Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: WorkSite::WorkSite -- Finished loading parameters
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x22eec
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

(: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
) -: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
 pa: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
ros: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
c: Preparing to fork

iS: SerialDevice: done...

erver: I'm the child...forking


: SerialDevice: done...

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

upervisor::c: SerialDevice: done...

reateTask() - bluefinBattDriver
: Gps: initializing

Sup: SerialDevice: done...

: SerialDevice: done...

ervis: SerialDevice: done...

or: SerialDevice: done...

::c: Gps: done initializing...

re: Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
ateTa: SerialDevice: done...

sk(): Crossbow.cc: Setting polled mode
 - dvlS: Crossbow.cc: In getSerialNumber()
erver: Crossbow.cc: device->read succeeded

: Crossbow.cc: I think the serial number is 107382 (1a376)
S: SerialDevice: done...

up: Crossbow.cc: Setting polled mode
erv: seabirdDriver RUNNING...

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

e: SerialDevice: done...

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


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

fan: BluefinBatt.cc - Looking for Parosci server
S: **** EventTriggers::add() - attaching proxy
erver: SerialDevice: done...


Supe: BluefinBatt::init() - querying for batt ids
: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

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

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


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

opWeightServer
Supervi: SerialDevice: done...

sor::cr: SerialDevice: done...

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

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

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: ahrs if is Ahrs

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: SerialDevice: done...

: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

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

: SerialDevice: done...

: 3 Modules found
: SerialDevice: done...

:  tting counters to default

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

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

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

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

: AshtechGps::processRecord() - $GPGGA,222808.00,3636.59557,N,12152.44840,W,1,11,0.8,-4.63,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222808.00,3636.59557,N,12152.44840,W,1,11,0.8,-4.63,M,-33.21,M,,*74


: successfully parse sentence at 22:28:8

: AshtechGPS::processRecord -sample time is 1142288888
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138810
: Parosci.cc -- Parosci initial temp period = 5.842186
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: EX10011
>
: AshtechGps::processRecord() - $GPGGA,222809.00,3636.59561,N,12152.44822,W,1,11,0.8,-4.83,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222809.00,3636.59561,N,12152.44822,W,1,11,0.8,-4.83,M,-33.21,M,,*7A


: successfully parse sentence at 22:28:9

: EA+04500
>
: AshtechGPS::processRecord -sample time is 1142288889
: 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
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Sonardyne - POS response: 
POS V4,1 R333.41

: Sonardyne - parsing R333.41

: Sonardyne - read R = 333.410000 from 333.41

: Sonardyne - got range only (333.410000), tat = 900
: Sonardyne - POSD response: 
POSD S110.4,N19.8,D-5,U1,Q0.004714

: Sonardyne - POSD response: 
POSD S110.4,N19.8,D-5,U1,Q0.004714

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

: AshtechGps::processRecord() - $GPGGA,222810.00,3636.59574,N,12152.44810,W,1,11,0.8,-4.96,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222810.00,3636.59574,N,12152.44810,W,1,11,0.8,-4.96,M,-33.21,M,,*73


: successfully parse sentence at 22:28:10

: AshtechGPS::processRecord -sample time is 1142288890
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222811.00,3636.59588,N,12152.44803,W,1,11,0.8,-4.98,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222811.00,3636.59588,N,12152.44803,W,1,11,0.8,-4.98,M,-33.21,M,,*7D


: successfully parse sentence at 22:28:11

: AshtechGPS::processRecord -sample time is 1142288891
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: AshtechGps::processRecord() - $GPGGA,222812.00,3636.59599,N,12152.44791,W,1,11,0.8,-4.79,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222812.00,3636.59599,N,12152.44791,W,1,11,0.8,-4.79,M,-33.21,M,,*75


: successfully parse sentence at 22:28:12

: AshtechGPS::processRecord -sample time is 1142288892
:  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
: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,222813.00,3636.59609,N,12152.44774,W,1,11,0.8,-4.64,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222813.00,3636.59609,N,12152.44774,W,1,11,0.8,-4.64,M,-33.21,M,,*79


: successfully parse sentence at 22:28:13

: AshtechGPS::processRecord -sample time is 1142288893
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222814.00,3636.59609,N,12152.44749,W,1,11,0.8,-4.63,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222814.00,3636.59609,N,12152.44749,W,1,11,0.8,-4.63,M,-33.21,M,,*77


: successfully parse sentence at 22:28:14

: AshtechGPS::processRecord -sample time is 1142288894
: Sonardyne - POS response: 
POS V4,1 R331.50,X257.36,Y200.05,Z-60.27

: Sonardyne - parsing R331.50,X257.36,Y200.05,Z-60.27

: Sonardyne - read R = 331.500000 from 331.50,X257.36,Y200.05,Z-60.27

: Sonardyne - got all data, Vehicle coordinates,
    r=331.500000, x=60.270000, y=257.360000, z=-200.050000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222815.00,3636.59624,N,12152.44728,W,1,11,0.8,-4.82,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222815.00,3636.59624,N,12152.44728,W,1,11,0.8,-4.82,M,-33.21,M,,*71


: successfully parse sentence at 22:28:15

: AshtechGPS::processRecord -sample time is 1142288895
: Sonardyne - POS response: 
POS V4,1 R332.21,X258.77,Y184.49,Z-96.78

: Sonardyne - parsing R332.21,X258.77,Y184.49,Z-96.78

: Sonardyne - read R = 332.210000 from 332.21,X258.77,Y184.49,Z-96.78

: Sonardyne - got all data, Vehicle coordinates,
    r=332.210000, x=96.780000, y=258.770000, z=-184.490000 tat = 920
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222816.00,3636.59623,N,12152.44707,W,1,11,0.8,-4.80,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222816.00,3636.59623,N,12152.44707,W,1,11,0.8,-4.80,M,-33.21,M,,*7A


: successfully parse sentence at 22:28:16

: AshtechGPS::processRecord -sample time is 1142288896
: Sonardyne - POS response: 
POS V4,1 R336.75

: Sonardyne - parsing R336.75

: Sonardyne - read R = 336.750000 from 336.75

: Sonardyne - got range only (336.750000), tat = 900
: Sonardyne - POSD response: 
POSD S111.7,N31.4,D-11,U2,Q0.004873

: Sonardyne - POSD response: 
POSD S111.7,N31.4,D-11,U2,Q0.004873

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

: Seabird/ctdDriver: sending configure commands...(21756)

: Seabird/ctdDriver: setting scans...

: AshtechGps::processRecord() - $GPGGA,222817.00,3636.59632,N,12152.44691,W,1,11,0.8,-4.77,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222817.00,3636.59632,N,12152.44691,W,1,11,0.8,-4.77,M,-33.21,M,,*7D


: successfully parse sentence at 22:28:17

: AshtechGPS::processRecord -sample time is 1142288897
:  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 R332.15,X257.41,Y209.91,Z0.00

: Sonardyne - parsing R332.15,X257.41,Y209.91,Z0.00

: Sonardyne - read R = 332.150000 from 332.15,X257.41,Y209.91,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=332.150000, x=0.000000, y=257.410000, z=-209.910000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222818.00,3636.59641,N,12152.44679,W,1,11,0.8,-4.92,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222818.00,3636.59641,N,12152.44679,W,1,11,0.8,-4.92,M,-33.21,M,,*7B


: successfully parse sentence at 22:28:18

: AshtechGPS::processRecord -sample time is 1142288898
: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R332.32

: Sonardyne - parsing R332.32

: Sonardyne - read R = 332.320000 from 332.32

: Sonardyne - got range only (332.320000), tat = 890
: Sonardyne - POSD response: 
POSD S109.3,N23.5,D94,U5,Q0.003459

: Sonardyne - POSD response: 
POSD S109.3,N23.5,D94,U5,Q0.003459

: AshtechGps::processRecord() - $GPGGA,222819.00,3636.59651,N,12152.44665,W,1,11,0.8,-4.94,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222819.00,3636.59651,N,12152.44665,W,1,11,0.8,-4.94,M,-33.21,M,,*70


: successfully parse sentence at 22:28:19

: AshtechGPS::processRecord -sample time is 1142288899
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222820.00,3636.59657,N,12152.44647,W,1,11,0.8,-4.89,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222820.00,3636.59657,N,12152.44647,W,1,11,0.8,-4.89,M,-33.21,M,,*70


: successfully parse sentence at 22:28:20

: AshtechGPS::processRecord -sample time is 1142288900
: Sonardyne - POS response: 
POS V4,1 R339.46

: Sonardyne - parsing R339.46

: Sonardyne - read R = 339.460000 from 339.46

: Sonardyne - got range only (339.460000), tat = 910
: Sonardyne - POSD response: 
POSD S106.0,N16.3,D-14,U1,Q0.012799

: Sonardyne - POSD response: 
POSD S106.0,N16.3,D-14,U1,Q0.012799

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

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,222821.00,3636.59665,N,12152.44631,W,1,11,0.8,-4.92,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222821.00,3636.59665,N,12152.44631,W,1,11,0.8,-4.92,M,-33.21,M,,*7B


: successfully parse sentence at 22:28:21

: AshtechGPS::processRecord -sample time is 1142288901
:  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 R333.02

: Sonardyne - parsing R333.02

: Sonardyne - read R = 333.020000 from 333.02

: Sonardyne - got range only (333.020000), tat = 900
: Sonardyne - POSD response: 
POSD S107.8,N15.6,D-84,U4,Q0.005639

: Sonardyne - POSD response: 
POSD S107.8,N15.6,D-84,U4,Q0.005639

: AshtechGps::processRecord() - $GPGGA,222822.00,3636.59671,N,12152.44615,W,1,11,0.8,-4.79,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222822.00,3636.59671,N,12152.44615,W,1,11,0.8,-4.79,M,-33.21,M,,*7E


: successfully parse sentence at 22:28:22

: AshtechGPS::processRecord -sample time is 1142288902
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222823.00,3636.59666,N,12152.44591,W,1,11,0.8,-4.46,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222823.00,3636.59666,N,12152.44591,W,1,11,0.8,-4.46,M,-33.21,M,,*7A


: successfully parse sentence at 22:28:23

: AshtechGPS::processRecord -sample time is 1142288903
: Sonardyne - POS response: 
POS V4,1 R333.78

: Sonardyne - parsing R333.78

: Sonardyne - read R = 333.780000 from 333.78

: Sonardyne - got range only (333.780000), tat = 900
: Sonardyne - POSD response: 
POSD S113.7,N25.9,D104,U3,Q0.009311

: Sonardyne - POSD response: 
POSD S113.7,N25.9,D104,U3,Q0.009311

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

: AshtechGps::processRecord() - $GPGGA,222824.00,3636.59670,N,12152.44572,W,1,11,0.8,-4.44,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222824.00,3636.59670,N,12152.44572,W,1,11,0.8,-4.44,M,-33.21,M,,*75


: successfully parse sentence at 22:28:24

: AshtechGPS::processRecord -sample time is 1142288904
:  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 R333.96,X249.03,Y193.24,Z-110.32

: Sonardyne - parsing R333.96,X249.03,Y193.24,Z-110.32

: Sonardyne - read R = 333.960000 from 333.96,X249.03,Y193.24,Z-110.32

: Sonardyne - got all data, Vehicle coordinates,
    r=333.960000, x=110.320000, y=249.030000, z=-193.240000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222825.00,3636.59666,N,12152.44552,W,1,11,0.8,-4.45,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222825.00,3636.59666,N,12152.44552,W,1,11,0.8,-4.45,M,-33.21,M,,*70


: successfully parse sentence at 22:28:25

: AshtechGPS::processRecord -sample time is 1142288905
: 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...(21756)

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

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

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

: Sonardyne - POS response: 
POS V4,1 R333.15

: Sonardyne - parsing R333.15

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

: Sonardyne - read R = 333.150000 from 333.15

: Sonardyne - got range only (333.150000), tat = 900
: Sonardyne - POSD response: 
POSD S108.1,N28.8,D-24,U5,Q0.003360

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

: Sonardyne - POSD response: 
POSD S108.1,N28.8,D-24,U5,Q0.003360

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

: AshtechGps::processRecord() - $GPGGA,222826.00,3636.59670,N,12152.44532,W,1,11,0.8,-4.51,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222826.00,3636.59670,N,12152.44532,W,1,11,0.8,-4.51,M,-33.21,M,,*77


: successfully parse sentence at 22:28:26

: AshtechGPS::processRecord -sample time is 1142288906
: Seabird/ctdDriver::initialize() - confirming voltage...

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

: AshtechGps::processRecord() - $GPGGA,222827.00,3636.59678,N,12152.44518,W,1,11,0.8,-4.85,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222827.00,3636.59678,N,12152.44518,W,1,11,0.8,-4.85,M,-33.21,M,,*7F


: successfully parse sentence at 22:28:27

: AshtechGPS::processRecord -sample time is 1142288907
: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

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

: AshtechGps::processRecord() - $GPGGA,222828.00,3636.59681,N,12152.44497,W,1,11,0.8,-4.87,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222828.00,3636.59681,N,12152.44497,W,1,11,0.8,-4.87,M,-33.21,M,,*72


: successfully parse sentence at 22:28:28

: AshtechGPS::processRecord -sample time is 1142288908
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222829.00,3636.59689,N,12152.44482,W,1,11,0.8,-5.05,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222829.00,3636.59689,N,12152.44482,W,1,11,0.8,-5.05,M,-33.21,M,,*74


: successfully parse sentence at 22:28:29

: AshtechGPS::processRecord -sample time is 1142288909
: BluefinBatt Reply: $aaq0 d- 31.30  2.49 16.69 3.90 3.93 0  -189.01 04:59:38 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222830.00,3636.59709,N,12152.44477,W,1,11,0.8,-5.31,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,222830.00,3636.59709,N,12152.44477,W,1,11,0.8,-5.31,M,-33.21,M,,*78


: successfully parse sentence at 22:28:30

: AshtechGPS::processRecord -sample time is 1142288910
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R334.02,X255.86,Y206.84,Z-57.64

: Sonardyne - parsing R334.02,X255.86,Y206.84,Z-57.64

: Sonardyne - read R = 334.020000 from 334.02,X255.86,Y206.84,Z-57.64

: Sonardyne - got all data, Vehicle coordinates,
    r=334.020000, x=57.640000, y=255.860000, z=-206.840000 tat = 920
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

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

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,222831.00,3636.59722,N,12152.44475,W,1,11,0.8,-5.34,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222831.00,3636.59722,N,12152.44475,W,1,11,0.8,-5.34,M,-33.21,M,,*77


: successfully parse sentence at 22:28:31

: AshtechGPS::processRecord -sample time is 1142288911
: Seabird/ctdDriver::initialize() - starting logging...

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Ctd/ctdDriver:initialize() - Logging Started...

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222832.00,3636.59738,N,12152.44462,W,1,11,0.8,-5.08,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222832.00,3636.59738,N,12152.44462,W,1,11,0.8,-5.08,M,-33.21,M,,*76


: successfully parse sentence at 22:28:32

: AshtechGPS::processRecord -sample time is 1142288912
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222833.00,3636.59735,N,12152.44441,W,1,11,0.8,-4.81,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222833.00,3636.59735,N,12152.44441,W,1,11,0.8,-4.81,M,-33.21,M,,*7B


: successfully parse sentence at 22:28:33

: AshtechGPS::processRecord -sample time is 1142288913
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-39.9,N16.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,222834.00,3636.59737,N,12152.44417,W,1,11,0.8,-4.76,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222834.00,3636.59737,N,12152.44417,W,1,11,0.8,-4.76,M,-33.21,M,,*75


: successfully parse sentence at 22:28:34

: AshtechGPS::processRecord -sample time is 1142288914
: Sonardyne - POSD response: 
POSD S-39.9,N16.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222835.00,3636.59738,N,12152.44392,W,1,11,0.8,-4.79,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222835.00,3636.59738,N,12152.44392,W,1,11,0.8,-4.79,M,-33.21,M,,*7E


: successfully parse sentence at 22:28:35

: AshtechGPS::processRecord -sample time is 1142288915
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R335.72

: Sonardyne - parsing R335.72

: Sonardyne - read R = 335.720000 from 335.72

: Sonardyne - got range only (335.720000), tat = 900
: Sonardyne - POSD response: 
POSD S109.3,N26.1,D33,U1,Q0.000629

: Sonardyne - POSD response: 
POSD S109.3,N26.1,D33,U1,Q0.000629

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

: AshtechGps::processRecord() - $GPGGA,222836.00,3636.59736,N,12152.44370,W,1,11,0.8,-4.82,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222836.00,3636.59736,N,12152.44370,W,1,11,0.8,-4.82,M,-33.21,M,,*7B


: successfully parse sentence at 22:28:36

: AshtechGPS::processRecord -sample time is 1142288916
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R334.97,X247.13,Y168.09,Z-151.26

: Sonardyne - parsing R334.97,X247.13,Y168.09,Z-151.26

: Sonardyne - read R = 334.970000 from 334.97,X247.13,Y168.09,Z-151.26

: Sonardyne - got all data, Vehicle coordinates,
    r=334.970000, x=151.260000, y=247.130000, z=-168.090000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222837.00,3636.59740,N,12152.44354,W,1,11,0.8,-4.84,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222837.00,3636.59740,N,12152.44354,W,1,11,0.8,-4.84,M,-33.21,M,,*7B


