 72.800000 from 72.80

: Sonardyne - got range only (72.800000), tat = 540
: Sonardyne - POSD response: 
POSD S+140.6,N30.3,D-46,U2,Q0.005028

: Sonardyne - POSD response: 
POSD S+140.6,N30.3,D-46,U2,Q0.005028

: AshtechGps::processRecord() - $GPGGA,221814.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221814.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R72.08

: Sonardyne - parsing R72.08

: Sonardyne - read R = 72.080000 from 72.08

: Sonardyne - got range only (72.080000), tat = 540
: Sonardyne - POSD response: 
POSD S+143.9,N29.9,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+143.9,N29.9,D-36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221815.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221815.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R71.50

: Sonardyne - parsing R71.50

: Sonardyne - read R = 71.500000 from 71.50

: Sonardyne - got range only (71.500000), tat = 540
: Sonardyne - POSD response: 
POSD S+142.9,N28.6,D30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.9,N28.6,D30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221816.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221816.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.87 17.08 3.86 3.89 0  -165.53 04:49:25 m

: Sonardyne - POS response: 
POS V4,1 R70.99,X-58.09,Y11.07,Z-39.28

: Sonardyne - parsing R70.99,X-58.09,Y11.07,Z-39.28

: Sonardyne - read R = 70.990000 from 70.99,X-58.09,Y11.07,Z-39.28

: Sonardyne - got all data, Vehicle coordinates,
    r=70.990000, x=39.280000, y=-58.090000, z=-11.070000 tat = 570
: Sonardyne - POSD response: 
POSD S+143.5,N29.8,D32,U8,Q0.001777

: AshtechGps::processRecord() - $GPGGA,221817.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221817.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R70.20

: Sonardyne - parsing R70.20

: Sonardyne - read R = 70.200000 from 70.20

: Sonardyne - got range only (70.200000), tat = 540
: Sonardyne - POSD response: 
POSD S134.2,N20.5,D74,U3,Q0.012833

: Sonardyne - POSD response: 
POSD S134.2,N20.5,D74,U3,Q0.012833

: AshtechGps::processRecord() - $GPGGA,221818.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221818.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 R69.56

: Sonardyne - parsing R69.56

: Sonardyne - read R = 69.560000 from 69.56

: Sonardyne - got range only (69.560000), tat = 540
: Sonardyne - POSD response: 
POSD S133.6,N17.9,D-114,U4,Q0.004925

: Sonardyne - POSD response: 
POSD S133.6,N17.9,D-114,U4,Q0.004925

: AshtechGps::processRecord() - $GPGGA,221819.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221819.00,,,,,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 R68.98

: Sonardyne - parsing R68.98

: Sonardyne - read R = 68.980000 from 68.98

: Sonardyne - got range only (68.980000), tat = 540
: Sonardyne - POSD response: 
POSD S136.7,N26.1,D47,U1,Q0.006523

: Sonardyne - POSD response: 
POSD S136.7,N26.1,D47,U1,Q0.006523

: AshtechGps::processRecord() - $GPGGA,221820.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221820.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R68.48

: Sonardyne - parsing R68.48

: Sonardyne - read R = 68.480000 from 68.48

: Sonardyne - got range only (68.480000), tat = 540
: Sonardyne - POSD response: 
POSD S137.1,N30.3,D-17,U4,Q0.011819

: Sonardyne - POSD response: 
POSD S137.1,N30.3,D-17,U4,Q0.011819

: AshtechGps::processRecord() - $GPGGA,221821.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221821.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R67.96

: Sonardyne - parsing R67.96

: Sonardyne - read R = 67.960000 from 67.96

: Sonardyne - got range only (67.960000), tat = 540
: Sonardyne - POSD response: 
POSD S137.1,N28.1,D-60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N28.1,D-60,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221822.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221822.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R71.44

: Sonardyne - parsing R71.44

: Sonardyne - read R = 71.440000 from 71.44

: Sonardyne - got range only (71.440000), tat = 540
: Sonardyne - POSD response: 
POSD S128.1,N23.8,D-65,U1,Q0.011963

: Sonardyne - POSD response: 
POSD S128.1,N23.8,D-65,U1,Q0.011963

: AshtechGps::processRecord() - $GPGGA,221823.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221823.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R67.16

: Sonardyne - parsing R67.16

: Sonardyne - read R = 67.160000 from 67.16

: Sonardyne - got range only (67.160000), tat = 540
: Sonardyne - POSD response: 
POSD S131.8,N27.6,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.8,N27.6,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221824.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221824.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R67.05

: Sonardyne - parsing R67.05

: Sonardyne - read R = 67.050000 from 67.05

: Sonardyne - got range only (67.050000), tat = 540
: Sonardyne - POSD response: 
POSD S137.1,N32.6,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N32.6,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221825.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221825.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R67.05

: Sonardyne - parsing R67.05

: Sonardyne - read R = 67.050000 from 67.05

: Sonardyne - got range only (67.050000), tat = 540
: Sonardyne - POSD response: 
POSD S136.3,N29.2,D21,U1,Q0.014513

: Sonardyne - POSD response: 
POSD S136.3,N29.2,D21,U1,Q0.014513

: AshtechGps::processRecord() - $GPGGA,221826.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221826.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.43 17.08 3.86 3.89 0  -166.21 04:49:35 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 R66.49,X50.75,Y40.15,Z-15.31

: Sonardyne - parsing R66.49,X50.75,Y40.15,Z-15.31

: Sonardyne - read R = 66.490000 from 66.49,X50.75,Y40.15,Z-15.31

: Sonardyne - got all data, Vehicle coordinates,
    r=66.490000, x=15.310000, y=50.750000, z=-40.150000 tat = 560
: AshtechGps::processRecord() - $GPGGA,221827.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221827.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

:  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 R67.76

: Sonardyne - parsing R67.76

: Sonardyne - read R = 67.760000 from 67.76

: Sonardyne - got range only (67.760000), tat = 540
: Sonardyne - POSD response: 
POSD S134.9,N29.6,D13,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S134.9,N29.6,D13,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,221828.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221828.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R66.96

: Sonardyne - parsing R66.96

: Sonardyne - read R = 66.960000 from 66.96

: Sonardyne - got range only (66.960000), tat = 540
: Sonardyne - POSD response: 
POSD S129.1,N20.4,D-68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.1,N20.4,D-68,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221829.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221829.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R67.99

: Sonardyne - parsing R67.99

: Sonardyne - read R = 67.990000 from 67.99

: Sonardyne - got range only (67.990000), tat = 540
: Sonardyne - POSD response: 
POSD S139.2,N33.5,D19,U5,Q0.000275

: Sonardyne - POSD response: 
POSD S139.2,N33.5,D19,U5,Q0.000275

: AshtechGps::processRecord() - $GPGGA,221830.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221830.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R67.13,X48.56,Y-29.87,Z-35.45

: Sonardyne - parsing R67.13,X48.56,Y-29.87,Z-35.45

: Sonardyne - read R = 67.130000 from 67.13,X48.56,Y-29.87,Z-35.45

: Sonardyne - got all data, Vehicle coordinates,
    r=67.130000, x=35.450000, y=48.560000, z=29.870000 tat = 560
: AshtechGps::processRecord() - $GPGGA,221831.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221831.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R67.72

: Sonardyne - parsing R67.72

: Sonardyne - read R = 67.720000 from 67.72

: Sonardyne - got range only (67.720000), tat = 540
: Sonardyne - POSD response: 
POSD S131.9,N22.1,D-91,U1,Q0.000637

: Sonardyne - POSD response: 
POSD S131.9,N22.1,D-91,U1,Q0.000637

: AshtechGps::processRecord() - $GPGGA,221832.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221832.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221833.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221833.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221834.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,221835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221835.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221836.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R70.11

: Sonardyne - parsing R70.11

: Sonardyne - read R = 70.110000 from 70.11

: Sonardyne - got range only (70.110000), tat = 540
: Sonardyne - POSD response: 
POSD S125.8,N21.8,D129,U1,Q0.013758

: Sonardyne - POSD response: 
POSD S125.8,N21.8,D129,U1,Q0.013758

: BluefinBatt Reply: $aaq0 d- 31.00  8.52 17.08 3.87 3.89 0  -167.23 04:49:45 m

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

: AshtechGps::processRecord() - $GPGGA,221837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221837.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R70.86

: Sonardyne - parsing R70.86

: Sonardyne - read R = 70.860000 from 70.86

: Sonardyne - got range only (70.860000), tat = 540
: Sonardyne - POSD response: 
POSD S127.1,N24.6,D66,U1,Q0.008688

: Sonardyne - POSD response: 
POSD S127.1,N24.6,D66,U1,Q0.008688

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221838.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221839.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,221840.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221840.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 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,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,221841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221841.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,221842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221842.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221843.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,221844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221844.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221845.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R78.55

: Sonardyne - parsing R78.55

: Sonardyne - read R = 78.550000 from 78.55

: Sonardyne - got range only (78.550000), tat = 550
: Sonardyne - POSD response: 
POSD S121.2,N19.9,D129,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.2,N19.9,D129,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,221846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221846.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R79.66

: Sonardyne - parsing R79.66

: Sonardyne - read R = 79.660000 from 79.66

: Sonardyne - got range only (79.660000), tat = 550
: Sonardyne - POSD response: 
POSD S120.2,N27.5,D41,U1,Q0.015386

: Sonardyne - POSD response: 
POSD S120.2,N27.5,D41,U1,Q0.015386

: BluefinBatt Reply: $aaq0 d- 31.04  8.69 17.08 3.87 3.89 0  -167.83 04:49:55 m

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

: AshtechGps::processRecord() - $GPGGA,221847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221847.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221848.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,221849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221849.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 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,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221850.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,221851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221851.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221852.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221853.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221854.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.05

: Sonardyne - parsing R89.05

: Sonardyne - read R = 89.050000 from 89.05

: Sonardyne - got range only (89.050000), tat = 570
: Sonardyne - POSD response: 
POSD S115.1,N22.6,D17,U1,Q0.006074

: Sonardyne - POSD response: 
POSD S115.1,N22.6,D17,U1,Q0.006074

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

: AshtechGps::processRecord() - $GPGGA,221855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221855.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.26

: Sonardyne - parsing R90.26

: Sonardyne - read R = 90.260000 from 90.26

: Sonardyne - got range only (90.260000), tat = 570
: Sonardyne - POSD response: 
POSD S113.3,N23.2,D40,U1,Q0.002623

: Sonardyne - POSD response: 
POSD S113.3,N23.2,D40,U1,Q0.002623

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

: AshtechGps::processRecord() - $GPGGA,221856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221856.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.57 17.08 3.87 3.89 0  -168.75 04:50:05 m

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

: AshtechGps::processRecord() - $GPGGA,221857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221857.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221858.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221859.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.30

: Sonardyne - parsing R96.30

: Sonardyne - read R = 96.300000 from 96.30

: Sonardyne - got range only (96.300000), tat = 580
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S118.7,N30.1,D32,U1,Q0.006523

: Sonardyne - POSD response: 
POSD S118.7,N30.1,D32,U1,Q0.006523

: AshtechGps::processRecord() - $GPGGA,221900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221900.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,221901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221901.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221902.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221903.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221904.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.32

: Sonardyne - parsing R104.32

: Sonardyne - read R = 104.320000 from 104.32

: Sonardyne - got range only (104.320000), tat = 590
: Sonardyne - POSD response: 
POSD S114.3,N22.7,D-20,U1,Q0.005404

: Sonardyne - POSD response: 
POSD S114.3,N22.7,D-20,U1,Q0.005404

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

: AshtechGps::processRecord() - $GPGGA,221905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221905.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221906.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  9.13 17.08 3.87 3.89 0  -169.34 04:50:15 m

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

: AshtechGps::processRecord() - $GPGGA,221907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221907.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: Sonardyne - POSD response: 
POSD S-100.0,N7.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221908.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,221909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221909.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,221910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221910.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221911.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221912.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.48

: Sonardyne - parsing R115.48

: Sonardyne - read R = 115.480000 from 115.48

: Sonardyne - got range only (115.480000), tat = 600
: Sonardyne - POSD response: 
POSD S108.4,N21.8,D123,U1,Q0.011612

: Sonardyne - POSD response: 
POSD S108.4,N21.8,D123,U1,Q0.011612

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

: AshtechGps::processRecord() - $GPGGA,221913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221913.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221914.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221915.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,221916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221916.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.16 17.08 3.87 3.89 0  -170.24 04:50:25 m

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

: AshtechGps::processRecord() - $GPGGA,221917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221917.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,221918.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,221919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,221919.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221920.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221921.00,,,,,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,221922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221922.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221923.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221924.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,221925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221925.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,221926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221926.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $aaq0 d- 30.96  9.70 17.08 3.87 3.89 0  -170.87 04:50:35 m

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

: AshtechGps::processRecord() - $GPGGA,221927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221927.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,221928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221928.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221929.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221930.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.21

: Sonardyne - parsing R147.21

: Sonardyne - read R = 147.210000 from 147.21

: Sonardyne - got range only (147.210000), tat = 650
: Sonardyne - POSD response: 
POSD S103.5,N14.2,D27,U1,Q0.014933

: Sonardyne - POSD response: 
POSD S103.5,N14.2,D27,U1,Q0.014933

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

: AshtechGps::processRecord() - $GPGGA,221931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221931.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,221932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221932.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221933.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,221934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221934.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221935.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,221936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221936.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.06 17.08 3.86 3.89 0  -171.81 04:50:45 m

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

: AshtechGps::processRecord() - $GPGGA,221937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221937.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,221938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,221938.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,221939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,221939.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,221940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221940.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,221941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221941.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221942.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221943.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,221944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221944.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,221945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221945.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221946.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  8.08 17.08 3.86 3.89 0  -172.41 04:50:55 m

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

: AshtechGps::processRecord() - $GPGGA,221947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221947.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,221948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221948.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221949.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,221950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,221950.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,221951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,221951.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,221952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,221952.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,221953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,221953.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,221954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,221954.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,221955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,221955.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,221956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,221956.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  9.06 17.08 3.87 3.89 0  -173.33 04:51:05 m

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

: AshtechGps::processRecord() - $GPGGA,221957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,221957.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,221958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,221958.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,221959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,221959.00,,,,,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,222000.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222000.00,,,,,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,222001.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222001.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222002.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222002.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222003.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222003.00,,,,,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,222004.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222004.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222005.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222005.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 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,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222006.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222006.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.00  9.43 17.08 3.87 3.89 0  -173.93 04:51:15 m

: AshtechGps::processRecord() - $GPGGA,222007.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222007.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,222008.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222008.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222009.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222009.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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,222010.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222010.00,,,,,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,222011.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222011.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,222012.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222012.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222013.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222013.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222014.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222014.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222015.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222015.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222016.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222016.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.7,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.00  8.55 17.08 3.87 3.89 0  -174.82 04:51:25 m

: AshtechGps::processRecord() - $GPGGA,222017.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222017.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,222018.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222018.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,222019.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222019.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222020.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222020.00,,,,,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,222021.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222021.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,222022.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222022.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,222023.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222023.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222024.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222024.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,222025.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222025.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,222026.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222026.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.67 17.08 3.87 3.89 0  -175.45 04:51:35 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222027.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222027.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,222028.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222028.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,222029.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222029.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,222030.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222030.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222031.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222031.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,222032.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222032.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222033.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222033.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222034.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222034.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,222035.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222035.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,222036.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222036.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 31.00  8.69 17.08 3.86 3.89 0  -176.39 04:51:45 m

: AshtechGps::processRecord() - $GPGGA,222037.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222037.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.4,D0,U0,Q0.000000

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,222038.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222038.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,222039.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222039.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,222040.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222040.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222041.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222041.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222042.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222042.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,222043.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222043.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222044.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222044.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,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,222045.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222045.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222046.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222046.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.94 17.08 3.86 3.89 0  -177.00 04:51:55 m

: AshtechGps::processRecord() - $GPGGA,222047.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222047.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222048.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222048.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,222049.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222049.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,222050.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222050.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222051.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222051.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 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,N6.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222052.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222052.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,222053.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222053.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222054.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222054.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 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,N9.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222055.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222055.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,222056.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222056.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.77 17.08 3.86 3.89 0  -177.92 04:52:05 m

: AshtechGps::processRecord() - $GPGGA,222057.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222057.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,222058.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222058.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N7.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222059.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222059.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,222100.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222100.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222101.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222101.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222102.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222102.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,222103.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222103.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222104.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222104.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222105.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222105.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,222106.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222106.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 30.96  8.82 17.08 3.86 3.89 0  -178.54 04:52:15 m

: AshtechGps::processRecord() - $GPGGA,222107.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222107.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,222108.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222108.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222109.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222109.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222110.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222110.00,,,,,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,222111.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222111.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222112.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222112.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,222113.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222113.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222114.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222114.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222115.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222115.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052136.3, 600561.4), 
  reached at t = 627.00                                          (wplog)

: Vehicle Position is error is (0.0, 1.1)

: LayeredControl::execute() -- (t = 626.997048) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 626.997048) Behavior ascend has changed to state Active

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222116.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222116.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.46 17.08 3.86 3.89 0  -179.54 04:52:25 m

: AshtechGps::processRecord() - $GPGGA,222117.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222117.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,222118.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222118.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,222119.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222119.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,222120.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222120.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,222121.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222121.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,222122.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222122.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222123.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222123.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222124.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222124.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,222125.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222125.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,222126.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222126.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.00  8.39 17.18 3.86 3.89 0  -180.07 04:52:35 m

: AshtechGps::processRecord() - $GPGGA,222127.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222127.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,222128.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222128.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,222129.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222129.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,222130.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222130.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 641.996020) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 641.996020) Behavior getgps has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,222131.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222131.00,,,,,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,222132.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222132.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,222133.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222133.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222134.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222134.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R309.03

: Sonardyne - parsing R309.03

: Sonardyne - read R = 309.030000 from 309.03

: Sonardyne - got range only (309.030000), tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S128.5,N25.6,D52,U4,Q0.000255

: Sonardyne - POSD response: 
POSD S128.5,N25.6,D52,U4,Q0.000255

: AshtechGps::processRecord() - $GPGGA,222135.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222135.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R308.24,X-34.61,Y23.12,Z-305.42