: successfully parse sentence at 22:28:37

: AshtechGPS::processRecord -sample time is 1142288917
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222838.00,3636.59740,N,12152.44335,W,1,11,0.8,-4.81,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222838.00,3636.59740,N,12152.44335,W,1,11,0.8,-4.81,M,-33.21,M,,*76


: successfully parse sentence at 22:28:38

: AshtechGPS::processRecord -sample time is 1142288918
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222839.00,3636.59740,N,12152.44309,W,1,11,0.8,-4.73,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222839.00,3636.59740,N,12152.44309,W,1,11,0.8,-4.73,M,-33.21,M,,*75


: successfully parse sentence at 22:28:39

: AshtechGPS::processRecord -sample time is 1142288919
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.199438) Behavior getgps has changed to state Finished

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

: BluefinBatt Reply: $aaq0 d- 31.26  2.99 16.69 3.90 3.93 0  -189.32 04:59:48 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 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
: AshtechGps::processRecord() - $GPGGA,222840.00,3636.59730,N,12152.44284,W,1,11,0.8,-4.63,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222840.00,3636.59730,N,12152.44284,W,1,11,0.8,-4.63,M,-33.21,M,,*79


: successfully parse sentence at 22:28:40

: AshtechGPS::processRecord -sample time is 1142288920
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,222841.00,3636.59729,N,12152.44265,W,1,11,0.8,-4.74,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222841.00,3636.59729,N,12152.44265,W,1,11,0.8,-4.74,M,-33.21,M,,*79


: successfully parse sentence at 22:28:41

: AshtechGPS::processRecord -sample time is 1142288921
: Sonardyne - POS response: 
POS V4,1 R335.76

: Sonardyne - parsing R335.76

: Sonardyne - read R = 335.760000 from 335.76

: Sonardyne - got range only (335.760000), tat = 900
: Sonardyne - POSD response: 
POSD S114.1,N27.4,D123,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.1,N27.4,D123,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,222842.00,3636.59736,N,12152.44257,W,1,11,0.8,-4.91,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222842.00,3636.59736,N,12152.44257,W,1,11,0.8,-4.91,M,-33.21,M,,*7E


: successfully parse sentence at 22:28:42

: AshtechGPS::processRecord -sample time is 1142288922
:  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 R335.41

: Sonardyne - parsing R335.41

: Sonardyne - read R = 335.410000 from 335.41

: Sonardyne - got range only (335.410000), tat = 900
: Sonardyne - POSD response: 
POSD S106.2,N28.0,D-16,U3,Q0.005133

: Sonardyne - POSD response: 
POSD S106.2,N28.0,D-16,U3,Q0.005133

: AshtechGps::processRecord() - $GPGGA,222843.00,3636.59752,N,12152.44260,W,1,11,0.8,-4.99,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222843.00,3636.59752,N,12152.44260,W,1,11,0.8,-4.99,M,-33.21,M,,*71


: successfully parse sentence at 22:28:43

: AshtechGPS::processRecord -sample time is 1142288923
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222844.00,3636.59764,N,12152.44274,W,1,10,0.9,-4.47,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222844.00,3636.59764,N,12152.44274,W,1,10,0.9,-4.47,M,-33.21,M,,*75


: successfully parse sentence at 22:28:44

: AshtechGPS::processRecord -sample time is 1142288924
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222845.00,3636.59781,N,12152.44280,W,1,10,0.9,-4.31,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222845.00,3636.59781,N,12152.44280,W,1,10,0.9,-4.31,M,-33.21,M,,*75


: successfully parse sentence at 22:28:45

: AshtechGPS::processRecord -sample time is 1142288925
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222846.00,3636.59791,N,12152.44284,W,1,10,0.9,-4.15,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222846.00,3636.59791,N,12152.44284,W,1,10,0.9,-4.15,M,-33.21,M,,*75


: successfully parse sentence at 22:28:46

: AshtechGPS::processRecord -sample time is 1142288926
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222847.00,3636.59806,N,12152.44293,W,1,10,0.9,-4.25,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222847.00,3636.59806,N,12152.44293,W,1,10,0.9,-4.25,M,-33.21,M,,*70


: successfully parse sentence at 22:28:47

: AshtechGPS::processRecord -sample time is 1142288927
:  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 R336.21

: Sonardyne - parsing R336.21

: Sonardyne - read R = 336.210000 from 336.21

: Sonardyne - got range only (336.210000), tat = 900
: Sonardyne - POSD response: 
POSD S114.7,N27.6,D129,U1,Q0.010669

: Sonardyne - POSD response: 
POSD S114.7,N27.6,D129,U1,Q0.010669

: AshtechGps::processRecord() - $GPGGA,222848.00,3636.59813,N,12152.44308,W,1,10,0.9,-4.06,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222848.00,3636.59813,N,12152.44308,W,1,10,0.9,-4.06,M,-33.21,M,,*79


: successfully parse sentence at 22:28:48

: AshtechGPS::processRecord -sample time is 1142288928
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222849.00,3636.59822,N,12152.44329,W,1,10,0.9,-3.86,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222849.00,3636.59822,N,12152.44329,W,1,10,0.9,-3.86,M,-33.21,M,,*76


: successfully parse sentence at 22:28:49

: AshtechGPS::processRecord -sample time is 1142288929
: Sonardyne - POS response: 
POS V4,1 R338.62

: BluefinBatt Reply: $aaq0 d- 31.04 10.34 16.69 3.90 3.93 0  -189.89 04:59:58 m

: Sonardyne - parsing R338.62

: Sonardyne - read R = 338.620000 from 338.62

: Sonardyne - got range only (338.620000), tat = 900
: Sonardyne - POSD response: 
POSD S108.1,N18.6,D79,U1,Q0.002220

: Sonardyne - POSD response: 
POSD S108.1,N18.6,D79,U1,Q0.002220

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

: AshtechGps::processRecord() - $GPGGA,222850.00,3636.59833,N,12152.44354,W,1,10,0.9,-4.01,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222850.00,3636.59833,N,12152.44354,W,1,10,0.9,-4.01,M,-33.21,M,,*7C


: successfully parse sentence at 22:28:50

: AshtechGPS::processRecord -sample time is 1142288930
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R336.96

: Sonardyne - parsing R336.96

: Sonardyne - read R = 336.960000 from 336.96

: Sonardyne - got range only (336.960000), tat = 900
: Sonardyne - POSD response: 
POSD S107.0,N16.0,D-52,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S107.0,N16.0,D-52,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,222851.00,3636.59834,N,12152.44383,W,1,10,0.9,-4.05,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222851.00,3636.59834,N,12152.44383,W,1,10,0.9,-4.05,M,-33.21,M,,*74


: successfully parse sentence at 22:28:51

: AshtechGPS::processRecord -sample time is 1142288931
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222852.00,3636.59834,N,12152.44428,W,1,10,0.9,-3.88,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222852.00,3636.59834,N,12152.44428,W,1,10,0.9,-3.88,M,-33.21,M,,*73


: successfully parse sentence at 22:28:52

: AshtechGPS::processRecord -sample time is 1142288932
: Sonardyne - POS response: 
POS V4,1 R336.12,X-310.20,Y22.74,Z-127.42

: Sonardyne - parsing R336.12,X-310.20,Y22.74,Z-127.42

: Sonardyne - read R = 336.120000 from 336.12,X-310.20,Y22.74,Z-127.42

: Sonardyne - got all data, Vehicle coordinates,
    r=336.120000, x=127.420000, y=-310.200000, z=-22.740000 tat = 929
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222853.00,3636.59827,N,12152.44464,W,1,10,0.9,-3.92,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222853.00,3636.59827,N,12152.44464,W,1,10,0.9,-3.92,M,-33.21,M,,*73


: successfully parse sentence at 22:28:53

: AshtechGPS::processRecord -sample time is 1142288933
: Sonardyne - POS response: 
POS V4,1 R335.87

: Sonardyne - parsing R335.87

: Sonardyne - read R = 335.870000 from 335.87

: Sonardyne - got range only (335.870000), tat = 900
: Sonardyne - POSD response: 
POSD S125.9,N31.1,D0,U1,Q0.010496

: Sonardyne - POSD response: 
POSD S125.9,N31.1,D0,U1,Q0.010496

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

: AshtechGps::processRecord() - $GPGGA,222854.00,3636.59823,N,12152.44519,W,1,10,0.9,-4.08,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222854.00,3636.59823,N,12152.44519,W,1,10,0.9,-4.08,M,-33.21,M,,*7F


: successfully parse sentence at 22:28:54

: AshtechGPS::processRecord -sample time is 1142288934
:  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 R334.67

: Sonardyne - parsing R334.67

: Sonardyne - read R = 334.670000 from 334.67

: Sonardyne - got range only (334.670000), tat = 900
: Sonardyne - POSD response: 
POSD S121.8,N28.0,D-56,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.8,N28.0,D-56,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222855.00,3636.59816,N,12152.44579,W,1,10,0.9,-4.14,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222855.00,3636.59816,N,12152.44579,W,1,10,0.9,-4.14,M,-33.21,M,,*73


: successfully parse sentence at 22:28:55

: AshtechGPS::processRecord -sample time is 1142288935
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222856.00,3636.59798,N,12152.44632,W,1,10,0.9,-4.12,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222856.00,3636.59798,N,12152.44632,W,1,10,0.9,-4.12,M,-33.21,M,,*73


: successfully parse sentence at 22:28:56

: AshtechGPS::processRecord -sample time is 1142288936
: Sonardyne - POS response: 
POS V4,1 R333.97

: Sonardyne - parsing R333.97

: Sonardyne - read R = 333.970000 from 333.97

: Sonardyne - got range only (333.970000), tat = 900
: Sonardyne - POSD response: 
POSD S124.3,N27.1,D44,U4,Q0.009150

: Sonardyne - POSD response: 
POSD S124.3,N27.1,D44,U4,Q0.009150

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

: AshtechGps::processRecord() - $GPGGA,222857.00,3636.59774,N,12152.44679,W,1,10,0.9,-4.10,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222857.00,3636.59774,N,12152.44679,W,1,10,0.9,-4.10,M,-33.21,M,,*7D


: successfully parse sentence at 22:28:57

: AshtechGPS::processRecord -sample time is 1142288937
:  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 R333.28,X-268.63,Y33.29,Z-194.44

: Sonardyne - parsing R333.28,X-268.63,Y33.29,Z-194.44

: Sonardyne - read R = 333.280000 from 333.28,X-268.63,Y33.29,Z-194.44

: Sonardyne - got all data, Vehicle coordinates,
    r=333.280000, x=194.440000, y=-268.630000, z=-33.290000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222858.00,3636.59741,N,12152.44724,W,1,10,0.9,-4.06,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222858.00,3636.59741,N,12152.44724,W,1,10,0.9,-4.06,M,-33.21,M,,*7A


: successfully parse sentence at 22:28:58

: AshtechGPS::processRecord -sample time is 1142288938
:  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 R332.80,X-278.15,Y-3.61,Z-182.68

: Sonardyne - parsing R332.80,X-278.15,Y-3.61,Z-182.68

: Sonardyne - read R = 332.800000 from 332.80,X-278.15,Y-3.61,Z-182.68

: Sonardyne - got all data, Vehicle coordinates,
    r=332.800000, x=182.680000, y=-278.150000, z=3.610000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222859.00,3636.59711,N,12152.44782,W,1,10,0.9,-4.17,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222859.00,3636.59711,N,12152.44782,W,1,10,0.9,-4.17,M,-33.21,M,,*72


: successfully parse sentence at 22:28:59

: AshtechGPS::processRecord -sample time is 1142288939
: BluefinBatt Reply: $aaq0 d- 31.04  9.23 16.79 3.87 3.89 0  -190.93 05:00:08 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 R332.21,X-271.68,Y29.16,Z-188.96

: Sonardyne - parsing R332.21,X-271.68,Y29.16,Z-188.96

: Sonardyne - read R = 332.210000 from 332.21,X-271.68,Y29.16,Z-188.96

: Sonardyne - got all data, Vehicle coordinates,
    r=332.210000, x=188.960000, y=-271.680000, z=-29.160000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222900.00,3636.59677,N,12152.44841,W,1,10,0.9,-4.15,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222900.00,3636.59677,N,12152.44841,W,1,10,0.9,-4.15,M,-33.21,M,,*7C


: successfully parse sentence at 22:29:0

: AshtechGPS::processRecord -sample time is 1142288940
: 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

: Sonardyne - POS response: 
POS V4,1 R331.57

: Sonardyne - parsing R331.57

: Sonardyne - read R = 331.570000 from 331.57

: Sonardyne - got range only (331.570000), tat = 890
: Sonardyne - POSD response: 
POSD S129.0,N31.7,D29,U4,Q0.007301

: Sonardyne - POSD response: 
POSD S129.0,N31.7,D29,U4,Q0.007301

: AshtechGps::processRecord() - $GPGGA,222901.00,3636.59652,N,12152.44907,W,1,10,0.9,-4.09,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222901.00,3636.59652,N,12152.44907,W,1,10,0.9,-4.09,M,-33.21,M,,*74


: successfully parse sentence at 22:29:1

: AshtechGPS::processRecord -sample time is 1142288941
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222902.00,3636.59618,N,12152.44959,W,1,10,0.9,-4.13,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222902.00,3636.59618,N,12152.44959,W,1,10,0.9,-4.13,M,-33.21,M,,*79


: successfully parse sentence at 22:29:2

: AshtechGPS::processRecord -sample time is 1142288942
: Sonardyne - POS response: 
POS V4,1 R330.76,X-266.64,Y59.20,Z-186.56

: Sonardyne - parsing R330.76,X-266.64,Y59.20,Z-186.56

: Sonardyne - read R = 330.760000 from 330.76,X-266.64,Y59.20,Z-186.56

: Sonardyne - got all data, Vehicle coordinates,
    r=330.760000, x=186.560000, y=-266.640000, z=-59.200000 tat = 970
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222903.00,3636.59590,N,12152.45019,W,1,10,0.9,-4.34,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222903.00,3636.59590,N,12152.45019,W,1,10,0.9,-4.34,M,-33.21,M,,*72


: successfully parse sentence at 22:29:3

: AshtechGPS::processRecord -sample time is 1142288943
: Sonardyne - POS response: 
POS V4,1 R330.65,X-275.95,Y-6.41,Z-182.04

: Sonardyne - parsing R330.65,X-275.95,Y-6.41,Z-182.04

: Sonardyne - read R = 330.650000 from 330.65,X-275.95,Y-6.41,Z-182.04

: Sonardyne - got all data, Vehicle coordinates,
    r=330.650000, x=182.040000, y=-275.950000, z=6.410000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222904.00,3636.59559,N,12152.45082,W,1,10,0.9,-4.41,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222904.00,3636.59559,N,12152.45082,W,1,10,0.9,-4.41,M,-33.21,M,,*70


: successfully parse sentence at 22:29:4

: AshtechGPS::processRecord -sample time is 1142288944
: Sonardyne - POS response: 
POS V4,1 R329.65,X-268.77,Y47.16,Z-184.94

: Sonardyne - parsing R329.65,X-268.77,Y47.16,Z-184.94

: Sonardyne - read R = 329.650000 from 329.65,X-268.77,Y47.16,Z-184.94

: Sonardyne - got all data, Vehicle coordinates,
    r=329.650000, x=184.940000, y=-268.770000, z=-47.160000 tat = 920
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222905.00,3636.59520,N,12152.45139,W,1,10,0.9,-4.25,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222905.00,3636.59520,N,12152.45139,W,1,10,0.9,-4.25,M,-33.21,M,,*7C


: successfully parse sentence at 22:29:5

: AshtechGPS::processRecord -sample time is 1142288945
: Sonardyne - POS response: 
POS V4,1 R328.40,X-267.30,Y48.63,Z-184.48

: Sonardyne - parsing R328.40,X-267.30,Y48.63,Z-184.48

: Sonardyne - read R = 328.400000 from 328.40,X-267.30,Y48.63,Z-184.48

: Sonardyne - got all data, Vehicle coordinates,
    r=328.400000, x=184.480000, y=-267.300000, z=-48.630000 tat = 910
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222906.00,3636.59500,N,12152.45207,W,1,10,0.9,-4.34,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222906.00,3636.59500,N,12152.45207,W,1,10,0.9,-4.34,M,-33.21,M,,*73


: successfully parse sentence at 22:29:6

: AshtechGPS::processRecord -sample time is 1142288946
: Sonardyne - POS response: 
POS V4,1 R327.82,X-258.93,Y10.83,Z-200.76

: Sonardyne - parsing R327.82,X-258.93,Y10.83,Z-200.76

: Sonardyne - read R = 327.820000 from 327.82,X-258.93,Y10.83,Z-200.76

: Sonardyne - got all data, Vehicle coordinates,
    r=327.820000, x=200.760000, y=-258.930000, z=-10.830000 tat = 919
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222907.00,3636.59467,N,12152.45265,W,1,10,0.9,-4.46,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222907.00,3636.59467,N,12152.45265,W,1,10,0.9,-4.46,M,-33.21,M,,*73


: successfully parse sentence at 22:29:7

: AshtechGPS::processRecord -sample time is 1142288947
: Sonardyne - POS response: 
POS V4,1 R334.37

: Sonardyne - parsing R334.37

: Sonardyne - read R = 334.370000 from 334.37

: Sonardyne - got range only (334.370000), tat = 900
: Sonardyne - POSD response: 
POSD S106.2,N20.2,D47,U1,Q0.001023