: Sonardyne - parsing R308.24,X-34.61,Y23.12,Z-305.42

: Sonardyne - read R = 308.240000 from 308.24,X-34.61,Y23.12,Z-305.42

: Sonardyne - got all data, Vehicle coordinates,
    r=308.240000, x=305.420000, y=-34.610000, z=-23.120000 tat = 890
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222136.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222136.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R307.54,X-49.59,Y12.61,Z-303.26

: Sonardyne - parsing R307.54,X-49.59,Y12.61,Z-303.26

: Sonardyne - read R = 307.540000 from 307.54,X-49.59,Y12.61,Z-303.26

: Sonardyne - got all data, Vehicle coordinates,
    r=307.540000, x=303.260000, y=-49.590000, z=-12.610000 tat = 889
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.15  3.90 17.18 3.88 3.91 0  -180.86 04:52:45 m

: AshtechGps::processRecord() - $GPGGA,222137.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222137.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.70,X-58.47,Y11.97,Z-300.84

: Sonardyne - parsing R306.70,X-58.47,Y11.97,Z-300.84

: Sonardyne - read R = 306.700000 from 306.70,X-58.47,Y11.97,Z-300.84

: Sonardyne - got all data, Vehicle coordinates,
    r=306.700000, x=300.840000, y=-58.470000, z=-11.970000 tat = 890
:  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,222138.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222138.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R306.03,X-65.98,Y-0.94,Z-298.83

: Sonardyne - parsing R306.03,X-65.98,Y-0.94,Z-298.83

: Sonardyne - read R = 306.030000 from 306.03,X-65.98,Y-0.94,Z-298.83

: Sonardyne - got all data, Vehicle coordinates,
    r=306.030000, x=298.830000, y=-65.980000, z=0.940000 tat = 880
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222139.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222139.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R305.24,X-85.13,Y6.43,Z-293.06

: Sonardyne - parsing R305.24,X-85.13,Y6.43,Z-293.06

: Sonardyne - read R = 305.240000 from 305.24,X-85.13,Y6.43,Z-293.06

: Sonardyne - got all data, Vehicle coordinates,
    r=305.240000, x=293.060000, y=-85.130000, z=-6.430000 tat = 880
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222140.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222140.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.83,X-93.82,Y-3.28,Z-290.02

: Sonardyne - parsing R304.83,X-93.82,Y-3.28,Z-290.02

: Sonardyne - read R = 304.830000 from 304.83,X-93.82,Y-3.28,Z-290.02

: Sonardyne - got all data, Vehicle coordinates,
    r=304.830000, x=290.020000, y=-93.820000, z=3.280000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222141.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222141.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R303.96,X-110.85,Y-4.55,Z-282.99

: Sonardyne - parsing R303.96,X-110.85,Y-4.55,Z-282.99

: Sonardyne - read R = 303.960000 from 303.96,X-110.85,Y-4.55,Z-282.99

: Sonardyne - got all data, Vehicle coordinates,
    r=303.960000, x=282.990000, y=-110.850000, z=4.550000 tat = 880
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222142.00,3636.58038,N,12152.49472,W,1,11,0.8,-4.98,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222142.00,3636.58038,N,12152.49472,W,1,11,0.8,-4.98,M,-33.21,M,,*7A


: successfully parse sentence at 22:21:42

: AshtechGPS::processRecord -sample time is 1142288502
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R303.75,X-117.15,Y-9.00,Z-280.10

: Sonardyne - parsing R303.75,X-117.15,Y-9.00,Z-280.10

: Sonardyne - read R = 303.750000 from 303.75,X-117.15,Y-9.00,Z-280.10

: Sonardyne - got all data, Vehicle coordinates,
    r=303.750000, x=280.100000, y=-117.150000, z=9.000000 tat = 880
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222143.00,3636.58012,N,12152.49473,W,1,11,0.8,-5.41,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222143.00,3636.58012,N,12152.49473,W,1,11,0.8,-5.41,M,-33.21,M,,*77


: successfully parse sentence at 22:21:43

: AshtechGPS::processRecord -sample time is 1142288503
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R303.24,X-131.36,Y11.05,Z-273.09

: Sonardyne - parsing R303.24,X-131.36,Y11.05,Z-273.09

: Sonardyne - read R = 303.240000 from 303.24,X-131.36,Y11.05,Z-273.09

: Sonardyne - got all data, Vehicle coordinates,
    r=303.240000, x=273.090000, y=-131.360000, z=-11.050000 tat = 880
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222144.00,3636.57971,N,12152.49465,W,1,11,0.8,-5.05,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222144.00,3636.57971,N,12152.49465,W,1,11,0.8,-5.05,M,-33.21,M,,*74


: successfully parse sentence at 22:21:44

: AshtechGPS::processRecord -sample time is 1142288504
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R302.95,X-139.70,Y-15.85,Z-268.35

: Sonardyne - parsing R302.95,X-139.70,Y-15.85,Z-268.35

: Sonardyne - read R = 302.950000 from 302.95,X-139.70,Y-15.85,Z-268.35

: Sonardyne - got all data, Vehicle coordinates,
    r=302.950000, x=268.350000, y=-139.700000, z=15.850000 tat = 880
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222145.00,3636.57952,N,12152.49475,W,1,11,0.8,-5.10,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222145.00,3636.57952,N,12152.49475,W,1,11,0.8,-5.10,M,-33.21,M,,*71


: successfully parse sentence at 22:21:45

: AshtechGPS::processRecord -sample time is 1142288505
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R302.55,X-148.39,Y-3.23,Z-263.65

: Sonardyne - parsing R302.55,X-148.39,Y-3.23,Z-263.65

: Sonardyne - read R = 302.550000 from 302.55,X-148.39,Y-3.23,Z-263.65

: Sonardyne - got all data, Vehicle coordinates,
    r=302.550000, x=263.650000, y=-148.390000, z=3.230000 tat = 880
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222146.00,3636.57929,N,12152.49470,W,1,11,0.8,-4.94,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222146.00,3636.57929,N,12152.49470,W,1,11,0.8,-4.94,M,-33.21,M,,*76


: successfully parse sentence at 22:21:46

: AshtechGPS::processRecord -sample time is 1142288506
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R302.33,X-158.20,Y12.60,Z-257.32

: Sonardyne - parsing R302.33,X-158.20,Y12.60,Z-257.32

: Sonardyne - read R = 302.330000 from 302.33,X-158.20,Y12.60,Z-257.32

: Sonardyne - got all data, Vehicle coordinates,
    r=302.330000, x=257.320000, y=-158.200000, z=-12.600000 tat = 880
: BluefinBatt Reply: $aaq0 d- 31.19  3.30 17.18 3.88 3.91 0  -181.07 04:52:55 m

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

: AshtechGps::processRecord() - $GPGGA,222147.00,3636.57907,N,12152.49472,W,1,11,0.8,-4.98,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222147.00,3636.57907,N,12152.49472,W,1,11,0.8,-4.98,M,-33.21,M,,*75


: successfully parse sentence at 22:21:47

: AshtechGPS::processRecord -sample time is 1142288507
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R301.79,X-159.41,Y-15.91,Z-255.77

: Sonardyne - parsing R301.79,X-159.41,Y-15.91,Z-255.77

: Sonardyne - read R = 301.790000 from 301.79,X-159.41,Y-15.91,Z-255.77

: Sonardyne - got all data, Vehicle coordinates,
    r=301.790000, x=255.770000, y=-159.410000, z=15.910000 tat = 880
: 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,222148.00,3636.57884,N,12152.49471,W,1,11,0.8,-4.97,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222148.00,3636.57884,N,12152.49471,W,1,11,0.8,-4.97,M,-33.21,M,,*7C


: successfully parse sentence at 22:21:48

: AshtechGPS::processRecord -sample time is 1142288508
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R301.26

: Sonardyne - parsing R301.26

: Sonardyne - read R = 301.260000 from 301.26

: Sonardyne - got range only (301.260000), tat = 850
: Sonardyne - POSD response: 
POSD S128.7,N32.1,D10,U3,Q0.008604

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

: Sonardyne - POSD response: 
POSD S128.7,N32.1,D10,U3,Q0.008604

: AshtechGps::processRecord() - $GPGGA,222149.00,3636.57865,N,12152.49472,W,1,11,0.8,-4.99,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222149.00,3636.57865,N,12152.49472,W,1,11,0.8,-4.99,M,-33.21,M,,*7F


: successfully parse sentence at 22:21:49

: AshtechGPS::processRecord -sample time is 1142288509
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R300.87,X-168.79,Y1.89,Z-249.05

: Sonardyne - parsing R300.87,X-168.79,Y1.89,Z-249.05

: Sonardyne - read R = 300.870000 from 300.87,X-168.79,Y1.89,Z-249.05

: Sonardyne - got all data, Vehicle coordinates,
    r=300.870000, x=249.050000, y=-168.790000, z=-1.890000 tat = 880
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222150.00,3636.57841,N,12152.49470,W,1,11,0.8,-4.87,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222150.00,3636.57841,N,12152.49470,W,1,11,0.8,-4.87,M,-33.21,M,,*7C


: successfully parse sentence at 22:21:50

: AshtechGPS::processRecord -sample time is 1142288510
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R300.20,X-172.65,Y-2.91,Z-245.57

: Sonardyne - parsing R300.20,X-172.65,Y-2.91,Z-245.57

: Sonardyne - read R = 300.200000 from 300.20,X-172.65,Y-2.91,Z-245.57

: Sonardyne - got all data, Vehicle coordinates,
    r=300.200000, x=245.570000, y=-172.650000, z=2.910000 tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222151.00,3636.57820,N,12152.49472,W,1,11,0.8,-5.00,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222151.00,3636.57820,N,12152.49472,W,1,11,0.8,-5.00,M,-33.21,M,,*76


: successfully parse sentence at 22:21:51

: AshtechGPS::processRecord -sample time is 1142288511
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 662.994582) 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 = 663.194568) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 663.194568) Behavior missionTimer has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R299.92,X-183.38,Y6.54,Z-237.23

: Sonardyne - parsing R299.92,X-183.38,Y6.54,Z-237.23

: Sonardyne - read R = 299.920000 from 299.92,X-183.38,Y6.54,Z-237.23

: Sonardyne - got all data, Vehicle coordinates,
    r=299.920000, x=237.230000, y=-183.380000, z=-6.540000 tat = 879
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222152.00,3636.57808,N,12152.49476,W,1,11,0.8,-5.04,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222152.00,3636.57808,N,12152.49476,W,1,11,0.8,-5.04,M,-33.21,M,,*7F


: successfully parse sentence at 22:21:52

: AshtechGPS::processRecord -sample time is 1142288512
: Sonardyne - POS response: 
POS V4,1 R299.72,X-188.85,Y0.64,Z-232.74

: Sonardyne - parsing R299.72,X-188.85,Y0.64,Z-232.74

: Sonardyne - read R = 299.720000 from 299.72,X-188.85,Y0.64,Z-232.74

: Sonardyne - got all data, Vehicle coordinates,
    r=299.720000, x=232.740000, y=-188.850000, z=-0.640000 tat = 880
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222153.00,3636.57796,N,12152.49483,W,1,11,0.8,-5.01,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222153.00,3636.57796,N,12152.49483,W,1,11,0.8,-5.01,M,-33.21,M,,*79


: successfully parse sentence at 22:21:53

: AshtechGPS::processRecord -sample time is 1142288513
: Sonardyne - POS response: 
POS V4,1 R299.54,X-191.38,Y-1.56,Z-230.42

: Sonardyne - parsing R299.54,X-191.38,Y-1.56,Z-230.42

: Sonardyne - read R = 299.540000 from 299.54,X-191.38,Y-1.56,Z-230.42

: Sonardyne - got all data, Vehicle coordinates,
    r=299.540000, x=230.420000, y=-191.380000, z=1.560000 tat = 880
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222154.00,3636.57776,N,12152.49478,W,1,11,0.8,-4.92,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222154.00,3636.57776,N,12152.49478,W,1,11,0.8,-4.92,M,-33.21,M,,*7F


: successfully parse sentence at 22:21:54

: AshtechGPS::processRecord -sample time is 1142288514
: Sonardyne - POS response: 
POS V4,1 R299.00

: Sonardyne - parsing R299.00

: Sonardyne - read R = 299.000000 from 299.00

: Sonardyne - got range only (299.000000), tat = 850
: Sonardyne - POSD response: 
POSD S120.9,N22.5,D82,U1,Q0.017895

: Sonardyne - POSD response: 
POSD S120.9,N22.5,D82,U1,Q0.017895

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

: AshtechGps::processRecord() - $GPGGA,222155.00,3636.57761,N,12152.49483,W,1,11,0.8,-4.97,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222155.00,3636.57761,N,12152.49483,W,1,11,0.8,-4.97,M,-33.21,M,,*79


: successfully parse sentence at 22:21:55

: AshtechGPS::processRecord -sample time is 1142288515
: Sonardyne - POS response: 
POS V4,1 R299.26

: Sonardyne - parsing R299.26

: Sonardyne - read R = 299.260000 from 299.26

: Sonardyne - got range only (299.260000), tat = 850
: Sonardyne - POSD response: 
POSD S130.6,N31.8,D-15,U4,Q0.008549

: Sonardyne - POSD response: 
POSD S130.6,N31.8,D-15,U4,Q0.008549

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

: AshtechGps::processRecord() - $GPGGA,222156.00,3636.57744,N,12152.49489,W,1,11,0.8,-5.15,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222156.00,3636.57744,N,12152.49489,W,1,11,0.8,-5.15,M,-33.21,M,,*7C


: successfully parse sentence at 22:21:56

: AshtechGPS::processRecord -sample time is 1142288516
: Sonardyne - POS response: 
POS V4,1 R299.11,X-201.73,Y24.50,Z-219.49

: Sonardyne - parsing R299.11,X-201.73,Y24.50,Z-219.49

: Sonardyne - read R = 299.110000 from 299.11,X-201.73,Y24.50,Z-219.49

: Sonardyne - got all data, Vehicle coordinates,
    r=299.110000, x=219.490000, y=-201.730000, z=-24.500000 tat = 880
: BluefinBatt Reply: $aaq0 d- 31.23  2.76 17.18 3.89 3.92 0  -181.40 04:53:05 m

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

: AshtechGps::processRecord() - $GPGGA,222157.00,3636.57732,N,12152.49496,W,1,11,0.8,-5.26,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222157.00,3636.57732,N,12152.49496,W,1,11,0.8,-5.26,M,-33.21,M,,*72


: successfully parse sentence at 22:21:57

: AshtechGPS::processRecord -sample time is 1142288517
: Sonardyne - POS response: 
POS V4,1 R298.91

: Sonardyne - parsing R298.91

: Sonardyne - read R = 298.910000 from 298.91

: Sonardyne - got range only (298.910000), tat = 850
: Sonardyne - POSD response: 
POSD S125.8,N26.2,D35,U0,Q0.000000

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S125.8,N26.2,D35,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,222158.00,3636.57725,N,12152.49508,W,1,11,0.8,-5.20,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222158.00,3636.57725,N,12152.49508,W,1,11,0.8,-5.20,M,-33.21,M,,*7B


: successfully parse sentence at 22:21:58

: AshtechGPS::processRecord -sample time is 1142288518
: Sonardyne - POS response: 
POS V4,1 R298.69

: Sonardyne - parsing R298.69

: Sonardyne - read R = 298.690000 from 298.69

: Sonardyne - got range only (298.690000), tat = 850
: Sonardyne - POSD response: 
POSD S124.2,N26.2,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.2,N26.2,D41,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,222159.00,3636.57719,N,12152.49515,W,1,11,0.8,-5.22,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222159.00,3636.57719,N,12152.49515,W,1,11,0.8,-5.22,M,-33.21,M,,*7B


: successfully parse sentence at 22:21:59

: AshtechGPS::processRecord -sample time is 1142288519
: Sonardyne - POS response: 
POS V4,1 R298.56,X-217.04,Y4.07,Z-204.97

: Sonardyne - parsing R298.56,X-217.04,Y4.07,Z-204.97

: Sonardyne - read R = 298.560000 from 298.56,X-217.04,Y4.07,Z-204.97

: Sonardyne - got all data, Vehicle coordinates,
    r=298.560000, x=204.970000, y=-217.040000, z=-4.070000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222200.00,3636.57712,N,12152.49523,W,1,11,0.8,-5.03,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222200.00,3636.57712,N,12152.49523,W,1,11,0.8,-5.03,M,-33.21,M,,*79


: successfully parse sentence at 22:22:0

: AshtechGPS::processRecord -sample time is 1142288520
: Sonardyne - POS response: 
POS V4,1 R298.44

: Sonardyne - parsing R298.44

: Sonardyne - read R = 298.440000 from 298.44

: Sonardyne - got range only (298.440000), tat = 850
: Sonardyne - POSD response: 
POSD S116.1,N18.3,D-45,U1,Q0.006803

: Sonardyne - POSD response: 
POSD S116.1,N18.3,D-45,U1,Q0.006803

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

: AshtechGps::processRecord() - $GPGGA,222201.00,3636.57691,N,12152.49517,W,1,11,0.8,-4.94,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222201.00,3636.57691,N,12152.49517,W,1,11,0.8,-4.94,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:1

: AshtechGPS::processRecord -sample time is 1142288521
: Sonardyne - POS response: 
POS V4,1 R298.25,X-217.08,Y8.69,Z-204.33

: Sonardyne - parsing R298.25,X-217.08,Y8.69,Z-204.33

: Sonardyne - read R = 298.250000 from 298.25,X-217.08,Y8.69,Z-204.33

: Sonardyne - got all data, Vehicle coordinates,
    r=298.250000, x=204.330000, y=-217.080000, z=-8.690000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222202.00,3636.57680,N,12152.49519,W,1,11,0.8,-5.06,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222202.00,3636.57680,N,12152.49519,W,1,11,0.8,-5.06,M,-33.21,M,,*7D


: successfully parse sentence at 22:22:2

: AshtechGPS::processRecord -sample time is 1142288522
: Sonardyne - POS response: 
POS V4,1 R297.97

: Sonardyne - parsing R297.97

: Sonardyne - read R = 297.970000 from 297.97

: Sonardyne - got range only (297.970000), tat = 850
: Sonardyne - POSD response: 
POSD S123.1,N24.1,D-77,U3,Q0.010092

: Sonardyne - POSD response: 
POSD S123.1,N24.1,D-77,U3,Q0.010092

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

: AshtechGps::processRecord() - $GPGGA,222203.00,3636.57666,N,12152.49518,W,1,11,0.8,-5.24,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222203.00,3636.57666,N,12152.49518,W,1,11,0.8,-5.24,M,-33.21,M,,*75