: Sonardyne - POSD response: 
POSD S106.2,N20.2,D47,U1,Q0.001023

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

: AshtechGps::processRecord() - $GPGGA,222908.00,3636.59432,N,12152.45328,W,1,10,0.9,-4.35,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222908.00,3636.59432,N,12152.45328,W,1,10,0.9,-4.35,M,-33.21,M,,*70


: successfully parse sentence at 22:29:8

: AshtechGPS::processRecord -sample time is 1142288948
:  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 R326.36,X-268.89,Y45.41,Z-179.29

: Sonardyne - parsing R326.36,X-268.89,Y45.41,Z-179.29

: Sonardyne - read R = 326.360000 from 326.36,X-268.89,Y45.41,Z-179.29

: Sonardyne - got all data, Vehicle coordinates,
    r=326.360000, x=179.290000, y=-268.890000, z=-45.410000 tat = 910
: AshtechGps::processRecord() - $GPGGA,222909.00,3636.59394,N,12152.45389,W,1,10,0.9,-4.34,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222909.00,3636.59394,N,12152.45389,W,1,10,0.9,-4.34,M,-33.21,M,,*70


: successfully parse sentence at 22:29:9

: AshtechGPS::processRecord -sample time is 1142288949
: BluefinBatt Reply: $aaq0 d- 31.00  9.67 16.79 3.87 3.89 0  -191.61 05:00:18 m

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

: LayeredControl::execute() -- (t = 38.397370) Behavior descend has changed to state Active

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

: Sonardyne - POS response: 
POS V4,1 R325.54,X-269.09,Y22.38,Z-181.85

: Sonardyne - parsing R325.54,X-269.09,Y22.38,Z-181.85

: Sonardyne - read R = 325.540000 from 325.54,X-269.09,Y22.38,Z-181.85

: Sonardyne - got all data, Vehicle coordinates,
    r=325.540000, x=181.850000, y=-269.090000, z=-22.380000 tat = 910
: AshtechGps::processRecord() - $GPGGA,222910.00,3636.59360,N,12152.45455,W,1,10,0.9,-4.35,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222910.00,3636.59360,N,12152.45455,W,1,10,0.9,-4.35,M,-33.21,M,,*74


: successfully parse sentence at 22:29:10

: AshtechGPS::processRecord -sample time is 1142288950
: 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

: Sonardyne - POS response: 
POS V4,1 R324.87

: Sonardyne - parsing R324.87

: Sonardyne - read R = 324.870000 from 324.87

: Sonardyne - got range only (324.870000), tat = 890
: Sonardyne - POSD response: 
POSD S125.3,N30.7,D-2,U1,Q0.012214

: Sonardyne - POSD response: 
POSD S125.3,N30.7,D-2,U1,Q0.012214

: AshtechGps::processRecord() - $GPGGA,222911.00,3636.59330,N,12152.45526,W,1,10,0.9,-4.31,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222911.00,3636.59330,N,12152.45526,W,1,10,0.9,-4.31,M,-33.21,M,,*71


: successfully parse sentence at 22:29:11

: AshtechGPS::processRecord -sample time is 1142288951
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222912.00,3636.59295,N,12152.45591,W,1,10,0.9,-4.32,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,222912.00,3636.59295,N,12152.45591,W,1,10,0.9,-4.32,M,-33.21,M,,*73


: successfully parse sentence at 22:29:12

: AshtechGPS::processRecord -sample time is 1142288952
: Sonardyne - POS response: 
POS V4,1 R324.04,X-271.57,Y43.76,Z-171.28

: Sonardyne - parsing R324.04,X-271.57,Y43.76,Z-171.28

: Sonardyne - read R = 324.040000 from 324.04,X-271.57,Y43.76,Z-171.28

: Sonardyne - got all data, Vehicle coordinates,
    r=324.040000, x=171.280000, y=-271.570000, z=-43.760000 tat = 910
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222913.00,3636.59263,N,12152.45660,W,1,10,0.9,-4.36,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222913.00,3636.59263,N,12152.45660,W,1,10,0.9,-4.36,M,-33.21,M,,*72


: successfully parse sentence at 22:29:13

: AshtechGPS::processRecord -sample time is 1142288953
: Sonardyne - POS response: 
POS V4,1 R326.24

: Sonardyne - parsing R326.24

: Sonardyne - read R = 326.240000 from 326.24

: Sonardyne - got range only (326.240000), tat = 890
: Sonardyne - POSD response: 
POSD S118.5,N28.3,D0,U3,Q0.001126

: Sonardyne - POSD response: 
POSD S118.5,N28.3,D0,U3,Q0.001126

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

: AshtechGps::processRecord() - $GPGGA,222914.00,3636.59227,N,12152.45730,W,1,10,0.9,-4.31,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222914.00,3636.59227,N,12152.45730,W,1,10,0.9,-4.31,M,-33.21,M,,*76


: successfully parse sentence at 22:29:14

: AshtechGPS::processRecord -sample time is 1142288954
: Sonardyne - POS response: 
POS V4,1 R322.85

: Sonardyne - parsing R322.85

: Sonardyne - read R = 322.850000 from 322.85

: Sonardyne - got range only (322.850000), tat = 880
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S124.4,N27.7,D-22,U3,Q0.013192

: Sonardyne - POSD response: 
POSD S124.4,N27.7,D-22,U3,Q0.013192

: AshtechGps::processRecord() - $GPGGA,222915.00,3636.59193,N,12152.45800,W,1,10,0.9,-4.31,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222915.00,3636.59193,N,12152.45800,W,1,10,0.9,-4.31,M,-33.21,M,,*77


: successfully parse sentence at 22:29:15

: AshtechGPS::processRecord -sample time is 1142288955
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222916.00,3636.59159,N,12152.45872,W,1,10,0.9,-4.30,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222916.00,3636.59159,N,12152.45872,W,1,10,0.9,-4.30,M,-33.21,M,,*76


: successfully parse sentence at 22:29:16

: AshtechGPS::processRecord -sample time is 1142288956
: Sonardyne - POS response: 
POS V4,1 R322.70,X-275.39,Y-4.13,Z-168.15

: Sonardyne - parsing R322.70,X-275.39,Y-4.13,Z-168.15

: Sonardyne - read R = 322.700000 from 322.70,X-275.39,Y-4.13,Z-168.15

: Sonardyne - got all data, Vehicle coordinates,
    r=322.700000, x=168.150000, y=-275.390000, z=4.130000 tat = 910
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222917.00,3636.59127,N,12152.45942,W,1,10,0.9,-4.44,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222917.00,3636.59127,N,12152.45942,W,1,10,0.9,-4.44,M,-33.21,M,,*7F


: successfully parse sentence at 22:29:17

: AshtechGPS::processRecord -sample time is 1142288957
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222918.00,3636.59100,N,12152.46015,W,1,10,0.9,-4.43,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222918.00,3636.59100,N,12152.46015,W,1,10,0.9,-4.43,M,-33.21,M,,*7A


: successfully parse sentence at 22:29:18

: AshtechGPS::processRecord -sample time is 1142288958
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222919.00,3636.59069,N,12152.46087,W,1,10,0.9,-4.30,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,222919.00,3636.59069,N,12152.46087,W,1,10,0.9,-4.30,M,-33.21,M,,*7A


: successfully parse sentence at 22:29:19

: AshtechGPS::processRecord -sample time is 1142288959
: BluefinBatt Reply: $aaq0 d- 31.00  9.57 16.89 3.87 3.90 0  -192.59 05:00:28 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,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,222920.00,3636.59034,N,12152.46158,W,1,10,0.9,-4.11,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,222920.00,3636.59034,N,12152.46158,W,1,10,0.9,-4.11,M,-33.21,M,,*78


: successfully parse sentence at 22:29:20

: AshtechGPS::processRecord -sample time is 1142288960
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R319.40

: Sonardyne - parsing R319.40

: Sonardyne - read R = 319.400000 from 319.40

: Sonardyne - got range only (319.400000), tat = 880
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.3,N30.0,D38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.3,N30.0,D38,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222921.00,3636.58995,N,12152.46227,W,1,10,0.9,-3.94,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222921.00,3636.58995,N,12152.46227,W,1,10,0.9,-3.94,M,-33.21,M,,*7B


: successfully parse sentence at 22:29:21

: AshtechGPS::processRecord -sample time is 1142288961
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222922.00,3636.58950,N,12152.46291,W,1,10,0.9,-3.96,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222922.00,3636.58950,N,12152.46291,W,1,10,0.9,-3.96,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:22

: AshtechGPS::processRecord -sample time is 1142288962
: Sonardyne - POS response: 
POS V4,1 R317.80

: Sonardyne - parsing R317.80

: Sonardyne - read R = 317.800000 from 317.80

: Sonardyne - got range only (317.800000), tat = 880
: Sonardyne - POSD response: 
POSD S117.1,N23.1,D65,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S117.1,N23.1,D65,U1,Q0.014122

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

: AshtechGps::processRecord() - $GPGGA,222923.00,3636.58915,N,12152.46359,W,1,10,0.9,-4.20,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222923.00,3636.58915,N,12152.46359,W,1,10,0.9,-4.20,M,-33.21,M,,*71


: successfully parse sentence at 22:29:23

: AshtechGPS::processRecord -sample time is 1142288963
: Sonardyne - POS response: 
POS V4,1 R316.60

: Sonardyne - parsing R316.60

: Sonardyne - read R = 316.600000 from 316.60

: Sonardyne - got range only (316.600000), tat = 870
: Sonardyne - POSD response: 
POSD S120.9,N22.6,D17,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S120.9,N22.6,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222924.00,3636.58885,N,12152.46433,W,1,10,0.9,-4.33,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222924.00,3636.58885,N,12152.46433,W,1,10,0.9,-4.33,M,-33.21,M,,*77


: successfully parse sentence at 22:29:24

: AshtechGPS::processRecord -sample time is 1142288964
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222925.00,3636.58858,N,12152.46513,W,1,10,0.9,-4.27,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,222925.00,3636.58858,N,12152.46513,W,1,10,0.9,-4.27,M,-33.21,M,,*70


: successfully parse sentence at 22:29:25

: AshtechGPS::processRecord -sample time is 1142288965
: Sonardyne - POS response: 
POS V4,1 R316.71

: Sonardyne - parsing R316.71

: Sonardyne - read R = 316.710000 from 316.71

: Sonardyne - got range only (316.710000), tat = 870
: Sonardyne - POSD response: 
POSD S123.4,N32.4,D23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.4,N32.4,D23,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,222926.00,3636.58828,N,12152.46590,W,1,10,0.9,-4.21,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,222926.00,3636.58828,N,12152.46590,W,1,10,0.9,-4.21,M,-33.21,M,,*79


: successfully parse sentence at 22:29:26

: AshtechGPS::processRecord -sample time is 1142288966
: Sonardyne - POS response: 
POS V4,1 R316.10

: Sonardyne - parsing R316.10

: Sonardyne - read R = 316.100000 from 316.10

: Sonardyne - got range only (316.100000), tat = 870
: Sonardyne - POSD response: 
POSD S125.3,N26.9,D-50,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S125.3,N26.9,D-50,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222927.00,3636.58792,N,12152.46661,W,1,10,0.9,-3.98,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222927.00,3636.58792,N,12152.46661,W,1,10,0.9,-3.98,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:27

: AshtechGPS::processRecord -sample time is 1142288967
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222928.00,3636.58754,N,12152.46729,W,1,10,0.9,-3.99,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222928.00,3636.58754,N,12152.46729,W,1,10,0.9,-3.99,M,-33.21,M,,*77


: successfully parse sentence at 22:29:28

: AshtechGPS::processRecord -sample time is 1142288968
: Sonardyne - POS response: 
POS V4,1 R315.04

: Sonardyne - parsing R315.04

: Sonardyne - read R = 315.040000 from 315.04

: Sonardyne - got range only (315.040000), tat = 870
: Sonardyne - POSD response: 
POSD S123.1,N27.5,D-50,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S123.1,N27.5,D-50,U1,Q0.013937

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

: AshtechGps::processRecord() - $GPGGA,222929.00,3636.58728,N,12152.46800,W,1,10,0.9,-4.28,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,222929.00,3636.58728,N,12152.46800,W,1,10,0.9,-4.28,M,-33.21,M,,*74


: successfully parse sentence at 22:29:29

: AshtechGPS::processRecord -sample time is 1142288969
: BluefinBatt Reply: $aaq0 d- 31.04  8.25 16.89 3.87 3.90 0  -193.22 05:00:38 m

: Sonardyne - POS response: 
POS V4,1 R313.60,X-275.50,Y42.46,Z-143.66

: Sonardyne - parsing R313.60,X-275.50,Y42.46,Z-143.66

: Sonardyne - read R = 313.600000 from 313.60,X-275.50,Y42.46,Z-143.66

: Sonardyne - got all data, Vehicle coordinates,
    r=313.600000, x=143.660000, y=-275.500000, z=-42.460000 tat = 900
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222930.00,3636.58697,N,12152.46870,W,1,10,0.9,-4.35,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222930.00,3636.58697,N,12152.46870,W,1,10,0.9,-4.35,M,-33.21,M,,*72


: successfully parse sentence at 22:29:30

: AshtechGPS::processRecord -sample time is 1142288970
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R314.16

: Sonardyne - parsing R314.16

: Sonardyne - read R = 314.160000 from 314.16

: Sonardyne - got range only (314.160000), tat = 870
: Sonardyne - POSD response: 
POSD S122.8,N24.7,D-78,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S122.8,N24.7,D-78,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222931.00,3636.58677,N,12152.46959,W,1,10,0.9,-4.35,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222931.00,3636.58677,N,12152.46959,W,1,10,0.9,-4.35,M,-33.21,M,,*77


: successfully parse sentence at 22:29:31

: AshtechGPS::processRecord -sample time is 1142288971
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222932.00,3636.58649,N,12152.47033,W,1,10,0.9,-4.27,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222932.00,3636.58649,N,12152.47033,W,1,10,0.9,-4.27,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:32

: AshtechGPS::processRecord -sample time is 1142288972
: Sonardyne - POS response: 
POS V4,1 R313.26,X-279.96,Y30.06,Z-137.28

: Sonardyne - parsing R313.26,X-279.96,Y30.06,Z-137.28

: Sonardyne - read R = 313.260000 from 313.26,X-279.96,Y30.06,Z-137.28

: Sonardyne - got all data, Vehicle coordinates,
    r=313.260000, x=137.280000, y=-279.960000, z=-30.060000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222933.00,3636.58619,N,12152.47103,W,1,10,0.9,-4.20,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222933.00,3636.58619,N,12152.47103,W,1,10,0.9,-4.20,M,-33.21,M,,*7F


: successfully parse sentence at 22:29:33

: AshtechGPS::processRecord -sample time is 1142288973
: Sonardyne - POS response: 
POS V4,1 R312.67

: Sonardyne - parsing R312.67

: Sonardyne - read R = 312.670000 from 312.67

: Sonardyne - got range only (312.670000), tat = 870
: Sonardyne - POSD response: 
POSD S125.3,N25.4,D-59,U3,Q0.006487

: Sonardyne - POSD response: 
POSD S125.3,N25.4,D-59,U3,Q0.006487

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

: AshtechGps::processRecord() - $GPGGA,222934.00,3636.58584,N,12152.47171,W,1,10,0.9,-4.21,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222934.00,3636.58584,N,12152.47171,W,1,10,0.9,-4.21,M,-33.21,M,,*7B


: successfully parse sentence at 22:29:34

: AshtechGPS::processRecord -sample time is 1142288974
: Sonardyne - POS response: 
POS V4,1 R312.08

: Sonardyne - parsing R312.08

: Sonardyne - read R = 312.080000 from 312.08

: Sonardyne - got range only (312.080000), tat = 870
: Sonardyne - POSD response: 
POSD S123.0,N26.6,D-4,U4,Q0.013090

: Sonardyne - POSD response: 
POSD S123.0,N26.6,D-4,U4,Q0.013090

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

: AshtechGps::processRecord() - $GPGGA,222935.00,3636.58556,N,12152.47246,W,1,10,0.9,-4.28,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222935.00,3636.58556,N,12152.47246,W,1,10,0.9,-4.28,M,-33.21,M,,*7B


: successfully parse sentence at 22:29:35

: AshtechGPS::processRecord -sample time is 1142288975
: Sonardyne - POS response: 
POS V4,1 R310.99

: Sonardyne - parsing R310.99

: Sonardyne - read R = 310.990000 from 310.99

: Sonardyne - got range only (310.990000), tat = 870
: Sonardyne - POSD response: 
POSD S115.7,N20.3,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.7,N20.3,D7,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,222936.00,3636.58520,N,12152.47317,W,1,10,0.9,-4.15,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222936.00,3636.58520,N,12152.47317,W,1,10,0.9,-4.15,M,-33.21,M,,*72


: successfully parse sentence at 22:29:36

: AshtechGPS::processRecord -sample time is 1142288976
: Sonardyne - POS response: 
POS V4,1 R311.48

: Sonardyne - parsing R311.48

: Sonardyne - read R = 311.480000 from 311.48

: Sonardyne - got range only (311.480000), tat = 870
: Sonardyne - POSD response: 
POSD S120.5,N31.6,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N31.6,D-2,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,222937.00,3636.58487,N,12152.47392,W,1,10,0.9,-4.16,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222937.00,3636.58487,N,12152.47392,W,1,10,0.9,-4.16,M,-33.21,M,,*71


: successfully parse sentence at 22:29:37

: AshtechGPS::processRecord -sample time is 1142288977
: Sonardyne - POS response: 
POS V4,1 R310.13