: successfully parse sentence at 22:22:3

: AshtechGPS::processRecord -sample time is 1142288523
: Sonardyne - POS response: 
POS V4,1 R297.83,X-228.61,Y17.69,Z-190.07

: Sonardyne - parsing R297.83,X-228.61,Y17.69,Z-190.07

: Sonardyne - read R = 297.830000 from 297.83,X-228.61,Y17.69,Z-190.07

: Sonardyne - got all data, Vehicle coordinates,
    r=297.830000, x=190.070000, y=-228.610000, z=-17.690000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222204.00,3636.57661,N,12152.49528,W,1,11,0.8,-5.33,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222204.00,3636.57661,N,12152.49528,W,1,11,0.8,-5.33,M,-33.21,M,,*70


: successfully parse sentence at 22:22:4

: AshtechGPS::processRecord -sample time is 1142288524
: Sonardyne - POS response: 
POS V4,1 R297.76

: Sonardyne - parsing R297.76

: Sonardyne - read R = 297.760000 from 297.76

: Sonardyne - got range only (297.760000), tat = 850
: Sonardyne - POSD response: 
POSD S127.1,N31.1,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.1,N31.1,D2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222205.00,3636.57657,N,12152.49537,W,1,11,0.8,-5.31,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,222205.00,3636.57657,N,12152.49537,W,1,11,0.8,-5.31,M,-33.21,M,,*78


: successfully parse sentence at 22:22:5

: AshtechGPS::processRecord -sample time is 1142288525
: Sonardyne - POS response: 
POS V4,1 R297.64,X-231.75,Y20.40,Z-185.64

: Sonardyne - parsing R297.64,X-231.75,Y20.40,Z-185.64

: Sonardyne - read R = 297.640000 from 297.64,X-231.75,Y20.40,Z-185.64

: Sonardyne - got all data, Vehicle coordinates,
    r=297.640000, x=185.640000, y=-231.750000, z=-20.400000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222206.00,3636.57654,N,12152.49545,W,1,11,0.8,-5.33,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222206.00,3636.57654,N,12152.49545,W,1,11,0.8,-5.33,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:6

: AshtechGPS::processRecord -sample time is 1142288526
: Sonardyne - POS response: 
POS V4,1 R297.66,X-229.34,Y-2.08,Z-189.74

: Sonardyne - parsing R297.66,X-229.34,Y-2.08,Z-189.74

: Sonardyne - read R = 297.660000 from 297.66,X-229.34,Y-2.08,Z-189.74

: Sonardyne - got all data, Vehicle coordinates,
    r=297.660000, x=189.740000, y=-229.340000, z=2.080000 tat = 869
: BluefinBatt Reply: $aaq0 d- 31.23  2.62 17.08 3.89 3.92 0  -181.60 04:53:15 m

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

: AshtechGps::processRecord() - $GPGGA,222207.00,3636.57655,N,12152.49556,W,1,11,0.8,-5.20,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222207.00,3636.57655,N,12152.49556,W,1,11,0.8,-5.20,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:7

: AshtechGPS::processRecord -sample time is 1142288527
: Sonardyne - POS response: 
POS V4,1 R297.70

: Sonardyne - parsing R297.70

: Sonardyne - read R = 297.700000 from 297.70

: Sonardyne - got range only (297.700000), tat = 850
: Sonardyne - POSD response: 
POSD S128.0,N28.6,D-29,U3,Q0.004607

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S128.0,N28.6,D-29,U3,Q0.004607

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

: AshtechGps::processRecord() - $GPGGA,222208.00,3636.57639,N,12152.49549,W,1,11,0.8,-5.06,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222208.00,3636.57639,N,12152.49549,W,1,11,0.8,-5.06,M,-33.21,M,,*70


: successfully parse sentence at 22:22:8

: AshtechGPS::processRecord -sample time is 1142288528
: Sonardyne - POS response: 
POS V4,1 R297.32,X-229.41,Y32.14,Z-186.38

: Sonardyne - parsing R297.32,X-229.41,Y32.14,Z-186.38

: Sonardyne - read R = 297.320000 from 297.32,X-229.41,Y32.14,Z-186.38

: Sonardyne - got all data, Vehicle coordinates,
    r=297.320000, x=186.380000, y=-229.410000, z=-32.140000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222209.00,3636.57627,N,12152.49550,W,1,11,0.8,-5.06,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222209.00,3636.57627,N,12152.49550,W,1,11,0.8,-5.06,M,-33.21,M,,*76


: successfully parse sentence at 22:22:9

: AshtechGPS::processRecord -sample time is 1142288529
: Sonardyne - POS response: 
POS V4,1 R297.19,X-232.94,Y-5.06,Z-184.50

: Sonardyne - parsing R297.19,X-232.94,Y-5.06,Z-184.50

: Sonardyne - read R = 297.190000 from 297.19,X-232.94,Y-5.06,Z-184.50

: Sonardyne - got all data, Vehicle coordinates,
    r=297.190000, x=184.500000, y=-232.940000, z=5.060000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222210.00,3636.57620,N,12152.49554,W,1,11,0.8,-5.29,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222210.00,3636.57620,N,12152.49554,W,1,11,0.8,-5.29,M,-33.21,M,,*70


: successfully parse sentence at 22:22:10

: AshtechGPS::processRecord -sample time is 1142288530
: Sonardyne - POS response: 
POS V4,1 R296.78

: Sonardyne - parsing R296.78

: Sonardyne - read R = 296.780000 from 296.78

: Sonardyne - got range only (296.780000), tat = 850
: Sonardyne - POSD response: 
POSD S120.4,N20.9,D67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.4,N20.9,D67,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,222211.00,3636.57618,N,12152.49555,W,1,11,0.8,-5.39,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222211.00,3636.57618,N,12152.49555,W,1,11,0.8,-5.39,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:11

: AshtechGPS::processRecord -sample time is 1142288531
: Sonardyne - POS response: 
POS V4,1 R297.02

: Sonardyne - parsing R297.02

: Sonardyne - read R = 297.020000 from 297.02

: Sonardyne - got range only (297.020000), tat = 850
: Sonardyne - POSD response: 
POSD S120.7,N29.7,D-34,U5,Q0.003295

: Sonardyne - POSD response: 
POSD S120.7,N29.7,D-34,U5,Q0.003295

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

: AshtechGps::processRecord() - $GPGGA,222212.00,3636.57618,N,12152.49565,W,1,11,0.8,-5.35,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222212.00,3636.57618,N,12152.49565,W,1,11,0.8,-5.35,M,-33.21,M,,*76


: successfully parse sentence at 22:22:12

: AshtechGPS::processRecord -sample time is 1142288532
: Sonardyne - POS response: 
POS V4,1 R297.15,X-232.35,Y2.40,Z-185.22

: Sonardyne - parsing R297.15,X-232.35,Y2.40,Z-185.22

: Sonardyne - read R = 297.150000 from 297.15,X-232.35,Y2.40,Z-185.22

: Sonardyne - got all data, Vehicle coordinates,
    r=297.150000, x=185.220000, y=-232.350000, z=-2.400000 tat = 870
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222213.00,3636.57615,N,12152.49566,W,1,11,0.8,-5.30,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222213.00,3636.57615,N,12152.49566,W,1,11,0.8,-5.30,M,-33.21,M,,*7C


: successfully parse sentence at 22:22:13

: AshtechGPS::processRecord -sample time is 1142288533
: Sonardyne - POS response: 
POS V4,1 R297.12,X-240.12,Y16.15,Z-174.25

: Sonardyne - parsing R297.12,X-240.12,Y16.15,Z-174.25

: Sonardyne - read R = 297.120000 from 297.12,X-240.12,Y16.15,Z-174.25

: Sonardyne - got all data, Vehicle coordinates,
    r=297.120000, x=174.250000, y=-240.120000, z=-16.150000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222214.00,3636.57617,N,12152.49574,W,1,11,0.8,-5.35,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222214.00,3636.57617,N,12152.49574,W,1,11,0.8,-5.35,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:14

: AshtechGPS::processRecord -sample time is 1142288534
: Sonardyne - POS response: 
POS V4,1 R297.23

: Sonardyne - parsing R297.23

: Sonardyne - read R = 297.230000 from 297.23

: Sonardyne - got range only (297.230000), tat = 850
: Sonardyne - POSD response: 
POSD S120.1,N24.7,D41,U5,Q0.003997

: Sonardyne - POSD response: 
POSD S120.1,N24.7,D41,U5,Q0.003997

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

: AshtechGps::processRecord() - $GPGGA,222215.00,3636.57616,N,12152.49581,W,1,11,0.8,-5.33,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222215.00,3636.57616,N,12152.49581,W,1,11,0.8,-5.33,M,-33.21,M,,*73


: successfully parse sentence at 22:22:15

: AshtechGPS::processRecord -sample time is 1142288535
: Sonardyne - POS response: 
POS V4,1 R297.23

: Sonardyne - parsing R297.23

: Sonardyne - read R = 297.230000 from 297.23

: Sonardyne - got range only (297.230000), tat = 850
: Sonardyne - POSD response: 
POSD S124.0,N32.9,D20,U5,Q0.006541

: Sonardyne - POSD response: 
POSD S124.0,N32.9,D20,U5,Q0.006541

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

: AshtechGps::processRecord() - $GPGGA,222216.00,3636.57613,N,12152.49588,W,1,11,0.8,-5.12,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222216.00,3636.57613,N,12152.49588,W,1,11,0.8,-5.12,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:16

: AshtechGPS::processRecord -sample time is 1142288536
: Sonardyne - POS response: 
POS V4,1 R297.12

: Sonardyne - parsing R297.12

: Sonardyne - read R = 297.120000 from 297.12

: Sonardyne - got range only (297.120000), tat = 850
: Sonardyne - POSD response: 
POSD S124.6,N27.6,D-50,U1,Q0.008264

: BluefinBatt Reply: $aaq0 d- 31.26  2.59 17.08 3.89 3.92 0  -181.88 04:53:25 m

: Sonardyne - POSD response: 
POSD S124.6,N27.6,D-50,U1,Q0.008264

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

: AshtechGps::processRecord() - $GPGGA,222217.00,3636.57604,N,12152.49584,W,1,11,0.8,-4.95,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222217.00,3636.57604,N,12152.49584,W,1,11,0.8,-4.95,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:17

: AshtechGPS::processRecord -sample time is 1142288537
: Sonardyne - POS response: 
POS V4,1 R296.88

: Sonardyne - parsing R296.88

: Sonardyne - read R = 296.880000 from 296.88

: Sonardyne - got range only (296.880000), tat = 850
: Sonardyne - POSD response: 
POSD S126.7,N31.8,D-15,U3,Q0.006872

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S126.7,N31.8,D-15,U3,Q0.006872

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

: AshtechGps::processRecord() - $GPGGA,222218.00,3636.57593,N,12152.49576,W,1,11,0.8,-4.98,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,222218.00,3636.57593,N,12152.49576,W,1,11,0.8,-4.98,M,-33.21,M,,*78


: successfully parse sentence at 22:22:18

: AshtechGPS::processRecord -sample time is 1142288538
: Sonardyne - POS response: 
POS V4,1 R296.59

: Sonardyne - parsing R296.59

: Sonardyne - read R = 296.590000 from 296.59

: Sonardyne - got range only (296.590000), tat = 850
: Sonardyne - POSD response: 
POSD S123.9,N29.2,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.9,N29.2,D12,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,222219.00,3636.57585,N,12152.49575,W,1,12,0.7,-5.16,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222219.00,3636.57585,N,12152.49575,W,1,12,0.7,-5.16,M,-33.21,M,,*76


: successfully parse sentence at 22:22:19

: AshtechGPS::processRecord -sample time is 1142288539
: Sonardyne - POS response: 
POS V4,1 R296.14

: Sonardyne - parsing R296.14

: Sonardyne - read R = 296.140000 from 296.14

: Sonardyne - got range only (296.140000), tat = 850
: Sonardyne - POSD response: 
POSD S122.7,N27.7,D-16,U4,Q0.005182

: Sonardyne - POSD response: 
POSD S122.7,N27.7,D-16,U4,Q0.005182

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

: AshtechGps::processRecord() - $GPGGA,222220.00,3636.57583,N,12152.49580,W,1,12,0.7,-5.29,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222220.00,3636.57583,N,12152.49580,W,1,12,0.7,-5.29,M,-33.21,M,,*7C


: successfully parse sentence at 22:22:20

: AshtechGPS::processRecord -sample time is 1142288540
: Sonardyne - POS response: 
POS V4,1 R296.32

: Sonardyne - parsing R296.32

: Sonardyne - read R = 296.320000 from 296.32

: Sonardyne - got range only (296.320000), tat = 849
: Sonardyne - POSD response: 
POSD S124.6,N24.5,D-77,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.6,N24.5,D-77,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,222221.00,3636.57580,N,12152.49585,W,1,12,0.7,-5.23,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222221.00,3636.57580,N,12152.49585,W,1,12,0.7,-5.23,M,-33.21,M,,*71


: successfully parse sentence at 22:22:21

: AshtechGPS::processRecord -sample time is 1142288541
: Sonardyne - POS response: 
POS V4,1 R296.29,X-217.64,Y22.35,Z-199.80

: Sonardyne - parsing R296.29,X-217.64,Y22.35,Z-199.80

: Sonardyne - read R = 296.290000 from 296.29,X-217.64,Y22.35,Z-199.80

: Sonardyne - got all data, Vehicle coordinates,
    r=296.290000, x=199.800000, y=-217.640000, z=-22.350000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222222.00,3636.57576,N,12152.49587,W,1,12,0.7,-5.20,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222222.00,3636.57576,N,12152.49587,W,1,12,0.7,-5.20,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:22

: AshtechGPS::processRecord -sample time is 1142288542
: Sonardyne - POS response: 
POS V4,1 R296.16

: Sonardyne - parsing R296.16

: Sonardyne - read R = 296.160000 from 296.16

: Sonardyne - got range only (296.160000), tat = 850
: Sonardyne - POSD response: 
POSD S127.1,N25.7,D-79,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.1,N25.7,D-79,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,222223.00,3636.57581,N,12152.49591,W,1,12,0.7,-5.29,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222223.00,3636.57581,N,12152.49591,W,1,12,0.7,-5.29,M,-33.21,M,,*7D


: successfully parse sentence at 22:22:23

: AshtechGPS::processRecord -sample time is 1142288543
: Sonardyne - POS response: 
POS V4,1 R296.23

: Sonardyne - parsing R296.23

: Sonardyne - read R = 296.230000 from 296.23

: Sonardyne - got range only (296.230000), tat = 850
: Sonardyne - POSD response: 
POSD S127.2,N26.7,D-57,U3,Q0.004679

: Sonardyne - POSD response: 
POSD S127.2,N26.7,D-57,U3,Q0.004679

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

: AshtechGps::processRecord() - $GPGGA,222224.00,3636.57583,N,12152.49586,W,1,12,0.7,-5.39,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222224.00,3636.57583,N,12152.49586,W,1,12,0.7,-5.39,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:24

: AshtechGPS::processRecord -sample time is 1142288544
: Sonardyne - POS response: 
POS V4,1 R296.42,X-213.74,Y33.48,Z-202.63

: Sonardyne - parsing R296.42,X-213.74,Y33.48,Z-202.63

: Sonardyne - read R = 296.420000 from 296.42,X-213.74,Y33.48,Z-202.63

: Sonardyne - got all data, Vehicle coordinates,
    r=296.420000, x=202.630000, y=-213.740000, z=-33.480000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222225.00,3636.57593,N,12152.49601,W,1,12,0.7,-5.38,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222225.00,3636.57593,N,12152.49601,W,1,12,0.7,-5.38,M,-33.21,M,,*72


: successfully parse sentence at 22:22:25

: AshtechGPS::processRecord -sample time is 1142288545
: Sonardyne - POS response: 
POS V4,1 R296.73

: Sonardyne - parsing R296.73

: Sonardyne - read R = 296.730000 from 296.73

: Sonardyne - got range only (296.730000), tat = 850
: Sonardyne - POSD response: 
POSD S124.1,N30.4,D-24,U2,Q0.006381

: Sonardyne - POSD response: 
POSD S124.1,N30.4,D-24,U2,Q0.006381

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

: AshtechGps::processRecord() - $GPGGA,222226.00,3636.57595,N,12152.49607,W,1,12,0.7,-5.23,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222226.00,3636.57595,N,12152.49607,W,1,12,0.7,-5.23,M,-33.21,M,,*7B


: successfully parse sentence at 22:22:26

: AshtechGPS::processRecord -sample time is 1142288546
: Sonardyne - POS response: 
POS V4,1 R297.05,X-221.47,Y41.37,Z-193.60

: Sonardyne - parsing R297.05,X-221.47,Y41.37,Z-193.60

: Sonardyne - read R = 297.050000 from 297.05,X-221.47,Y41.37,Z-193.60

: Sonardyne - got all data, Vehicle coordinates,
    r=297.050000, x=193.600000, y=-221.470000, z=-41.370000 tat = 870
: BluefinBatt Reply: $aaq0 d- 31.23  3.19 17.08 3.89 3.92 0  -182.07 04:53:35 m

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

: AshtechGps::processRecord() - $GPGGA,222227.00,3636.57587,N,12152.49597,W,1,12,0.7,-5.02,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222227.00,3636.57587,N,12152.49597,W,1,12,0.7,-5.02,M,-33.21,M,,*70


: successfully parse sentence at 22:22:27

: AshtechGPS::processRecord -sample time is 1142288547
: Sonardyne - POS response: 
POS V4,1 R296.97

: Sonardyne - parsing R296.97

: Sonardyne - read R = 296.970000 from 296.97

: Sonardyne - got range only (296.970000), tat = 850
: Sonardyne - POSD response: 
POSD S124.2,N28.5,D16,U4,Q0.007676

: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POSD response: 
POSD S124.2,N28.5,D16,U4,Q0.007676

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

: AshtechGps::processRecord() - $GPGGA,222228.00,3636.57579,N,12152.49590,W,1,12,0.7,-4.88,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222228.00,3636.57579,N,12152.49590,W,1,12,0.7,-4.88,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:28

: AshtechGPS::processRecord -sample time is 1142288548
: Sonardyne - POS response: 
POS V4,1 R296.65,X-216.55,Y8.11,Z-202.58