: Sonardyne - parsing R310.13

: Sonardyne - read R = 310.130000 from 310.13

: Sonardyne - got range only (310.130000), tat = 860
: Sonardyne - POSD response: 
POSD S119.1,N26.1,D87,U1,Q0.007934

: Sonardyne - POSD response: 
POSD S119.1,N26.1,D87,U1,Q0.007934

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

: AshtechGps::processRecord() - $GPGGA,222938.00,3636.58456,N,12152.47469,W,1,10,0.9,-4.03,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222938.00,3636.58456,N,12152.47469,W,1,10,0.9,-4.03,M,-33.21,M,,*75


: successfully parse sentence at 22:29:38

: AshtechGPS::processRecord -sample time is 1142288978
: Sonardyne - POS response: 
POS V4,1 R309.62

: Sonardyne - parsing R309.62

: Sonardyne - read R = 309.620000 from 309.62

: Sonardyne - got range only (309.620000), tat = 860
: Sonardyne - POSD response: 
POSD S115.2,N24.2,D87,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.2,N24.2,D87,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,222939.00,3636.58416,N,12152.47538,W,1,10,0.9,-3.86,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222939.00,3636.58416,N,12152.47538,W,1,10,0.9,-3.86,M,-33.21,M,,*7F


: successfully parse sentence at 22:29:39

: AshtechGPS::processRecord -sample time is 1142288979
: Sonardyne - POS response: 
POS V4,1 R309.75

: Sonardyne - parsing R309.75

: Sonardyne - read R = 309.750000 from 309.75

: Sonardyne - got range only (309.750000), tat = 860
: BluefinBatt Reply: $aaq0 d- 31.00  9.63 16.89 3.87 3.89 0  -194.17 05:00:48 m

: Sonardyne - POSD response: 
POSD S118.9,N26.6,D38,U3,Q0.006319

: Sonardyne - POSD response: 
POSD S118.9,N26.6,D38,U3,Q0.006319

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

: AshtechGps::processRecord() - $GPGGA,222940.00,3636.58377,N,12152.47602,W,1,10,0.9,-3.91,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222940.00,3636.58377,N,12152.47602,W,1,10,0.9,-3.91,M,-33.21,M,,*7D


: successfully parse sentence at 22:29:40

: AshtechGPS::processRecord -sample time is 1142288980
: Sonardyne - POS response: 
POS V4,1 R308.22

: Sonardyne - parsing R308.22

: Sonardyne - read R = 308.220000 from 308.22

: Sonardyne - got range only (308.220000), tat = 860
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POSD response: 
POSD S112.3,N17.0,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.3,N17.0,D-40,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,222941.00,3636.58342,N,12152.47670,W,1,10,0.9,-4.17,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222941.00,3636.58342,N,12152.47670,W,1,10,0.9,-4.17,M,-33.21,M,,*76


: successfully parse sentence at 22:29:41

: AshtechGPS::processRecord -sample time is 1142288981
: Sonardyne - POS response: 
POS V4,1 R311.22

: Sonardyne - parsing R311.22

: Sonardyne - read R = 311.220000 from 311.22

: Sonardyne - got range only (311.220000), tat = 870
: Sonardyne - POSD response: 
POSD S111.1,N27.9,D-62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S111.1,N27.9,D-62,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,222942.00,3636.58314,N,12152.47751,W,1,10,0.9,-4.16,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222942.00,3636.58314,N,12152.47751,W,1,10,0.9,-4.16,M,-33.21,M,,*75


: successfully parse sentence at 22:29:42

: AshtechGPS::processRecord -sample time is 1142288982
: Sonardyne - POS response: 
POS V4,1 R307.60

: Sonardyne - parsing R307.60

: Sonardyne - read R = 307.600000 from 307.60

: Sonardyne - got range only (307.600000), tat = 860
: Sonardyne - POSD response: 
POSD S117.4,N21.8,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.4,N21.8,D-36,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,222943.00,3636.58284,N,12152.47830,W,1,10,0.9,-4.13,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222943.00,3636.58284,N,12152.47830,W,1,10,0.9,-4.13,M,-33.21,M,,*71


: successfully parse sentence at 22:29:43

: AshtechGPS::processRecord -sample time is 1142288983
: Sonardyne - POS response: 
POS V4,1 R307.32

: Sonardyne - parsing R307.32

: Sonardyne - read R = 307.320000 from 307.32

: Sonardyne - got range only (307.320000), tat = 860
: Sonardyne - POSD response: 
POSD S122.3,N27.5,D45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N27.5,D45,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,222944.00,3636.58260,N,12152.47908,W,1,10,0.9,-4.05,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222944.00,3636.58260,N,12152.47908,W,1,10,0.9,-4.05,M,-33.21,M,,*71


: successfully parse sentence at 22:29:44

: AshtechGPS::processRecord -sample time is 1142288984
: Sonardyne - POS response: 
POS V4,1 R306.75

: Sonardyne - parsing R306.75

: Sonardyne - read R = 306.750000 from 306.75

: Sonardyne - got range only (306.750000), tat = 860
: Sonardyne - POSD response: 
POSD S124.1,N31.2,D-36,U3,Q0.019063

: Sonardyne - POSD response: 
POSD S124.1,N31.2,D-36,U3,Q0.019063

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

: AshtechGps::processRecord() - $GPGGA,222945.00,3636.58224,N,12152.47976,W,1,10,0.9,-3.97,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222945.00,3636.58224,N,12152.47976,W,1,10,0.9,-3.97,M,-33.21,M,,*75


: successfully parse sentence at 22:29:45

: AshtechGPS::processRecord -sample time is 1142288985
: Sonardyne - POS response: 
POS V4,1 R306.13

: Sonardyne - parsing R306.13

: Sonardyne - read R = 306.130000 from 306.13

: Sonardyne - got range only (306.130000), tat = 860
: Sonardyne - POSD response: 
POSD S121.3,N29.1,D-61,U4,Q0.016507

: Sonardyne - POSD response: 
POSD S121.3,N29.1,D-61,U4,Q0.016507

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

: AshtechGps::processRecord() - $GPGGA,222946.00,3636.58191,N,12152.48048,W,1,10,0.9,-3.99,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222946.00,3636.58191,N,12152.48048,W,1,10,0.9,-3.99,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:46

: AshtechGPS::processRecord -sample time is 1142288986
: Sonardyne - POS response: 
POS V4,1 R305.81

: Sonardyne - parsing R305.81

: Sonardyne - read R = 305.810000 from 305.81

: Sonardyne - got range only (305.810000), tat = 860
: Sonardyne - POSD response: 
POSD S122.0,N29.9,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.0,N29.9,D-14,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,222947.00,3636.58163,N,12152.48125,W,1,10,0.9,-4.12,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222947.00,3636.58163,N,12152.48125,W,1,10,0.9,-4.12,M,-33.21,M,,*7C


: successfully parse sentence at 22:29:47

: AshtechGPS::processRecord -sample time is 1142288987
: Sonardyne - POS response: 
POS V4,1 R305.43

: Sonardyne - parsing R305.43

: Sonardyne - read R = 305.430000 from 305.43

: Sonardyne - got range only (305.430000), tat = 860
: Sonardyne - POSD response: 
POSD S120.3,N29.4,D19,U2,Q0.003363

: Sonardyne - POSD response: 
POSD S120.3,N29.4,D19,U2,Q0.003363

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

: AshtechGps::processRecord() - $GPGGA,222948.00,3636.58134,N,12152.48199,W,1,10,0.9,-3.97,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222948.00,3636.58134,N,12152.48199,W,1,10,0.9,-3.97,M,-33.21,M,,*7C


: successfully parse sentence at 22:29:48

: AshtechGPS::processRecord -sample time is 1142288988
: Sonardyne - POS response: 
POS V4,1 R305.21

: Sonardyne - parsing R305.21

: Sonardyne - read R = 305.210000 from 305.21

: Sonardyne - got range only (305.210000), tat = 860
: Sonardyne - POSD response: 
POSD S116.7,N29.7,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.7,N29.7,D-24,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,222949.00,3636.58102,N,12152.48269,W,1,10,0.9,-3.94,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222949.00,3636.58102,N,12152.48269,W,1,10,0.9,-3.94,M,-33.21,M,,*77


: successfully parse sentence at 22:29:49

: AshtechGPS::processRecord -sample time is 1142288989
: BluefinBatt Reply: $aaq0 d- 30.96  9.87 16.89 3.87 3.89 0  -194.74 05:00:58 m

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

: AshtechGps::processRecord() - $GPGGA,222950.00,3636.58070,N,12152.48344,W,1,10,0.9,-3.97,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,222950.00,3636.58070,N,12152.48344,W,1,10,0.9,-3.97,M,-33.21,M,,*76


: successfully parse sentence at 22:29:50

: AshtechGPS::processRecord -sample time is 1142288990
: 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,222951.00,3636.58035,N,12152.48416,W,1,10,0.9,-4.02,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222951.00,3636.58035,N,12152.48416,W,1,10,0.9,-4.02,M,-33.21,M,,*7D


: successfully parse sentence at 22:29:51

: AshtechGPS::processRecord -sample time is 1142288991
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222952.00,3636.58006,N,12152.48489,W,1,10,0.9,-4.04,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222952.00,3636.58006,N,12152.48489,W,1,10,0.9,-4.04,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:52

: AshtechGPS::processRecord -sample time is 1142288992
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222953.00,3636.57976,N,12152.48564,W,1,10,0.9,-4.18,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,222953.00,3636.57976,N,12152.48564,W,1,10,0.9,-4.18,M,-33.21,M,,*71


: successfully parse sentence at 22:29:53

: AshtechGPS::processRecord -sample time is 1142288993
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222954.00,3636.57948,N,12152.48642,W,1,10,0.9,-4.11,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,222954.00,3636.57948,N,12152.48642,W,1,10,0.9,-4.11,M,-33.21,M,,*75


: successfully parse sentence at 22:29:54

: AshtechGPS::processRecord -sample time is 1142288994
:  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
: AshtechGps::processRecord() - $GPGGA,222955.00,3636.57916,N,12152.48717,W,1,10,0.9,-4.05,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222955.00,3636.57916,N,12152.48717,W,1,10,0.9,-4.05,M,-33.21,M,,*7B


: successfully parse sentence at 22:29:55

: AshtechGPS::processRecord -sample time is 1142288995
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222956.00,3636.57878,N,12152.48784,W,1,10,0.9,-4.00,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222956.00,3636.57878,N,12152.48784,W,1,10,0.9,-4.00,M,-33.21,M,,*7E


: successfully parse sentence at 22:29:56

: AshtechGPS::processRecord -sample time is 1142288996
: Sonardyne - POS response: 
POS V4,1 R301.12

: Sonardyne - parsing R301.12

: Sonardyne - read R = 301.120000 from 301.12

: Sonardyne - got range only (301.120000), tat = 850
: Sonardyne - POSD response: 
POSD S123.5,N27.3,D-51,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N27.3,D-51,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,222957.00,3636.57846,N,12152.48851,W,1,10,0.9,-4.13,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,222957.00,3636.57846,N,12152.48851,W,1,10,0.9,-4.13,M,-33.21,M,,*77


: successfully parse sentence at 22:29:57

: AshtechGPS::processRecord -sample time is 1142288997
: Sonardyne - POS response: 
POS V4,1 R300.73

: Sonardyne - parsing R300.73

: Sonardyne - read R = 300.730000 from 300.73

: Sonardyne - got range only (300.730000), tat = 850
: Sonardyne - POSD response: 
POSD S120.2,N29.4,D-45,U5,Q0.006891

: Sonardyne - POSD response: 
POSD S120.2,N29.4,D-45,U5,Q0.006891

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

: AshtechGps::processRecord() - $GPGGA,222958.00,3636.57820,N,12152.48926,W,1,10,0.9,-4.33,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222958.00,3636.57820,N,12152.48926,W,1,10,0.9,-4.33,M,-33.21,M,,*7B


: successfully parse sentence at 22:29:58

: AshtechGPS::processRecord -sample time is 1142288998
: Sonardyne - POS response: 
POS V4,1 R300.32

: Sonardyne - parsing R300.32

: Sonardyne - read R = 300.320000 from 300.32

: Sonardyne - got range only (300.320000), tat = 850
: Sonardyne - POSD response: 
POSD S120.9,N27.5,D22,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S120.9,N27.5,D22,U1,Q0.014122

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

: AshtechGps::processRecord() - $GPGGA,222959.00,3636.57794,N,12152.49003,W,1,10,0.9,-4.34,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,222959.00,3636.57794,N,12152.49003,W,1,10,0.9,-4.34,M,-33.21,M,,*72


: successfully parse sentence at 22:29:59

: AshtechGPS::processRecord -sample time is 1142288999
: Sonardyne - POS response: 
POS V4,1 R299.94

: Sonardyne - parsing R299.94

: Sonardyne - read R = 299.940000 from 299.94

: Sonardyne - got range only (299.940000), tat = 850
: BluefinBatt Reply: $aaq0 d- 31.00  8.28 16.99 3.87 3.89 0  -195.63 05:01:08 m

: Sonardyne - POSD response: 
POSD S118.3,N23.6,D-115,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S118.3,N23.6,D-115,U1,Q0.016109

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

: AshtechGps::processRecord() - $GPGGA,223000.00,3636.57768,N,12152.49081,W,1,10,0.9,-4.21,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223000.00,3636.57768,N,12152.49081,W,1,10,0.9,-4.21,M,-33.21,M,,*7B


: successfully parse sentence at 22:30:0

: AshtechGPS::processRecord -sample time is 1142289000
: Sonardyne - POS response: 
POS V4,1 R298.99

: Sonardyne - parsing R298.99

: Sonardyne - read R = 298.990000 from 298.99

: Sonardyne - got range only (298.990000), tat = 850
: Sonardyne - POSD response: 
POSD S112.9,N17.2,D1,U5,Q0.011871

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

: Sonardyne - POSD response: 
POSD S112.9,N17.2,D1,U5,Q0.011871

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

: AshtechGps::processRecord() - $GPGGA,223001.00,3636.57733,N,12152.49155,W,1,10,0.9,-4.22,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223001.00,3636.57733,N,12152.49155,W,1,10,0.9,-4.22,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:1

: AshtechGPS::processRecord -sample time is 1142289001
: Sonardyne - POS response: 
POS V4,1 R299.18

: Sonardyne - parsing R299.18

: Sonardyne - read R = 299.180000 from 299.18

: Sonardyne - got range only (299.180000), tat = 850
: Sonardyne - POSD response: 
POSD S123.3,N32.1,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.3,N32.1,D-40,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223002.00,3636.57703,N,12152.49229,W,1,10,0.9,-4.27,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223002.00,3636.57703,N,12152.49229,W,1,10,0.9,-4.27,M,-33.21,M,,*72


: successfully parse sentence at 22:30:2

: AshtechGPS::processRecord -sample time is 1142289002
: Sonardyne - POS response: 
POS V4,1 R298.76

: Sonardyne - parsing R298.76

: Sonardyne - read R = 298.760000 from 298.76

: Sonardyne - got range only (298.760000), tat = 850
: Sonardyne - POSD response: 
POSD S122.5,N30.7,D-39,U3,Q0.011118

: Sonardyne - POSD response: 
POSD S122.5,N30.7,D-39,U3,Q0.011118

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

: AshtechGps::processRecord() - $GPGGA,223003.00,3636.57668,N,12152.49300,W,1,10,0.9,-4.13,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223003.00,3636.57668,N,12152.49300,W,1,10,0.9,-4.13,M,-33.21,M,,*72


: successfully parse sentence at 22:30:3

: AshtechGPS::processRecord -sample time is 1142289003
: Sonardyne - POS response: 
POS V4,1 R298.16

: Sonardyne - parsing R298.16

: Sonardyne - read R = 298.160000 from 298.16

: Sonardyne - got range only (298.160000), tat = 850
: Sonardyne - POSD response: 
POSD S118.2,N22.5,D-55,U2,Q0.007459

: Sonardyne - POSD response: 
POSD S118.2,N22.5,D-55,U2,Q0.007459

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

: AshtechGps::processRecord() - $GPGGA,223004.00,3636.57636,N,12152.49374,W,1,10,0.9,-4.13,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,223004.00,3636.57636,N,12152.49374,W,1,10,0.9,-4.13,M,-33.21,M,,*7D


: successfully parse sentence at 22:30:4

: AshtechGPS::processRecord -sample time is 1142289004
: Sonardyne - POS response: 
POS V4,1 R297.98

: Sonardyne - parsing R297.98

: Sonardyne - read R = 297.980000 from 297.98

: Sonardyne - got range only (297.980000), tat = 850
: Sonardyne - POSD response: 
POSD S122.9,N25.9,D-92,U5,Q0.011233

: Sonardyne - POSD response: 
POSD S122.9,N25.9,D-92,U5,Q0.011233

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

: AshtechGps::processRecord() - $GPGGA,223005.00,3636.57600,N,12152.49445,W,1,10,0.9,-4.13,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,223005.00,3636.57600,N,12152.49445,W,1,10,0.9,-4.13,M,-33.21,M,,*7C


: successfully parse sentence at 22:30:5

: AshtechGPS::processRecord -sample time is 1142289005
: Sonardyne - POS response: 
POS V4,1 R297.11