: Sonardyne - parsing R296.65,X-216.55,Y8.11,Z-202.58

: Sonardyne - read R = 296.650000 from 296.65,X-216.55,Y8.11,Z-202.58

: Sonardyne - got all data, Vehicle coordinates,
    r=296.650000, x=202.580000, y=-216.550000, z=-8.110000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222229.00,3636.57565,N,12152.49576,W,1,12,0.7,-5.03,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222229.00,3636.57565,N,12152.49576,W,1,12,0.7,-5.03,M,-33.21,M,,*7C


: successfully parse sentence at 22:22:29

: AshtechGPS::processRecord -sample time is 1142288549
: Sonardyne - POS response: 
POS V4,1 R296.13,X-210.72,Y47.16,Z-202.65

: Sonardyne - parsing R296.13,X-210.72,Y47.16,Z-202.65

: Sonardyne - read R = 296.130000 from 296.13,X-210.72,Y47.16,Z-202.65

: Sonardyne - got all data, Vehicle coordinates,
    r=296.130000, x=202.650000, y=-210.720000, z=-47.160000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222230.00,3636.57559,N,12152.49574,W,1,12,0.7,-5.13,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,222230.00,3636.57559,N,12152.49574,W,1,12,0.7,-5.13,M,-33.21,M,,*78


: successfully parse sentence at 22:22:30

: AshtechGPS::processRecord -sample time is 1142288550
: Sonardyne - POS response: 
POS V4,1 R295.96

: Sonardyne - parsing R295.96

: Sonardyne - read R = 295.960000 from 295.96

: Sonardyne - got range only (295.960000), tat = 850
: Sonardyne - POSD response: 
POSD S128.1,N26.5,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.1,N26.5,D-48,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,222231.00,3636.57557,N,12152.49573,W,1,12,0.7,-5.22,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222231.00,3636.57557,N,12152.49573,W,1,12,0.7,-5.22,M,-33.21,M,,*72


: successfully parse sentence at 22:22:31

: AshtechGPS::processRecord -sample time is 1142288551
: Sonardyne - POS response: 
POS V4,1 R295.60,X-218.99,Y23.42,Z-197.16

: Sonardyne - parsing R295.60,X-218.99,Y23.42,Z-197.16

: Sonardyne - read R = 295.600000 from 295.60,X-218.99,Y23.42,Z-197.16

: Sonardyne - got all data, Vehicle coordinates,
    r=295.600000, x=197.160000, y=-218.990000, z=-23.420000 tat = 870
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222232.00,3636.57561,N,12152.49577,W,1,12,0.7,-5.36,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222232.00,3636.57561,N,12152.49577,W,1,12,0.7,-5.36,M,-33.21,M,,*75


: successfully parse sentence at 22:22:32

: AshtechGPS::processRecord -sample time is 1142288552
: Sonardyne - POS response: 
POS V4,1 R295.23

: Sonardyne - parsing R295.23

: Sonardyne - read R = 295.230000 from 295.23

: Sonardyne - got range only (295.230000), tat = 850
: Sonardyne - POSD response: 
POSD S125.3,N30.4,D-41,U5,Q0.000445

: Sonardyne - POSD response: 
POSD S125.3,N30.4,D-41,U5,Q0.000445

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

: AshtechGps::processRecord() - $GPGGA,222233.00,3636.57571,N,12152.49584,W,1,12,0.7,-5.34,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222233.00,3636.57571,N,12152.49584,W,1,12,0.7,-5.34,M,-33.21,M,,*7B


: successfully parse sentence at 22:22:33

: AshtechGPS::processRecord -sample time is 1142288553
: Sonardyne - POS response: 
POS V4,1 R295.90,X-219.60,Y49.50,Z-192.05

: Sonardyne - parsing R295.90,X-219.60,Y49.50,Z-192.05

: Sonardyne - read R = 295.900000 from 295.90,X-219.60,Y49.50,Z-192.05

: Sonardyne - got all data, Vehicle coordinates,
    r=295.900000, x=192.050000, y=-219.600000, z=-49.500000 tat = 870
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222234.00,3636.57570,N,12152.49578,W,1,12,0.7,-5.20,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222234.00,3636.57570,N,12152.49578,W,1,12,0.7,-5.20,M,-33.21,M,,*7B


: successfully parse sentence at 22:22:34

: AshtechGPS::processRecord -sample time is 1142288554
: Sonardyne - POS response: 
POS V4,1 R296.24,X-219.31,Y8.30,Z-198.98

: Sonardyne - parsing R296.24,X-219.31,Y8.30,Z-198.98

: Sonardyne - read R = 296.240000 from 296.24,X-219.31,Y8.30,Z-198.98

: Sonardyne - got all data, Vehicle coordinates,
    r=296.240000, x=198.980000, y=-219.310000, z=-8.300000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222235.00,3636.57572,N,12152.49583,W,1,12,0.7,-5.03,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222235.00,3636.57572,N,12152.49583,W,1,12,0.7,-5.03,M,-33.21,M,,*7D


: successfully parse sentence at 22:22:35

: AshtechGPS::processRecord -sample time is 1142288555
: Sonardyne - POS response: 
POS V4,1 R296.37,X-223.12,Y8.27,Z-194.90

: Sonardyne - parsing R296.37,X-223.12,Y8.27,Z-194.90

: Sonardyne - read R = 296.370000 from 296.37,X-223.12,Y8.27,Z-194.90

: Sonardyne - got all data, Vehicle coordinates,
    r=296.370000, x=194.900000, y=-223.120000, z=-8.270000 tat = 869
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222236.00,3636.57568,N,12152.49578,W,1,12,0.7,-5.12,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222236.00,3636.57568,N,12152.49578,W,1,12,0.7,-5.12,M,-33.21,M,,*71


: successfully parse sentence at 22:22:36

: AshtechGPS::processRecord -sample time is 1142288556
: Sonardyne - POS response: 
POS V4,1 R296.40,X-225.47,Y25.13,Z-190.75

: Sonardyne - parsing R296.40,X-225.47,Y25.13,Z-190.75

: Sonardyne - read R = 296.400000 from 296.40,X-225.47,Y25.13,Z-190.75

: Sonardyne - got all data, Vehicle coordinates,
    r=296.400000, x=190.750000, y=-225.470000, z=-25.130000 tat = 870
: BluefinBatt Reply: $aaq0 d- 31.26  2.52 17.08 3.90 3.92 0  -182.35 04:53:45 m

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

: AshtechGps::processRecord() - $GPGGA,222237.00,3636.57570,N,12152.49580,W,1,12,0.7,-5.11,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222237.00,3636.57570,N,12152.49580,W,1,12,0.7,-5.11,M,-33.21,M,,*7D


: successfully parse sentence at 22:22:37

: AshtechGPS::processRecord -sample time is 1142288557
: Sonardyne - POS response: 
POS V4,1 R296.39

: Sonardyne - parsing R296.39

: Sonardyne - read R = 296.390000 from 296.39

: Sonardyne - got range only (296.390000), tat = 850
: Sonardyne - POSD response: 
POSD S124.2,N33.4,D-4,U1,Q0.008140

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

: Sonardyne - POSD response: 
POSD S124.2,N33.4,D-4,U1,Q0.008140

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

: AshtechGps::processRecord() - $GPGGA,222238.00,3636.57567,N,12152.49574,W,1,12,0.7,-5.01,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222238.00,3636.57567,N,12152.49574,W,1,12,0.7,-5.01,M,-33.21,M,,*7E


: successfully parse sentence at 22:22:38

: AshtechGPS::processRecord -sample time is 1142288558
: Sonardyne - POS response: 
POS V4,1 R296.24

: Sonardyne - parsing R296.24

: Sonardyne - read R = 296.240000 from 296.24

: Sonardyne - got range only (296.240000), tat = 850
: Sonardyne - POSD response: 
POSD S118.5,N20.7,D-98,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.5,N20.7,D-98,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,222239.00,3636.57565,N,12152.49571,W,1,12,0.7,-4.92,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222239.00,3636.57565,N,12152.49571,W,1,12,0.7,-4.92,M,-33.21,M,,*73


: successfully parse sentence at 22:22:39

: AshtechGPS::processRecord -sample time is 1142288559
: Sonardyne - POS response: 
POS V4,1 R296.13,X-234.77,Y-7.41,Z-180.35

: Sonardyne - parsing R296.13,X-234.77,Y-7.41,Z-180.35

: Sonardyne - read R = 296.130000 from 296.13,X-234.77,Y-7.41,Z-180.35

: Sonardyne - got all data, Vehicle coordinates,
    r=296.130000, x=180.350000, y=-234.770000, z=7.410000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222240.00,3636.57558,N,12152.49563,W,1,12,0.7,-5.05,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222240.00,3636.57558,N,12152.49563,W,1,12,0.7,-5.05,M,-33.21,M,,*7F


: successfully parse sentence at 22:22:40

: AshtechGPS::processRecord -sample time is 1142288560
: Sonardyne - POS response: 
POS V4,1 R295.73,X-230.45,Y29.39,Z-182.99