: Sonardyne - parsing R297.11

: Sonardyne - read R = 297.110000 from 297.11

: Sonardyne - got range only (297.110000), tat = 849
: Sonardyne - POSD response: 
POSD S116.7,N25.9,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.7,N25.9,D-31,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,223006.00,3636.57565,N,12152.49516,W,1,10,0.9,-4.14,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223006.00,3636.57565,N,12152.49516,W,1,10,0.9,-4.14,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:6

: AshtechGPS::processRecord -sample time is 1142289006
: Sonardyne - POS response: 
POS V4,1 R297.78

: Sonardyne - parsing R297.78

: Sonardyne - read R = 297.780000 from 297.78

: Sonardyne - got range only (297.780000), tat = 850
: Sonardyne - POSD response: 
POSD S115.7,N25.8,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.7,N25.8,D5,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223007.00,3636.57536,N,12152.49592,W,1,10,0.9,-4.19,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,223007.00,3636.57536,N,12152.49592,W,1,10,0.9,-4.19,M,-33.21,M,,*79


: successfully parse sentence at 22:30:7

: AshtechGPS::processRecord -sample time is 1142289007
: Sonardyne - POS response: 
POS V4,1 R297.27

: Sonardyne - parsing R297.27

: Sonardyne - read R = 297.270000 from 297.27

: Sonardyne - got range only (297.270000), tat = 850
: Sonardyne - POSD response: 
POSD S121.5,N26.7,D30,U5,Q0.013540

: Sonardyne - POSD response: 
POSD S121.5,N26.7,D30,U5,Q0.013540

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

: AshtechGps::processRecord() - $GPGGA,223008.00,3636.57501,N,12152.49664,W,1,10,0.9,-4.23,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,223008.00,3636.57501,N,12152.49664,W,1,10,0.9,-4.23,M,-33.21,M,,*71


: successfully parse sentence at 22:30:8

: AshtechGPS::processRecord -sample time is 1142289008
: Sonardyne - POS response: 
POS V4,1 R299.24

: Sonardyne - parsing R299.24

: Sonardyne - read R = 299.240000 from 299.24

: Sonardyne - got range only (299.240000), tat = 850
: Sonardyne - POSD response: 
POSD S114.8,N24.7,D-144,U5,Q0.000194

: Sonardyne - POSD response: 
POSD S114.8,N24.7,D-144,U5,Q0.000194

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

: AshtechGps::processRecord() - $GPGGA,223009.00,3636.57475,N,12152.49736,W,1,10,0.9,-4.32,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,223009.00,3636.57475,N,12152.49736,W,1,10,0.9,-4.32,M,-33.21,M,,*74


: successfully parse sentence at 22:30:9

: AshtechGPS::processRecord -sample time is 1142289009
: Sonardyne - POS response: 
POS V4,1 R296.00

: Sonardyne - parsing R296.00

: Sonardyne - read R = 296.000000 from 296.00

: Sonardyne - got range only (296.000000), tat = 850
: Sonardyne - POSD response: 
POSD S116.7,N25.5,D-69,U3,Q0.002885

: BluefinBatt Reply: $aaq0 d- 30.96  9.90 16.89 3.87 3.89 0  -196.20 05:01:18 m

: Sonardyne - POSD response: 
POSD S116.7,N25.5,D-69,U3,Q0.002885

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

: AshtechGps::processRecord() - $GPGGA,223010.00,3636.57448,N,12152.49811,W,1,10,0.9,-4.35,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223010.00,3636.57448,N,12152.49811,W,1,10,0.9,-4.35,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:10

: AshtechGPS::processRecord -sample time is 1142289010
: Sonardyne - POS response: 
POS V4,1 R298.81

: Sonardyne - parsing R298.81

: Sonardyne - read R = 298.810000 from 298.81

: Sonardyne - got range only (298.810000), tat = 850
: Sonardyne - POSD response: 
POSD S110.3,N24.2,D100,U1,Q0.010581

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

: Sonardyne - POSD response: 
POSD S110.3,N24.2,D100,U1,Q0.010581

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

: AshtechGps::processRecord() - $GPGGA,223011.00,3636.57425,N,12152.49887,W,1,10,0.9,-4.28,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,223011.00,3636.57425,N,12152.49887,W,1,10,0.9,-4.28,M,-33.21,M,,*76


: successfully parse sentence at 22:30:11

: AshtechGPS::processRecord -sample time is 1142289011
: Sonardyne - POS response: 
POS V4,1 R295.40

: Sonardyne - parsing R295.40

: Sonardyne - read R = 295.400000 from 295.40

: Sonardyne - got range only (295.400000), tat = 840
: Sonardyne - POSD response: 
POSD S118.0,N29.2,D29,U2,Q0.013671

: Sonardyne - POSD response: 
POSD S118.0,N29.2,D29,U2,Q0.013671

: AshtechGps::processRecord() - $GPGGA,223012.00,3636.57392,N,12152.49961,W,1,10,0.9,-3.95,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,223012.00,3636.57392,N,12152.49961,W,1,10,0.9,-3.95,M,-33.21,M,,*76


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

: successfully parse sentence at 22:30:12

: AshtechGPS::processRecord -sample time is 1142289012
: Sonardyne - POS response: 
POS V4,1 R296.48

: Sonardyne - parsing R296.48

: Sonardyne - read R = 296.480000 from 296.48

: Sonardyne - got range only (296.480000), tat = 850
: Sonardyne - POSD response: 
POSD S110.8,N22.7,D45,U3,Q0.011523

: Sonardyne - POSD response: 
POSD S110.8,N22.7,D45,U3,Q0.011523

: AshtechGps::processRecord() - $GPGGA,223013.00,3636.57349,N,12152.50026,W,1,10,0.9,-3.89,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223013.00,3636.57349,N,12152.50026,W,1,10,0.9,-3.89,M,-33.21,M,,*7E


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

: successfully parse sentence at 22:30:13

: AshtechGPS::processRecord -sample time is 1142289013
: Sonardyne - POS response: 
POS V4,1 R295.13

: Sonardyne - parsing R295.13

: Sonardyne - read R = 295.130000 from 295.13

: Sonardyne - got range only (295.130000), tat = 840
: Sonardyne - POSD response: 
POSD S110.5,N19.6,D-76,U2,Q0.003342

: Sonardyne - POSD response: 
POSD S110.5,N19.6,D-76,U2,Q0.003342

: AshtechGps::processRecord() - $GPGGA,223014.00,3636.57313,N,12152.50095,W,1,10,0.9,-3.98,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223014.00,3636.57313,N,12152.50095,W,1,10,0.9,-3.98,M,-33.21,M,,*7E


: successfully parse sentence at 22:30:14

: AshtechGPS::processRecord -sample time is 1142289014
:  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 R294.33

: Sonardyne - parsing R294.33

: Sonardyne - read R = 294.330000 from 294.33

: Sonardyne - got range only (294.330000), tat = 840
: Sonardyne - POSD response: 
POSD S113.7,N27.2,D-49,U4,Q0.009816

: Sonardyne - POSD response: 
POSD S113.7,N27.2,D-49,U4,Q0.009816

: AshtechGps::processRecord() - $GPGGA,223015.00,3636.57277,N,12152.50164,W,1,10,0.9,-4.01,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,223015.00,3636.57277,N,12152.50164,W,1,10,0.9,-4.01,M,-33.21,M,,*74


: successfully parse sentence at 22:30:15

: AshtechGPS::processRecord -sample time is 1142289015
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R293.75

: Sonardyne - parsing R293.75

: Sonardyne - read R = 293.750000 from 293.75

: Sonardyne - got range only (293.750000), tat = 840
: Sonardyne - POSD response: 
POSD S118.6,N30.5,D-29,U2,Q0.009195

: Sonardyne - POSD response: 
POSD S118.6,N30.5,D-29,U2,Q0.009195

: AshtechGps::processRecord() - $GPGGA,223016.00,3636.57248,N,12152.50241,W,1,10,0.9,-4.09,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,223016.00,3636.57248,N,12152.50241,W,1,10,0.9,-4.09,M,-33.21,M,,*77


: successfully parse sentence at 22:30:16

: AshtechGPS::processRecord -sample time is 1142289016
:  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 R293.21

: Sonardyne - parsing R293.21

: Sonardyne - read R = 293.210000 from 293.21

: Sonardyne - got range only (293.210000), tat = 840
: Sonardyne - POSD response: 
POSD S118.7,N24.8,D-61,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.7,N24.8,D-61,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223017.00,3636.57216,N,12152.50315,W,1,10,0.9,-4.16,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,223017.00,3636.57216,N,12152.50315,W,1,10,0.9,-4.16,M,-33.21,M,,*73


: successfully parse sentence at 22:30:17

: AshtechGPS::processRecord -sample time is 1142289017
:  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 R293.81,X230.50,Y182.18,Z0.00

: Sonardyne - parsing R293.81,X230.50,Y182.18,Z0.00

: Sonardyne - read R = 293.810000 from 293.81,X230.50,Y182.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=293.810000, x=0.000000, y=230.500000, z=-182.180000 tat = 870
: AshtechGps::processRecord() - $GPGGA,223018.00,3636.57191,N,12152.50396,W,1,10,0.9,-4.26,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,223018.00,3636.57191,N,12152.50396,W,1,10,0.9,-4.26,M,-33.21,M,,*78


: successfully parse sentence at 22:30:18

: AshtechGPS::processRecord -sample time is 1142289018
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R291.99

: Sonardyne - parsing R291.99

: Sonardyne - read R = 291.990000 from 291.99

: Sonardyne - got range only (291.990000), tat = 840
: Sonardyne - POSD response: 
POSD S117.4,N24.4,D-118,U1,Q0.001691

: Sonardyne - POSD response: 
POSD S117.4,N24.4,D-118,U1,Q0.001691

: AshtechGps::processRecord() - $GPGGA,223019.00,3636.57168,N,12152.50478,W,1,10,0.9,-4.30,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223019.00,3636.57168,N,12152.50478,W,1,10,0.9,-4.30,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:19

: AshtechGPS::processRecord -sample time is 1142289019
:  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 R292.03

: Sonardyne - parsing R292.03

: Sonardyne - read R = 292.030000 from 292.03

: Sonardyne - got range only (292.030000), tat = 839
: Sonardyne - POSD response: 
POSD S116.4,N21.2,D-45,U2,Q0.006351

: BluefinBatt Reply: $aaq0 d- 31.00  8.49 16.89 3.87 3.89 0  -197.13 05:01:28 m

: Sonardyne - POSD response: 
POSD S116.4,N21.2,D-45,U2,Q0.006351

: AshtechGps::processRecord() - $GPGGA,223020.00,3636.57141,N,12152.50555,W,1,10,0.9,-4.10,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223020.00,3636.57141,N,12152.50555,W,1,10,0.9,-4.10,M,-33.21,M,,*72


: successfully parse sentence at 22:30:20

: AshtechGPS::processRecord -sample time is 1142289020
:  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 R292.45

: Sonardyne - parsing R292.45

: Sonardyne - read R = 292.450000 from 292.45

: Sonardyne - got range only (292.450000), tat = 840
: Sonardyne - POSD response: 
POSD S119.1,N24.9,D-21,U5,Q0.014393

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

: Sonardyne - POSD response: 
POSD S119.1,N24.9,D-21,U5,Q0.014393

: AshtechGps::processRecord() - $GPGGA,223021.00,3636.57102,N,12152.50624,W,1,10,0.9,-3.93,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,223021.00,3636.57102,N,12152.50624,W,1,10,0.9,-3.93,M,-33.21,M,,*7D


: successfully parse sentence at 22:30:21

: AshtechGPS::processRecord -sample time is 1142289021
:  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 R292.20

: Sonardyne - parsing R292.20

: Sonardyne - read R = 292.200000 from 292.20

: Sonardyne - got range only (292.200000), tat = 840
: Sonardyne - POSD response: 
POSD S119.0,N28.6,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.0,N28.6,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223022.00,3636.57069,N,12152.50695,W,1,10,0.9,-4.04,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,223022.00,3636.57069,N,12152.50695,W,1,10,0.9,-4.04,M,-33.21,M,,*71


: successfully parse sentence at 22:30:22

: AshtechGPS::processRecord -sample time is 1142289022
:  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 R291.64

: Sonardyne - parsing R291.64

: Sonardyne - read R = 291.640000 from 291.64

: Sonardyne - got range only (291.640000), tat = 840
: Sonardyne - POSD response: 
POSD S114.2,N20.2,D-76,U1,Q0.011963

: Sonardyne - POSD response: 
POSD S114.2,N20.2,D-76,U1,Q0.011963

: AshtechGps::processRecord() - $GPGGA,223023.00,3636.57033,N,12152.50765,W,1,10,0.9,-4.11,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,223023.00,3636.57033,N,12152.50765,W,1,10,0.9,-4.11,M,-33.21,M,,*75


: successfully parse sentence at 22:30:23

: AshtechGPS::processRecord -sample time is 1142289023
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R291.36

: Sonardyne - parsing R291.36

: Sonardyne - read R = 291.360000 from 291.36

: Sonardyne - got range only (291.360000), tat = 840
: Sonardyne - POSD response: 
POSD S115.3,N27.2,D-15,U2,Q0.004060

: Sonardyne - POSD response: 
POSD S115.3,N27.2,D-15,U2,Q0.004060

: AshtechGps::processRecord() - $GPGGA,223024.00,3636.57005,N,12152.50842,W,1,10,0.9,-4.10,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,223024.00,3636.57005,N,12152.50842,W,1,10,0.9,-4.10,M,-33.21,M,,*7C


: successfully parse sentence at 22:30:24

: AshtechGPS::processRecord -sample time is 1142289024
:  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 R291.09,X221.11,Y189.33,Z0.00

: Sonardyne - parsing R291.09,X221.11,Y189.33,Z0.00

: Sonardyne - read R = 291.090000 from 291.09,X221.11,Y189.33,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=291.090000, x=0.000000, y=221.110000, z=-189.330000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223025.00,3636.56969,N,12152.50912,W,1,10,0.9,-4.01,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223025.00,3636.56969,N,12152.50912,W,1,10,0.9,-4.01,M,-33.21,M,,*7B


: successfully parse sentence at 22:30:25

: AshtechGPS::processRecord -sample time is 1142289025
:  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 R290.70,X220.11,Y189.90,Z0.00

: Sonardyne - parsing R290.70,X220.11,Y189.90,Z0.00

: Sonardyne - read R = 290.700000 from 290.70,X220.11,Y189.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=290.700000, x=0.000000, y=220.110000, z=-189.900000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223026.00,3636.56935,N,12152.50986,W,1,10,0.9,-3.99,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,223026.00,3636.56935,N,12152.50986,W,1,10,0.9,-3.99,M,-33.21,M,,*7A


: successfully parse sentence at 22:30:26

: AshtechGPS::processRecord -sample time is 1142289026
:  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 R293.62,X70.08,Y-48.35,Z-281.01

: Sonardyne - parsing R293.62,X70.08,Y-48.35,Z-281.01

: Sonardyne - read R = 293.620000 from 293.62,X70.08,Y-48.35,Z-281.01

: Sonardyne - got all data, Vehicle coordinates,
    r=293.620000, x=281.010000, y=70.080000, z=48.350000 tat = 870
: AshtechGps::processRecord() - $GPGGA,223027.00,3636.56899,N,12152.51054,W,1,10,0.9,-3.95,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,223027.00,3636.56899,N,12152.51054,W,1,10,0.9,-3.95,M,-33.21,M,,*77


: successfully parse sentence at 22:30:27

: AshtechGPS::processRecord -sample time is 1142289027
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R289.50,X220.71,Y187.33,Z0.00

: Sonardyne - parsing R289.50,X220.71,Y187.33,Z0.00

: Sonardyne - read R = 289.500000 from 289.50,X220.71,Y187.33,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=289.500000, x=0.000000, y=220.710000, z=-187.330000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223028.00,3636.56860,N,12152.51118,W,1,10,0.9,-4.01,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,223028.00,3636.56860,N,12152.51118,W,1,10,0.9,-4.01,M,-33.21,M,,*7D


: successfully parse sentence at 22:30:28

: AshtechGPS::processRecord -sample time is 1142289028
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R289.64

: Sonardyne - parsing R289.64

: Sonardyne - read R = 289.640000 from 289.64

: Sonardyne - got range only (289.640000), tat = 840
: Sonardyne - POSD response: 
POSD S117.7,N25.2,D122,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.7,N25.2,D122,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223029.00,3636.56836,N,12152.51198,W,1,10,0.9,-4.15,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223029.00,3636.56836,N,12152.51198,W,1,10,0.9,-4.15,M,-33.21,M,,*72


: successfully parse sentence at 22:30:29

: AshtechGPS::processRecord -sample time is 1142289029
:  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 R292.71

: Sonardyne - parsing R292.71

: Sonardyne - read R = 292.710000 from 292.71

: Sonardyne - got range only (292.710000), tat = 840
: Sonardyne - POSD response: 
POSD S113.5,N20.2,D37,U5,Q0.002163

: BluefinBatt Reply: $aaq0 d- 30.96  9.16 16.89 3.87 3.89 0  -197.74 05:01:38 m

: Sonardyne - POSD response: 
POSD S113.5,N20.2,D37,U5,Q0.002163

: AshtechGps::processRecord() - $GPGGA,223030.00,3636.56798,N,12152.51273,W,1,10,0.9,-4.20,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,223030.00,3636.56798,N,12152.51273,W,1,10,0.9,-4.20,M,-33.21,M,,*71


: successfully parse sentence at 22:30:30

: AshtechGPS::processRecord -sample time is 1142289030
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R288.99

: Sonardyne - parsing R288.99

: Sonardyne - read R = 288.990000 from 288.99

: Sonardyne - got range only (288.990000), tat = 840
: Sonardyne - POSD response: 
POSD S112.3,N21.5,D-132,U3,Q0.007816

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

: Sonardyne - POSD response: 
POSD S112.3,N21.5,D-132,U3,Q0.007816

: AshtechGps::processRecord() - $GPGGA,223031.00,3636.56774,N,12152.51353,W,1,10,0.9,-4.21,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,223031.00,3636.56774,N,12152.51353,W,1,10,0.9,-4.21,M,-33.21,M,,*70


: successfully parse sentence at 22:30:31

: AshtechGPS::processRecord -sample time is 1142289031
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R289.00

: Sonardyne - parsing R289.00

: Sonardyne - read R = 289.000000 from 289.00

: Sonardyne - got range only (289.000000), tat = 840
: Sonardyne - POSD response: 
POSD S119.9,N23.9,D84,U1,Q0.001556

: Sonardyne - POSD response: 
POSD S119.9,N23.9,D84,U1,Q0.001556

: AshtechGps::processRecord() - $GPGGA,223032.00,3636.56739,N,12152.51425,W,1,10,0.9,-4.23,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223032.00,3636.56739,N,12152.51425,W,1,10,0.9,-4.23,M,-33.21,M,,*7E


: successfully parse sentence at 22:30:32

: AshtechGPS::processRecord -sample time is 1142289032
:  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 R291.96

: Sonardyne - parsing R291.96

: Sonardyne - read R = 291.960000 from 291.96

: Sonardyne - got range only (291.960000), tat = 840
: Sonardyne - POSD response: 
POSD S114.2,N27.1,D21,U2,Q0.001901

: Sonardyne - POSD response: 
POSD S114.2,N27.1,D21,U2,Q0.001901

: AshtechGps::processRecord() - $GPGGA,223033.00,3636.56714,N,12152.51506,W,1,10,0.9,-4.19,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,223033.00,3636.56714,N,12152.51506,W,1,10,0.9,-4.19,M,-33.21,M,,*79


: successfully parse sentence at 22:30:33

: AshtechGPS::processRecord -sample time is 1142289033
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R288.71,X-272.92,Y-16.48,Z-92.71

: Sonardyne - parsing R288.71,X-272.92,Y-16.48,Z-92.71

: Sonardyne - read R = 288.710000 from 288.71,X-272.92,Y-16.48,Z-92.71

: Sonardyne - got all data, Vehicle coordinates,
    r=288.710000, x=92.710000, y=-272.920000, z=16.480000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223034.00,3636.56677,N,12152.51579,W,1,10,0.9,-4.08,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223034.00,3636.56677,N,12152.51579,W,1,10,0.9,-4.08,M,-33.21,M,,*72


: successfully parse sentence at 22:30:34

: AshtechGPS::processRecord -sample time is 1142289034
:  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 R291.98

: Sonardyne - parsing R291.98

: Sonardyne - read R = 291.980000 from 291.98

: Sonardyne - got range only (291.980000), tat = 839
: Sonardyne - POSD response: 
POSD S112.7,N24.3,D-49,U1,Q0.006921

: Sonardyne - POSD response: 
POSD S112.7,N24.3,D-49,U1,Q0.006921

: AshtechGps::processRecord() - $GPGGA,223035.00,3636.56648,N,12152.51654,W,1,10,0.9,-4.09,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223035.00,3636.56648,N,12152.51654,W,1,10,0.9,-4.09,M,-33.21,M,,*72


: successfully parse sentence at 22:30:35

: AshtechGPS::processRecord -sample time is 1142289035
:  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 R292.08

: Sonardyne - parsing R292.08

: Sonardyne - read R = 292.080000 from 292.08

: Sonardyne - got range only (292.080000), tat = 840
: Sonardyne - POSD response: 
POSD S108.9,N23.4,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S108.9,N23.4,D14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223036.00,3636.56613,N,12152.51727,W,1,10,0.9,-4.06,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,223036.00,3636.56613,N,12152.51727,W,1,10,0.9,-4.06,M,-33.21,M,,*75


: successfully parse sentence at 22:30:36

: AshtechGPS::processRecord -sample time is 1142289036
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R287.61,X223.01,Y168.57,Z-67.61

: Sonardyne - parsing R287.61,X223.01,Y168.57,Z-67.61

: Sonardyne - read R = 287.610000 from 287.61,X223.01,Y168.57,Z-67.61

: Sonardyne - got all data, Vehicle coordinates,
    r=287.610000, x=67.610000, y=223.010000, z=-168.570000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223037.00,3636.56575,N,12152.51796,W,1,10,0.9,-4.04,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223037.00,3636.56575,N,12152.51796,W,1,10,0.9,-4.04,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:37

: AshtechGPS::processRecord -sample time is 1142289037
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R288.23

: Sonardyne - parsing R288.23

: Sonardyne - read R = 288.230000 from 288.23

: Sonardyne - got range only (288.230000), tat = 840
: Sonardyne - POSD response: 
POSD S112.5,N22.1,D10,U4,Q0.006069

: Sonardyne - POSD response: 
POSD S112.5,N22.1,D10,U4,Q0.006069

: AshtechGps::processRecord() - $GPGGA,223038.00,3636.56550,N,12152.51874,W,1,10,0.9,-4.25,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,223038.00,3636.56550,N,12152.51874,W,1,10,0.9,-4.25,M,-33.21,M,,*77


: successfully parse sentence at 22:30:38

: AshtechGPS::processRecord -sample time is 1142289038
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R287.92

: Sonardyne - parsing R287.92

: Sonardyne - read R = 287.920000 from 287.92

: Sonardyne - got range only (287.920000), tat = 830
: Sonardyne - POSD response: 
POSD S115.1,N23.2,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.1,N23.2,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223039.00,3636.56521,N,12152.51955,W,1,10,0.9,-4.13,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,223039.00,3636.56521,N,12152.51955,W,1,10,0.9,-4.13,M,-33.21,M,,*77


: successfully parse sentence at 22:30:39

: AshtechGPS::processRecord -sample time is 1142289039
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R287.18

: Sonardyne - parsing R287.18

: Sonardyne - read R = 287.180000 from 287.18

: Sonardyne - got range only (287.180000), tat = 850
: BluefinBatt Reply: $aaq0 d- 30.96  9.33 16.99 3.86 3.89 0  -198.68 05:01:48 m

: Sonardyne - POSD response: 
POSD S116.9,N20.6,D-118,U2,Q0.015047

: Sonardyne - POSD response: 
POSD S116.9,N20.6,D-118,U2,Q0.015047

: LayeredControl::execute() -- (t = 128.401204) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 128.40                            (wplog)
  The current location (N,E) = 4052134.1      , 600580.2         (wplog)
  The next waypoint          = 4052114.0      , 600516.6         (wplog)
  The bearing to the next w.p. is 252.4 Degrees.

: LayeredControl::execute() -- (t = 128.401204) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,223040.00,3636.56478,N,12152.52024,W,1,10,0.9,-3.82,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,223040.00,3636.56478,N,12152.52024,W,1,10,0.9,-3.82,M,-33.21,M,,*77


: successfully parse sentence at 22:30:40

: AshtechGPS::processRecord -sample time is 1142289040
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R287.05,X220.43,Y174.80,Z-57.04

: Sonardyne - parsing R287.05,X220.43,Y174.80,Z-57.04

: Sonardyne - read R = 287.050000 from 287.05,X220.43,Y174.80,Z-57.04

: Sonardyne - got all data, Vehicle coordinates,
    r=287.050000, x=57.040000, y=220.430000, z=-174.800000 tat = 860
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,223041.00,3636.56444,N,12152.52092,W,1,10,0.9,-4.06,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223041.00,3636.56444,N,12152.52092,W,1,10,0.9,-4.06,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:41

: AshtechGPS::processRecord -sample time is 1142289041
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R286.67

: Sonardyne - parsing R286.67

: Sonardyne - read R = 286.670000 from 286.67

: Sonardyne - got range only (286.670000), tat = 830
: Sonardyne - POSD response: 
POSD S120.5,N22.0,D-73,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N22.0,D-73,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223042.00,3636.56409,N,12152.52161,W,1,10,0.9,-4.27,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223042.00,3636.56409,N,12152.52161,W,1,10,0.9,-4.27,M,-33.21,M,,*7B


: successfully parse sentence at 22:30:42

: AshtechGPS::processRecord -sample time is 1142289042
:  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 R287.17,X223.61,Y180.18,Z0.00

: Sonardyne - parsing R287.17,X223.61,Y180.18,Z0.00

: Sonardyne - read R = 287.170000 from 287.17,X223.61,Y180.18,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=287.170000, x=0.000000, y=223.610000, z=-180.180000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223043.00,3636.56385,N,12152.52236,W,1,10,0.9,-4.05,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,223043.00,3636.56385,N,12152.52236,W,1,10,0.9,-4.05,M,-33.21,M,,*78


: successfully parse sentence at 22:30:43

: AshtechGPS::processRecord -sample time is 1142289043
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R286.31

: Sonardyne - parsing R286.31

: Sonardyne - read R = 286.310000 from 286.31

: Sonardyne - got range only (286.310000), tat = 830
: Sonardyne - POSD response: 
POSD S112.1,N24.3,D50,U5,Q0.001070

: Sonardyne - POSD response: 
POSD S112.1,N24.3,D50,U5,Q0.001070

: AshtechGps::processRecord() - $GPGGA,223044.00,3636.56359,N,12152.52306,W,1,10,0.9,-4.06,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223044.00,3636.56359,N,12152.52306,W,1,10,0.9,-4.06,M,-33.21,M,,*7F


: successfully parse sentence at 22:30:44

: AshtechGPS::processRecord -sample time is 1142289044
: Sonardyne - POS response: 
POS V4,1 R286.33

: Sonardyne - parsing R286.33

: Sonardyne - read R = 286.330000 from 286.33

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

: Sonardyne - got range only (286.330000), tat = 830
: Sonardyne - POSD response: 
POSD S113.7,N22.3,D35,U2,Q0.002184

: Sonardyne - POSD response: 
POSD S113.7,N22.3,D35,U2,Q0.002184

: AshtechGps::processRecord() - $GPGGA,223045.00,3636.56340,N,12152.52385,W,1,10,0.9,-4.28,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,223045.00,3636.56340,N,12152.52385,W,1,10,0.9,-4.28,M,-33.21,M,,*71


: successfully parse sentence at 22:30:45

: AshtechGPS::processRecord -sample time is 1142289045
: Sonardyne - POS response: 
POS V4,1 R286.28

: Sonardyne - parsing R286.28

: Sonardyne - read R = 286.280000 from 286.28

: Sonardyne - got range only (286.280000), tat = 830
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S112.4,N25.5,D37,U1,Q0.006921

: Sonardyne - POSD response: 
POSD S112.4,N25.5,D37,U1,Q0.006921

: AshtechGps::processRecord() - $GPGGA,223046.00,3636.56324,N,12152.52468,W,1,10,0.9,-4.12,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,223046.00,3636.56324,N,12152.52468,W,1,10,0.9,-4.12,M,-33.21,M,,*7D


: successfully parse sentence at 22:30:46

: AshtechGPS::processRecord -sample time is 1142289046
: Sonardyne - POS response: 
POS V4,1 R287.38

: Sonardyne - parsing R287.38

: Sonardyne - read R = 287.380000 from 287.38

: Sonardyne - got range only (287.380000), tat = 830
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S111.2,N25.2,D49,U1,Q0.002800

: Sonardyne - POSD response: 
POSD S111.2,N25.2,D49,U1,Q0.002800

: AshtechGps::processRecord() - $GPGGA,223047.00,3636.56310,N,12152.52549,W,1,10,0.9,-3.90,M,-33.21,M,,*74

: GpsUtils::parseFix() - $GPGGA,223047.00,3636.56310,N,12152.52549,W,1,10,0.9,-3.90,M,-33.21,M,,*74


: successfully parse sentence at 22:30:47

: AshtechGPS::processRecord -sample time is 1142289047
: Sonardyne - POS response: 
POS V4,1 R287.48

: Sonardyne - parsing R287.48

: Sonardyne - read R = 287.480000 from 287.48

: Sonardyne - got range only (287.480000), tat = 830
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S115.6,N26.2,D32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.6,N26.2,D32,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223048.00,3636.56283,N,12152.52618,W,1,10,0.9,-3.75,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,223048.00,3636.56283,N,12152.52618,W,1,10,0.9,-3.75,M,-33.21,M,,*7C


: successfully parse sentence at 22:30:48

: AshtechGPS::processRecord -sample time is 1142289048
: Sonardyne - POS response: 
POS V4,1 R288.83

: Sonardyne - parsing R288.83

: Sonardyne - read R = 288.830000 from 288.83

: Sonardyne - got range only (288.830000), tat = 840
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S105.5,N14.8,D-96,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S105.5,N14.8,D-96,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223049.00,3636.56261,N,12152.52690,W,1,10,0.9,-3.83,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,223049.00,3636.56261,N,12152.52690,W,1,10,0.9,-3.83,M,-33.21,M,,*78


: successfully parse sentence at 22:30:49

: AshtechGPS::processRecord -sample time is 1142289049
: Sonardyne - POS response: 
POS V4,1 R286.88

: Sonardyne - parsing R286.88

: Sonardyne - read R = 286.880000 from 286.88

: Sonardyne - got range only (286.880000), tat = 830
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.3,N33.7,D4,U2,Q0.012299

: BluefinBatt Reply: $aaq0 d- 30.96  9.53 16.99 3.86 3.89 0  -199.32 05:01:58 m

: Sonardyne - POSD response: 
POSD S123.3,N33.7,D4,U2,Q0.012299

: AshtechGps::processRecord() - $GPGGA,223050.00,3636.56240,N,12152.52769,W,1,10,0.9,-4.09,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,223050.00,3636.56240,N,12152.52769,W,1,10,0.9,-4.09,M,-33.21,M,,*71


: successfully parse sentence at 22:30:50

: AshtechGPS::processRecord -sample time is 1142289050
: Sonardyne - POS response: 
POS V4,1 R287.29

: Sonardyne - parsing R287.29

: Sonardyne - read R = 287.290000 from 287.29

: Sonardyne - got range only (287.290000), tat = 850
:  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 3.860000, mean min cell voltage 3.860000

: Sonardyne - POSD response: 
POSD S113.4,N31.0,D105,U2,Q0.000490

: Sonardyne - POSD response: 
POSD S113.4,N31.0,D105,U2,Q0.000490

: AshtechGps::processRecord() - $GPGGA,223051.00,3636.56225,N,12152.52858,W,1,10,0.9,-4.18,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223051.00,3636.56225,N,12152.52858,W,1,10,0.9,-4.18,M,-33.21,M,,*7E


: successfully parse sentence at 22:30:51

: AshtechGPS::processRecord -sample time is 1142289051
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223052.00,3636.56211,N,12152.52942,W,1,10,0.9,-4.10,M,-33.21,M,,*78

: GpsUtils::parseFix() - $GPGGA,223052.00,3636.56211,N,12152.52942,W,1,10,0.9,-4.10,M,-33.21,M,,*78


: successfully parse sentence at 22:30:52

: AshtechGPS::processRecord -sample time is 1142289052
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223053.00,3636.56188,N,12152.53022,W,1,10,0.9,-3.98,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,223053.00,3636.56188,N,12152.53022,W,1,10,0.9,-3.98,M,-33.21,M,,*73


: successfully parse sentence at 22:30:53

: AshtechGPS::processRecord -sample time is 1142289053
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223054.00,3636.56171,N,12152.53103,W,1,10,0.9,-4.15,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,223054.00,3636.56171,N,12152.53103,W,1,10,0.9,-4.15,M,-33.21,M,,*72


: successfully parse sentence at 22:30:54

: AshtechGPS::processRecord -sample time is 1142289054
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223055.00,3636.56143,N,12152.53177,W,1,10,0.9,-4.29,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223055.00,3636.56143,N,12152.53177,W,1,10,0.9,-4.29,M,-33.21,M,,*7E


: successfully parse sentence at 22:30:55

: AshtechGPS::processRecord -sample time is 1142289055
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223056.00,3636.56086,N,12152.53265,W,1,10,0.9,-5.26,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223056.00,3636.56086,N,12152.53265,W,1,10,0.9,-5.26,M,-33.21,M,,*7B


: successfully parse sentence at 22:30:56

: AshtechGPS::processRecord -sample time is 1142289056
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223057.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223057.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223058.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223058.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.29

: Sonardyne - parsing R287.29

: Sonardyne - read R = 287.290000 from 287.29

: Sonardyne - got range only (287.290000), tat = 830
: Sonardyne - POSD response: 
POSD S112.2,N26.1,D-49,U1,Q0.017937

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

: Sonardyne - POSD response: 
POSD S112.2,N26.1,D-49,U1,Q0.017937

: AshtechGps::processRecord() - $GPGGA,223059.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223059.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.72,X218.20,Y-79.56,Z-168.12

: Sonardyne - parsing R286.72,X218.20,Y-79.56,Z-168.12

: Sonardyne - read R = 286.720000 from 286.72,X218.20,Y-79.56,Z-168.12

: Sonardyne - got all data, Vehicle coordinates,
    r=286.720000, x=168.120000, y=218.200000, z=79.560000 tat = 860
: BluefinBatt Reply: $aaq0 d- 30.96  8.86 16.99 3.87 3.90 0  -200.19 05:02:08 m