: Sonardyne - parsing R295.73,X-230.45,Y29.39,Z-182.99

: Sonardyne - read R = 295.730000 from 295.73,X-230.45,Y29.39,Z-182.99

: Sonardyne - got all data, Vehicle coordinates,
    r=295.730000, x=182.990000, y=-230.450000, z=-29.390000 tat = 870
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222241.00,3636.57555,N,12152.49561,W,1,12,0.7,-5.14,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222241.00,3636.57555,N,12152.49561,W,1,12,0.7,-5.14,M,-33.21,M,,*71


: successfully parse sentence at 22:22:41

: AshtechGPS::processRecord -sample time is 1142288561
: Sonardyne - POS response: 
POS V4,1 R295.74

: Sonardyne - parsing R295.74

: Sonardyne - read R = 295.740000 from 295.74

: Sonardyne - got range only (295.740000), tat = 850
: Sonardyne - POSD response: 
POSD S128.1,N29.9,D-60,U2,Q0.007055

: Sonardyne - POSD response: 
POSD S128.1,N29.9,D-60,U2,Q0.007055

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

: AshtechGps::processRecord() - $GPGGA,222242.00,3636.57556,N,12152.49559,W,1,12,0.7,-5.17,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222242.00,3636.57556,N,12152.49559,W,1,12,0.7,-5.17,M,-33.21,M,,*79


: successfully parse sentence at 22:22:42

: AshtechGPS::processRecord -sample time is 1142288562
: Sonardyne - POS response: 
POS V4,1 R296.04

: Sonardyne - parsing R296.04

: Sonardyne - read R = 296.040000 from 296.04

: Sonardyne - got range only (296.040000), tat = 890
: Sonardyne - POSD response: 
POSD S124.3,N29.6,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.3,N29.6,D-46,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,222243.00,3636.57559,N,12152.49557,W,1,12,0.7,-5.09,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222243.00,3636.57559,N,12152.49557,W,1,12,0.7,-5.09,M,-33.21,M,,*76


: successfully parse sentence at 22:22:43

: AshtechGPS::processRecord -sample time is 1142288563
:  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 R296.17

: Sonardyne - parsing R296.17

: Sonardyne - read R = 296.170000 from 296.17

: Sonardyne - got range only (296.170000), tat = 850
: Sonardyne - POSD response: 
POSD S125.3,N29.0,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222244.00,3636.57553,N,12152.49548,W,1,12,0.7,-5.07,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222244.00,3636.57553,N,12152.49548,W,1,12,0.7,-5.07,M,-33.21,M,,*7B


: successfully parse sentence at 22:22:44

: Sonardyne - POSD response: 
POSD S125.3,N29.0,D-29,U0,Q0.000000

: AshtechGPS::processRecord -sample time is 1142288564
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R296.25,X-181.93,Y233.81,Z0.00

: Sonardyne - parsing R296.25,X-181.93,Y233.81,Z0.00

: Sonardyne - read R = 296.250000 from 296.25,X-181.93,Y233.81,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=296.250000, x=0.000000, y=-181.930000, z=-233.810000 tat = 870
: AshtechGps::processRecord() - $GPGGA,222245.00,3636.57554,N,12152.49543,W,1,12,0.7,-5.15,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222245.00,3636.57554,N,12152.49543,W,1,12,0.7,-5.15,M,-33.21,M,,*75


: successfully parse sentence at 22:22:45

: AshtechGPS::processRecord -sample time is 1142288565
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R296.22,X-231.35,Y19.47,Z-183.97

: Sonardyne - parsing R296.22,X-231.35,Y19.47,Z-183.97

: Sonardyne - read R = 296.220000 from 296.22,X-231.35,Y19.47,Z-183.97

: Sonardyne - got all data, Vehicle coordinates,
    r=296.220000, x=183.970000, y=-231.350000, z=-19.470000 tat = 870
: AshtechGps::processRecord() - $GPGGA,222246.00,3636.57558,N,12152.49540,W,1,12,0.7,-5.22,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222246.00,3636.57558,N,12152.49540,W,1,12,0.7,-5.22,M,-33.21,M,,*7D


: successfully parse sentence at 22:22:46

: AshtechGPS::processRecord -sample time is 1142288566
: BluefinBatt Reply: $aaq0 d- 31.26  2.66 17.08 3.90 3.92 0  -182.54 04:53:55 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 R296.27

: Sonardyne - parsing R296.27

: Sonardyne - read R = 296.270000 from 296.27

: Sonardyne - got range only (296.270000), tat = 850
: Sonardyne - POSD response: 
POSD S122.8,N26.7,D-46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222247.00,3636.57563,N,12152.49541,W,1,12,0.7,-5.05,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222247.00,3636.57563,N,12152.49541,W,1,12,0.7,-5.05,M,-33.21,M,,*70


: successfully parse sentence at 22:22:47

: AshtechGPS::processRecord -sample time is 1142288567
: Sonardyne - POSD response: 
POSD S122.8,N26.7,D-46,U0,Q0.000000

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

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

: Sonardyne - POS response: 
POS V4,1 R295.96

: Sonardyne - parsing R295.96

: Sonardyne - read R = 295.960000 from 295.96

: Sonardyne - got range only (295.960000), tat = 850
: Sonardyne - POSD response: 
POSD S122.9,N29.1,D-26,U5,Q0.006406

: AshtechGps::processRecord() - $GPGGA,222248.00,3636.57556,N,12152.49527,W,1,12,0.7,-5.07,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222248.00,3636.57556,N,12152.49527,W,1,12,0.7,-5.07,M,-33.21,M,,*7B


: successfully parse sentence at 22:22:48

: Sonardyne - POSD response: 
POSD S122.9,N29.1,D-26,U5,Q0.006406

: AshtechGPS::processRecord -sample time is 1142288568
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R295.79,X-234.99,Y-10.84,Z-179.32

: Sonardyne - parsing R295.79,X-234.99,Y-10.84,Z-179.32

: Sonardyne - read R = 295.790000 from 295.79,X-234.99,Y-10.84,Z-179.32

: Sonardyne - got all data, Vehicle coordinates,
    r=295.790000, x=179.320000, y=-234.990000, z=10.840000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222249.00,3636.57563,N,12152.49531,W,1,12,0.7,-5.17,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222249.00,3636.57563,N,12152.49531,W,1,12,0.7,-5.17,M,-33.21,M,,*7A


: successfully parse sentence at 22:22:49

: AshtechGPS::processRecord -sample time is 1142288569
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R295.84

: Sonardyne - parsing R295.84

: Sonardyne - read R = 295.840000 from 295.84

: Sonardyne - got range only (295.840000), tat = 849
: Sonardyne - POSD response: 
POSD S126.1,N23.3,D-66,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222250.00,3636.57563,N,12152.49521,W,1,12,0.7,-5.25,M,-33.21,M,,*72

: Sonardyne - POSD response: 
POSD S126.1,N23.3,D-66,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,222250.00,3636.57563,N,12152.49521,W,1,12,0.7,-5.25,M,-33.21,M,,*72


: successfully parse sentence at 22:22:50

: AshtechGPS::processRecord -sample time is 1142288570
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R295.97,X-227.03,Y-6.07,Z-189.78

: Sonardyne - parsing R295.97,X-227.03,Y-6.07,Z-189.78

: Sonardyne - read R = 295.970000 from 295.97,X-227.03,Y-6.07,Z-189.78

: Sonardyne - got all data, Vehicle coordinates,
    r=295.970000, x=189.780000, y=-227.030000, z=6.070000 tat = 870
: AshtechGps::processRecord() - $GPGGA,222251.00,3636.57577,N,12152.49530,W,1,12,0.7,-5.25,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222251.00,3636.57577,N,12152.49530,W,1,12,0.7,-5.25,M,-33.21,M,,*76


: successfully parse sentence at 22:22:51

: AshtechGPS::processRecord -sample time is 1142288571
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R296.15

: Sonardyne - parsing R296.15

: Sonardyne - read R = 296.150000 from 296.15

: Sonardyne - got range only (296.150000), tat = 850
: Sonardyne - POSD response: 
POSD S118.9,N24.6,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222252.00,3636.57570,N,12152.49515,W,1,12,0.7,-5.05,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222252.00,3636.57570,N,12152.49515,W,1,12,0.7,-5.05,M,-33.21,M,,*77


: successfully parse sentence at 22:22:52

: AshtechGPS::processRecord -sample time is 1142288572
: Sonardyne - POSD response: 
POSD S118.9,N24.6,D11,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R296.12,X-230.92,Y12.98,Z-184.91

: Sonardyne - parsing R296.12,X-230.92,Y12.98,Z-184.91

: Sonardyne - read R = 296.120000 from 296.12,X-230.92,Y12.98,Z-184.91

: Sonardyne - got all data, Vehicle coordinates,
    r=296.120000, x=184.910000, y=-230.920000, z=-12.980000 tat = 870
: AshtechGps::processRecord() - $GPGGA,222253.00,3636.57564,N,12152.49502,W,1,12,0.7,-5.00,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222253.00,3636.57564,N,12152.49502,W,1,12,0.7,-5.00,M,-33.21,M,,*70


: successfully parse sentence at 22:22:53

: AshtechGPS::processRecord -sample time is 1142288573
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task j - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task  - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****


//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001CB74.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowOutput ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object crossbowCommand ****

: StepGetStat (2) failed to read chars, rcvd=2, want=8
: TaskServer::signalHandler() for task j - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()

//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: StepGetStat (2) 5d 5d 00 00 01 00 00
: SerialDevice: done...

: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