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

: AshtechGps::processRecord() - $GPGGA,223100.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223100.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.91

: Sonardyne - parsing R286.91

: Sonardyne - read R = 286.910000 from 286.91

: Sonardyne - got range only (286.910000), tat = 830
: Sonardyne - POSD response: 
POSD S112.3,N24.6,D43,U2,Q0.000675

: 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 - POSD response: 
POSD S112.3,N24.6,D43,U2,Q0.000675

: AshtechGps::processRecord() - $GPGGA,223101.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223101.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.13

: Sonardyne - parsing R287.13

: Sonardyne - read R = 287.130000 from 287.13

: Sonardyne - got range only (287.130000), tat = 830
: Sonardyne - POSD response: 
POSD S110.6,N16.8,D72,U3,Q0.014793

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

: Sonardyne - POSD response: 
POSD S110.6,N16.8,D72,U3,Q0.014793

: AshtechGps::processRecord() - $GPGGA,223102.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223102.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.51

: Sonardyne - parsing R287.51

: Sonardyne - read R = 287.510000 from 287.51

: Sonardyne - got range only (287.510000), tat = 830
: Sonardyne - POSD response: 
POSD S115.7,N25.9,D63,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S115.7,N25.9,D63,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223103.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223103.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.74

: Sonardyne - parsing R287.74

: Sonardyne - read R = 287.740000 from 287.74

: Sonardyne - got range only (287.740000), tat = 829
: Sonardyne - POSD response: 
POSD S113.7,N26.0,D29,U2,Q0.006616

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

: Sonardyne - POSD response: 
POSD S113.7,N26.0,D29,U2,Q0.006616

: AshtechGps::processRecord() - $GPGGA,223104.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223104.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R288.00

: Sonardyne - parsing R288.00

: Sonardyne - read R = 288.000000 from 288.00

: Sonardyne - got range only (288.000000), tat = 830
: Sonardyne - POSD response: 
POSD S112.2,N22.0,D33,U2,Q0.007953

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

: Sonardyne - POSD response: 
POSD S112.2,N22.0,D33,U2,Q0.007953

: AshtechGps::processRecord() - $GPGGA,223105.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223105.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.46

: Sonardyne - parsing R287.46

: Sonardyne - read R = 287.460000 from 287.46

: Sonardyne - got range only (287.460000), tat = 830
: Sonardyne - POSD response: 
POSD S110.7,N19.2,D85,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S110.7,N19.2,D85,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223106.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223106.00,,,,,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,223107.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223107.00,,,,,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,223108.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223108.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,223109.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223109.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89 10.71 16.89 3.87 3.90 0  -200.91 05:02:18 m

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

: AshtechGps::processRecord() - $GPGGA,223110.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223110.00,,,,,0,00,,,M,,M,,*4B


: 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

: AshtechGps::processRecord() - $GPGGA,223111.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223111.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223112.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223112.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223113.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223113.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R289.73

: Sonardyne - parsing R289.73

: Sonardyne - read R = 289.730000 from 289.73

: Sonardyne - got range only (289.730000), tat = 840
: Sonardyne - POSD response: 
POSD S113.2,N20.4,D122,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.2,N20.4,D122,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,223114.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223114.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223115.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223115.00,,,,,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,223116.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223116.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,223117.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223117.00,,,,,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 R291.58

: Sonardyne - parsing R291.58

: Sonardyne - read R = 291.580000 from 291.58

: Sonardyne - got range only (291.580000), tat = 839
: Sonardyne - POSD response: 
POSD S113.3,N24.6,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.3,N24.6,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223118.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223118.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,223119.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223119.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.43 16.99 3.85 3.89 0  -201.95 05:02:28 m

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

: AshtechGps::processRecord() - $GPGGA,223120.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223120.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223121.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223121.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223122.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223122.00,,,,,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,223123.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223123.00,,,,,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,223124.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223124.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223125.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223125.00,,,,,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,223126.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223126.00,,,,,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,223127.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223127.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223128.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223128.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223129.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223129.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.13 16.99 3.85 3.89 0  -202.59 05:02:38 m

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

: AshtechGps::processRecord() - $GPGGA,223130.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223130.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

:  Waypoint has set the state to finished.

: Waypoint (4052114.0, 600516.6), 
  reached at t = 179.40                                          (wplog)

: Vehicle Position is error is (-1.4, 0.8)

: LayeredControl::execute() -- (t = 179.397710) Behavior waypoint has changed to state Finished

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

: Waypoint Initialization: 
  Begin waypoint control at t= 179.41                            (wplog)
  The current location (N,E) = 4052115.4      , 600515.8         (wplog)
  The next waypoint          = 4052024.7      , 600561.5         (wplog)
  The bearing to the next w.p. is 153.2 Degrees.

: LayeredControl::execute() -- (t = 179.407710) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,223131.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223131.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,223132.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223132.00,,,,,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,223133.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223133.00,,,,,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,223134.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223134.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223135.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223135.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223136.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223136.00,,,,,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,223137.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223137.00,,,,,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,223138.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223138.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223139.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223139.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  8.62 16.99 3.86 3.89 0  -203.54 05:02:48 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 R291.80,X-130.44,Y48.96,Z-256.39

: Sonardyne - parsing R291.80,X-130.44,Y48.96,Z-256.39

: Sonardyne - read R = 291.800000 from 291.80,X-130.44,Y48.96,Z-256.39

: Sonardyne - got all data, Vehicle coordinates,
    r=291.800000, x=256.390000, y=-130.440000, z=-48.960000 tat = 870
: AshtechGps::processRecord() - $GPGGA,223140.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223140.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: Sonardyne - POS response: 
POS V4,1 R290.62,X-69.95,Y42.34,Z-278.88

: Sonardyne - parsing R290.62,X-69.95,Y42.34,Z-278.88

: Sonardyne - read R = 290.620000 from 290.62,X-69.95,Y42.34,Z-278.88

: Sonardyne - got all data, Vehicle coordinates,
    r=290.620000, x=278.880000, y=-69.950000, z=-42.340000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223141.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223141.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R289.74,X-15.87,Y29.89,Z-287.76

: Sonardyne - parsing R289.74,X-15.87,Y29.89,Z-287.76

: Sonardyne - read R = 289.740000 from 289.74,X-15.87,Y29.89,Z-287.76

: Sonardyne - got all data, Vehicle coordinates,
    r=289.740000, x=287.760000, y=-15.870000, z=-29.890000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223142.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223142.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R288.92,X30.27,Y-1.89,Z-287.32

: Sonardyne - parsing R288.92,X30.27,Y-1.89,Z-287.32

: Sonardyne - read R = 288.920000 from 288.92,X30.27,Y-1.89,Z-287.32

: Sonardyne - got all data, Vehicle coordinates,
    r=288.920000, x=287.320000, y=30.270000, z=1.890000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223143.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223143.00,,,,,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 R287.85,X86.62,Y-11.76,Z-274.26

: Sonardyne - parsing R287.85,X86.62,Y-11.76,Z-274.26

: Sonardyne - read R = 287.850000 from 287.85,X86.62,Y-11.76,Z-274.26

: Sonardyne - got all data, Vehicle coordinates,
    r=287.850000, x=274.260000, y=86.620000, z=11.760000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223144.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223144.00,,,,,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 R286.76,X131.97,Y-17.89,Z-253.96

: Sonardyne - parsing R286.76,X131.97,Y-17.89,Z-253.96

: Sonardyne - read R = 286.760000 from 286.76,X131.97,Y-17.89,Z-253.96

: Sonardyne - got all data, Vehicle coordinates,
    r=286.760000, x=253.960000, y=131.970000, z=17.890000 tat = 860
: AshtechGps::processRecord() - $GPGGA,223145.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223145.00,,,,,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 R285.66

: Sonardyne - parsing R285.66

: Sonardyne - read R = 285.660000 from 285.66

: Sonardyne - got range only (285.660000), tat = 830
: Sonardyne - POSD response: 
POSD S125.7,N27.2,D50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.7,N27.2,D50,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223146.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223146.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R284.67

: Sonardyne - parsing R284.67

: Sonardyne - read R = 284.670000 from 284.67

: Sonardyne - got range only (284.670000), tat = 830
: Sonardyne - POSD response: 
POSD S118.3,N20.7,D-100,U3,Q0.005181

: Sonardyne - POSD response: 
POSD S118.3,N20.7,D-100,U3,Q0.005181

: AshtechGps::processRecord() - $GPGGA,223147.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223147.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R284.99

: Sonardyne - parsing R284.99

: Sonardyne - read R = 284.990000 from 284.99

: Sonardyne - got range only (284.990000), tat = 830
: Sonardyne - POSD response: 
POSD S126.0,N26.2,D-53,U1,Q0.004356

: Sonardyne - POSD response: 
POSD S126.0,N26.2,D-53,U1,Q0.004356

: AshtechGps::processRecord() - $GPGGA,223148.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223148.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R283.79

: Sonardyne - parsing R283.79

: Sonardyne - read R = 283.790000 from 283.79

: Sonardyne - got range only (283.790000), tat = 830
: Sonardyne - POSD response: 
POSD S128.5,N20.9,D-132,U2,Q0.002239

: Sonardyne - POSD response: 
POSD S128.5,N20.9,D-132,U2,Q0.002239

: AshtechGps::processRecord() - $GPGGA,223149.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223149.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.67 16.99 3.86 3.89 0  -204.18 05:02:58 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 R283.68

: Sonardyne - parsing R283.68

: Sonardyne - read R = 283.680000 from 283.68

: Sonardyne - got range only (283.680000), tat = 830
: Sonardyne - POSD response: 
POSD S128.0,N18.9,D-135,U2,Q0.008465

: Sonardyne - POSD response: 
POSD S128.0,N18.9,D-135,U2,Q0.008465

: AshtechGps::processRecord() - $GPGGA,223150.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223150.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: Sonardyne - POS response: 
POS V4,1 R280.93

: Sonardyne - parsing R280.93

: Sonardyne - read R = 280.930000 from 280.93

: Sonardyne - got range only (280.930000), tat = 830
: Sonardyne - POSD response: 
POSD S124.0,N22.4,D26,U3,Q0.006227

: Sonardyne - POSD response: 
POSD S124.0,N22.4,D26,U3,Q0.006227

: AshtechGps::processRecord() - $GPGGA,223151.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223151.00,,,,,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 R280.01

: Sonardyne - parsing R280.01

: Sonardyne - read R = 280.010000 from 280.01

: Sonardyne - got range only (280.010000), tat = 820
: Sonardyne - POSD response: 
POSD S124.4,N22.6,D47,U4,Q0.008867

: Sonardyne - POSD response: 
POSD S124.4,N22.6,D47,U4,Q0.008867

: AshtechGps::processRecord() - $GPGGA,223152.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223152.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R278.99

: Sonardyne - parsing R278.99

: Sonardyne - read R = 278.990000 from 278.99

: Sonardyne - got range only (278.990000), tat = 870
: Sonardyne - POSD response: 
POSD S131.1,N21.6,D-98,U4,Q0.006339

: Sonardyne - POSD response: 
POSD S131.1,N21.6,D-98,U4,Q0.006339

: AshtechGps::processRecord() - $GPGGA,223153.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223153.00,,,,,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 S133.1,N26.3,D-67,U2,Q0.001959

: Sonardyne - POSD response: 
POSD S133.1,N26.3,D-67,U2,Q0.001959

: AshtechGps::processRecord() - $GPGGA,223154.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223154.00,,,,,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 R277.46,X166.85,Y34.42,Z-219.00

: Sonardyne - parsing R277.46,X166.85,Y34.42,Z-219.00

: Sonardyne - read R = 277.460000 from 277.46,X166.85,Y34.42,Z-219.00

: Sonardyne - got all data, Vehicle coordinates,
    r=277.460000, x=219.000000, y=166.850000, z=-34.420000 tat = 850
: AshtechGps::processRecord() - $GPGGA,223155.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223155.00,,,,,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 R276.16

: Sonardyne - parsing R276.16

: Sonardyne - read R = 276.160000 from 276.16

: Sonardyne - got range only (276.160000), tat = 820
: Sonardyne - POSD response: 
POSD S123.6,N20.1,D-108,U5,Q0.000607

: Sonardyne - POSD response: 
POSD S123.6,N20.1,D-108,U5,Q0.000607

: AshtechGps::processRecord() - $GPGGA,223156.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223156.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R275.21,X146.31,Y23.07,Z-231.95

: Sonardyne - parsing R275.21,X146.31,Y23.07,Z-231.95

: Sonardyne - read R = 275.210000 from 275.21,X146.31,Y23.07,Z-231.95

: Sonardyne - got all data, Vehicle coordinates,
    r=275.210000, x=231.950000, y=146.310000, z=-23.070000 tat = 840
: AshtechGps::processRecord() - $GPGGA,223157.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223157.00,,,,,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 R274.02,X139.27,Y15.10,Z-235.50

: Sonardyne - parsing R274.02,X139.27,Y15.10,Z-235.50

: Sonardyne - read R = 274.020000 from 274.02,X139.27,Y15.10,Z-235.50

: Sonardyne - got all data, Vehicle coordinates,
    r=274.020000, x=235.500000, y=139.270000, z=-15.100000 tat = 840
: AshtechGps::processRecord() - $GPGGA,223158.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223158.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R273.13,X133.00,Y8.24,Z-238.42

: Sonardyne - parsing R273.13,X133.00,Y8.24,Z-238.42

: Sonardyne - read R = 273.130000 from 273.13,X133.00,Y8.24,Z-238.42

: Sonardyne - got all data, Vehicle coordinates,
    r=273.130000, x=238.420000, y=133.000000, z=-8.240000 tat = 840
: AshtechGps::processRecord() - $GPGGA,223159.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223159.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.77 16.99 3.85 3.88 0  -205.20 05:03:08 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 R271.66,X-260.49,Y-77.08,Z0.00

: Sonardyne - parsing R271.66,X-260.49,Y-77.08,Z0.00

: Sonardyne - read R = 271.660000 from 271.66,X-260.49,Y-77.08,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=271.660000, x=0.000000, y=-260.490000, z=77.080000 tat = 840
: AshtechGps::processRecord() - $GPGGA,223200.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223200.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

:  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 R269.66,X120.05,Y24.32,Z-240.23

: Sonardyne - parsing R269.66,X120.05,Y24.32,Z-240.23

: Sonardyne - read R = 269.660000 from 269.66,X120.05,Y24.32,Z-240.23

: Sonardyne - got all data, Vehicle coordinates,
    r=269.660000, x=240.230000, y=120.050000, z=-24.320000 tat = 840
: AshtechGps::processRecord() - $GPGGA,223201.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223201.00,,,,,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,223202.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223202.00,,,,,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,223203.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223203.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223204.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223204.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N12.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223205.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223205.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.13,X91.14,Y16.32,Z-246.30

: Sonardyne - parsing R263.13,X91.14,Y16.32,Z-246.30

: Sonardyne - read R = 263.130000 from 263.13,X91.14,Y16.32,Z-246.30

: Sonardyne - got all data, Vehicle coordinates,
    r=263.130000, x=246.300000, y=91.140000, z=-16.320000 tat = 830
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223206.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223206.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.74,X87.35,Y18.57,Z-246.03

: Sonardyne - parsing R261.74,X87.35,Y18.57,Z-246.03

: Sonardyne - read R = 261.740000 from 261.74,X87.35,Y18.57,Z-246.03

: Sonardyne - got all data, Vehicle coordinates,
    r=261.740000, x=246.030000, y=87.350000, z=-18.570000 tat = 820
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223207.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223207.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R260.28,X81.51,Y16.19,Z-246.65

: Sonardyne - parsing R260.28,X81.51,Y16.19,Z-246.65

: Sonardyne - read R = 260.280000 from 260.28,X81.51,Y16.19,Z-246.65

: Sonardyne - got all data, Vehicle coordinates,
    r=260.280000, x=246.650000, y=81.510000, z=-16.190000 tat = 820
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223208.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223208.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R258.85,X78.49,Y19.44,Z-245.90

: Sonardyne - parsing R258.85,X78.49,Y19.44,Z-245.90

: Sonardyne - read R = 258.850000 from 258.85,X78.49,Y19.44,Z-245.90

: Sonardyne - got all data, Vehicle coordinates,
    r=258.850000, x=245.900000, y=78.490000, z=-19.440000 tat = 820
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223209.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223209.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R258.01,X71.60,Y5.99,Z-247.80

: Sonardyne - parsing R258.01,X71.60,Y5.99,Z-247.80

: Sonardyne - read R = 258.010000 from 258.01,X71.60,Y5.99,Z-247.80

: Sonardyne - got all data, Vehicle coordinates,
    r=258.010000, x=247.800000, y=71.600000, z=-5.990000 tat = 820
: BluefinBatt Reply: $aaq0 d- 30.89  9.46 16.99 3.85 3.88 0  -205.86 05:03:18 m

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

: AshtechGps::processRecord() - $GPGGA,223210.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223210.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223211.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223211.00,,,,,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,223212.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223212.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,223213.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223213.00,,,,,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 R250.57,X52.90,Y-14.54,Z-244.49

: Sonardyne - parsing R250.57,X52.90,Y-14.54,Z-244.49

: Sonardyne - read R = 250.570000 from 250.57,X52.90,Y-14.54,Z-244.49

: Sonardyne - got all data, Vehicle coordinates,
    r=250.570000, x=244.490000, y=52.900000, z=14.540000 tat = 810
: AshtechGps::processRecord() - $GPGGA,223214.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223214.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R249.87,X53.33,Y-16.33,Z-243.57

: Sonardyne - parsing R249.87,X53.33,Y-16.33,Z-243.57

: Sonardyne - read R = 249.870000 from 249.87,X53.33,Y-16.33,Z-243.57

: Sonardyne - got all data, Vehicle coordinates,
    r=249.870000, x=243.570000, y=53.330000, z=16.330000 tat = 810
: AshtechGps::processRecord() - $GPGGA,223215.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223215.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.47

: Sonardyne - parsing R248.47

: Sonardyne - read R = 248.470000 from 248.47

: Sonardyne - got range only (248.470000), tat = 780
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.7,N21.9,D135,U3,Q0.002986

: Sonardyne - POSD response: 
POSD S132.7,N21.9,D135,U3,Q0.002986

: AshtechGps::processRecord() - $GPGGA,223216.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223216.00,,,,,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 R245.73,X54.25,Y16.34,Z-239.11

: Sonardyne - parsing R245.73,X54.25,Y16.34,Z-239.11

: Sonardyne - read R = 245.730000 from 245.73,X54.25,Y16.34,Z-239.11

: Sonardyne - got all data, Vehicle coordinates,
    r=245.730000, x=239.110000, y=54.250000, z=-16.340000 tat = 799
: AshtechGps::processRecord() - $GPGGA,223217.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223217.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R247.59,X44.58,Y-33.32,Z-241.25

: Sonardyne - parsing R247.59,X44.58,Y-33.32,Z-241.25

: Sonardyne - read R = 247.590000 from 247.59,X44.58,Y-33.32,Z-241.25

: Sonardyne - got all data, Vehicle coordinates,
    r=247.590000, x=241.250000, y=44.580000, z=33.320000 tat = 810
: AshtechGps::processRecord() - $GPGGA,223218.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223218.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.40,X49.18,Y-2.27,Z-238.37

: Sonardyne - parsing R243.40,X49.18,Y-2.27,Z-238.37

: Sonardyne - read R = 243.400000 from 243.40,X49.18,Y-2.27,Z-238.37

: Sonardyne - got all data, Vehicle coordinates,
    r=243.400000, x=238.370000, y=49.180000, z=2.270000 tat = 800
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223219.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223219.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.16 16.99 3.86 3.89 0  -206.81 05:03:28 m

: Sonardyne - POS response: 
POS V4,1 R241.76,X49.24,Y10.65,Z-236.45

: Sonardyne - parsing R241.76,X49.24,Y10.65,Z-236.45

: Sonardyne - read R = 241.760000 from 241.76,X49.24,Y10.65,Z-236.45

: Sonardyne - got all data, Vehicle coordinates,
    r=241.760000, x=236.450000, y=49.240000, z=-10.650000 tat = 800
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223220.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223220.00,,,,,0,00,,,M,,M,,*4B


: 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 R238.94,X53.36,Y30.60,Z-230.89

: Sonardyne - parsing R238.94,X53.36,Y30.60,Z-230.89

: Sonardyne - read R = 238.940000 from 238.94,X53.36,Y30.60,Z-230.89

: Sonardyne - got all data, Vehicle coordinates,
    r=238.940000, x=230.890000, y=53.360000, z=-30.600000 tat = 790
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223221.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223221.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.14,X49.16,Y5.31,Z-231.93

: Sonardyne - parsing R237.14,X49.16,Y5.31,Z-231.93

: Sonardyne - read R = 237.140000 from 237.14,X49.16,Y5.31,Z-231.93

: Sonardyne - got all data, Vehicle coordinates,
    r=237.140000, x=231.930000, y=49.160000, z=-5.310000 tat = 790
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223222.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223222.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.78,X49.09,Y18.44,Z-229.88

: Sonardyne - parsing R235.78,X49.09,Y18.44,Z-229.88

: Sonardyne - read R = 235.780000 from 235.78,X49.09,Y18.44,Z-229.88

: Sonardyne - got all data, Vehicle coordinates,
    r=235.780000, x=229.880000, y=49.090000, z=-18.440000 tat = 790
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223223.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223223.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.30,X46.55,Y1.27,Z-229.63

: Sonardyne - parsing R234.30,X46.55,Y1.27,Z-229.63

: Sonardyne - read R = 234.300000 from 234.30,X46.55,Y1.27,Z-229.63

: Sonardyne - got all data, Vehicle coordinates,
    r=234.300000, x=229.630000, y=46.550000, z=-1.270000 tat = 790
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223224.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223224.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.61

: Sonardyne - parsing R235.61

: Sonardyne - read R = 235.610000 from 235.61

: Sonardyne - got range only (235.610000), tat = 760
: Sonardyne - POSD response: 
POSD S130.4,N27.4,D-31,U3,Q0.011044

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

: Sonardyne - POSD response: 
POSD S130.4,N27.4,D-31,U3,Q0.011044

: AshtechGps::processRecord() - $GPGGA,223225.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223225.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.99,X46.52,Y2.35,Z-226.24

: Sonardyne - parsing R230.99,X46.52,Y2.35,Z-226.24

: Sonardyne - read R = 230.990000 from 230.99,X46.52,Y2.35,Z-226.24

: Sonardyne - got all data, Vehicle coordinates,
    r=230.990000, x=226.240000, y=46.520000, z=-2.350000 tat = 780
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223226.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223226.00,,,,,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 R318.78

: Sonardyne - parsing R318.78

: Sonardyne - read R = 318.780000 from 318.78

: Sonardyne - got range only (318.780000), tat = 880
: Sonardyne - POSD response: 
POSD S105.2,N14.4,D-104,U1,Q0.001394

: Sonardyne - POSD response: 
POSD S105.2,N14.4,D-104,U1,Q0.001394

: AshtechGps::processRecord() - $GPGGA,223227.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223227.00,,,,,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,223228.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223228.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R226.73,X47.18,Y4.28,Z-221.73

: Sonardyne - parsing R226.73,X47.18,Y4.28,Z-221.73

: Sonardyne - read R = 226.730000 from 226.73,X47.18,Y4.28,Z-221.73

: Sonardyne - got all data, Vehicle coordinates,
    r=226.730000, x=221.730000, y=47.180000, z=-4.280000 tat = 780
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223229.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223229.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.03,X46.85,Y1.49,Z-220.09

: Sonardyne - parsing R225.03,X46.85,Y1.49,Z-220.09

: Sonardyne - read R = 225.030000 from 225.03,X46.85,Y1.49,Z-220.09

: Sonardyne - got all data, Vehicle coordinates,
    r=225.030000, x=220.090000, y=46.850000, z=-1.490000 tat = 770
: BluefinBatt Reply: $aaq0 d- 30.93  8.92 16.99 3.86 3.89 0  -207.43 05:03:38 m

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

: AshtechGps::processRecord() - $GPGGA,223230.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223230.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R223.46,X47.20,Y1.37,Z-218.42

: Sonardyne - parsing R223.46,X47.20,Y1.37,Z-218.42

: Sonardyne - read R = 223.460000 from 223.46,X47.20,Y1.37,Z-218.42

: Sonardyne - got all data, Vehicle coordinates,
    r=223.460000, x=218.420000, y=47.200000, z=-1.370000 tat = 770
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,223231.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223231.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R221.77,X44.83,Y-11.50,Z-216.88

: Sonardyne - parsing R221.77,X44.83,Y-11.50,Z-216.88

: Sonardyne - read R = 221.770000 from 221.77,X44.83,Y-11.50,Z-216.88

: Sonardyne - got all data, Vehicle coordinates,
    r=221.770000, x=216.880000, y=44.830000, z=11.500000 tat = 769
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223232.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223232.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R220.43,X45.67,Y-3.76,Z-215.61

: Sonardyne - parsing R220.43,X45.67,Y-3.76,Z-215.61

: Sonardyne - read R = 220.430000 from 220.43,X45.67,Y-3.76,Z-215.61

: Sonardyne - got all data, Vehicle coordinates,
    r=220.430000, x=215.610000, y=45.670000, z=3.760000 tat = 770
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223233.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223233.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R218.89,X48.55,Y15.33,Z-212.88

: Sonardyne - parsing R218.89,X48.55,Y15.33,Z-212.88

: Sonardyne - read R = 218.890000 from 218.89,X48.55,Y15.33,Z-212.88

: Sonardyne - got all data, Vehicle coordinates,
    r=218.890000, x=212.880000, y=48.550000, z=-15.330000 tat = 770
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223234.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223234.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R221.46

: Sonardyne - parsing R221.46

: Sonardyne - read R = 221.460000 from 221.46

: Sonardyne - got range only (221.460000), tat = 740
: Sonardyne - POSD response: 
POSD S128.9,N25.7,D-73,U1,Q0.005269

: Sonardyne - POSD response: 
POSD S128.9,N25.7,D-73,U1,Q0.005269

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

: AshtechGps::processRecord() - $GPGGA,223235.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223235.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.16,X46.61,Y3.33,Z-211.05

: Sonardyne - parsing R216.16,X46.61,Y3.33,Z-211.05

: Sonardyne - read R = 216.160000 from 216.16,X46.61,Y3.33,Z-211.05

: Sonardyne - got all data, Vehicle coordinates,
    r=216.160000, x=211.050000, y=46.610000, z=-3.330000 tat = 760
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223236.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223236.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R214.24,X46.34,Y1.27,Z-209.16

: Sonardyne - parsing R214.24,X46.34,Y1.27,Z-209.16

: Sonardyne - read R = 214.240000 from 214.24,X46.34,Y1.27,Z-209.16

: Sonardyne - got all data, Vehicle coordinates,
    r=214.240000, x=209.160000, y=46.340000, z=-1.270000 tat = 760
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223237.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223237.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R212.43,X44.89,Y-2.62,Z-207.62

: Sonardyne - parsing R212.43,X44.89,Y-2.62,Z-207.62

: Sonardyne - read R = 212.430000 from 212.43,X44.89,Y-2.62,Z-207.62

: Sonardyne - got all data, Vehicle coordinates,
    r=212.430000, x=207.620000, y=44.890000, z=2.620000 tat = 760
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223238.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223238.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.77,X47.37,Y10.21,Z-205.12

: Sonardyne - parsing R210.77,X47.37,Y10.21,Z-205.12

: Sonardyne - read R = 210.770000 from 210.77,X47.37,Y10.21,Z-205.12

: Sonardyne - got all data, Vehicle coordinates,
    r=210.770000, x=205.120000, y=47.370000, z=-10.210000 tat = 760
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223239.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223239.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R209.03,X46.69,Y5.12,Z-203.69

: Sonardyne - parsing R209.03,X46.69,Y5.12,Z-203.69

: Sonardyne - read R = 209.030000 from 209.03,X46.69,Y5.12,Z-203.69

: Sonardyne - got all data, Vehicle coordinates,
    r=209.030000, x=203.690000, y=46.690000, z=-5.120000 tat = 750
: BluefinBatt Reply: $aaq0 d- 30.93  8.99 16.99 3.85 3.89 0  -208.32 05:03:48 m

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

: AshtechGps::processRecord() - $GPGGA,223240.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223240.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R207.20,X47.61,Y6.24,Z-201.56

: Sonardyne - parsing R207.20,X47.61,Y6.24,Z-201.56

: Sonardyne - read R = 207.200000 from 207.20,X47.61,Y6.24,Z-201.56

: Sonardyne - got all data, Vehicle coordinates,
    r=207.200000, x=201.560000, y=47.610000, z=-6.240000 tat = 750
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223241.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223241.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.97

: Sonardyne - parsing R208.97

: Sonardyne - read R = 208.970000 from 208.97

: Sonardyne - got range only (208.970000), tat = 730
: Sonardyne - POSD response: 
POSD S128.1,N25.2,D-44,U1,Q0.009706

: Sonardyne - POSD response: 
POSD S128.1,N25.2,D-44,U1,Q0.009706

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

: AshtechGps::processRecord() - $GPGGA,223242.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223242.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R203.45,X48.01,Y2.99,Z-197.68

: Sonardyne - parsing R203.45,X48.01,Y2.99,Z-197.68

: Sonardyne - read R = 203.450000 from 203.45,X48.01,Y2.99,Z-197.68

: Sonardyne - got all data, Vehicle coordinates,
    r=203.450000, x=197.680000, y=48.010000, z=-2.990000 tat = 740
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223243.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223243.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R203.16

: Sonardyne - parsing R203.16

: Sonardyne - read R = 203.160000 from 203.16

: Sonardyne - got range only (203.160000), tat = 720
: Sonardyne - POSD response: 
POSD S136.1,N16.9,D-137,U4,Q0.000429

: Sonardyne - POSD response: 
POSD S136.1,N16.9,D-137,U4,Q0.000429

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

: AshtechGps::processRecord() - $GPGGA,223244.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223244.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R200.89,X47.18,Y3.58,Z-195.24

: Sonardyne - parsing R200.89,X47.18,Y3.58,Z-195.24

: Sonardyne - read R = 200.890000 from 200.89,X47.18,Y3.58,Z-195.24

: Sonardyne - got all data, Vehicle coordinates,
    r=200.890000, x=195.240000, y=47.180000, z=-3.580000 tat = 740
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223245.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223245.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R200.07,X46.98,Y-0.41,Z-194.48

: Sonardyne - parsing R200.07,X46.98,Y-0.41,Z-194.48

: Sonardyne - read R = 200.070000 from 200.07,X46.98,Y-0.41,Z-194.48

: Sonardyne - got all data, Vehicle coordinates,
    r=200.070000, x=194.480000, y=46.980000, z=0.410000 tat = 740
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223246.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223246.00,,,,,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,223247.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223247.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052024.7, 600561.5), 
  reached at t = 256.39                                          (wplog)

: Vehicle Position is error is (0.5, 1.0)

: LayeredControl::execute() -- (t = 256.392436) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 256.40                            (wplog)
  The current location (N,E) = 4052024.2      , 600560.5         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 138.9 Degrees.

: WaypointHoming: The Usbl has aquired the transponder!
: LayeredControl::execute() -- (t = 256.402435) Behavior waypoint_homing has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,223248.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223248.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

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

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223249.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223249.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  8.42 16.99 3.85 3.89 0  -208.92 05:03:58 m

: Sonardyne - POS response: 
POS V4,1 R192.69,X24.88,Y14.52,Z-190.53

: Sonardyne - parsing R192.69,X24.88,Y14.52,Z-190.53

: Sonardyne - read R = 192.690000 from 192.69,X24.88,Y14.52,Z-190.53

: Sonardyne - got all data, Vehicle coordinates,
    r=192.690000, x=190.530000, y=24.880000, z=-14.520000 tat = 730
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223250.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223250.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R190.89,X11.84,Y2.26,Z-190.51

: Sonardyne - parsing R190.89,X11.84,Y2.26,Z-190.51

: Sonardyne - read R = 190.890000 from 190.89,X11.84,Y2.26,Z-190.51

: Sonardyne - got all data, Vehicle coordinates,
    r=190.890000, x=190.510000, y=11.840000, z=-2.260000 tat = 730
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223251.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223251.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.42,X4.02,Y13.74,Z-188.88

: Sonardyne - parsing R189.42,X4.02,Y13.74,Z-188.88

: Sonardyne - read R = 189.420000 from 189.42,X4.02,Y13.74,Z-188.88

: Sonardyne - got all data, Vehicle coordinates,
    r=189.420000, x=188.880000, y=4.020000, z=-13.740000 tat = 730
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223252.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223252.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.77,X-1.74,Y14.04,Z-187.24

: Sonardyne - parsing R187.77,X-1.74,Y14.04,Z-187.24

: Sonardyne - read R = 187.770000 from 187.77,X-1.74,Y14.04,Z-187.24

: Sonardyne - got all data, Vehicle coordinates,
    r=187.770000, x=187.240000, y=-1.740000, z=-14.040000 tat = 720
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223253.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223253.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.29,X-4.13,Y19.09,Z-185.26

: Sonardyne - parsing R186.29,X-4.13,Y19.09,Z-185.26

: Sonardyne - read R = 186.290000 from 186.29,X-4.13,Y19.09,Z-185.26

: Sonardyne - got all data, Vehicle coordinates,
    r=186.290000, x=185.260000, y=-4.130000, z=-19.090000 tat = 720
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223254.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223254.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R184.98,X-5.15,Y24.53,Z-183.27

: Sonardyne - parsing R184.98,X-5.15,Y24.53,Z-183.27

: Sonardyne - read R = 184.980000 from 184.98,X-5.15,Y24.53,Z-183.27

: Sonardyne - got all data, Vehicle coordinates,
    r=184.980000, x=183.270000, y=-5.150000, z=-24.530000 tat = 720
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223255.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223255.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R183.66,X-7.09,Y27.92,Z-181.39

: Sonardyne - parsing R183.66,X-7.09,Y27.92,Z-181.39

: Sonardyne - read R = 183.660000 from 183.66,X-7.09,Y27.92,Z-181.39

: Sonardyne - got all data, Vehicle coordinates,
    r=183.660000, x=181.390000, y=-7.090000, z=-27.920000 tat = 720
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223256.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223256.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R182.45,X-7.02,Y27.07,Z-180.30

: Sonardyne - parsing R182.45,X-7.02,Y27.07,Z-180.30

: Sonardyne - read R = 182.450000 from 182.45,X-7.02,Y27.07,Z-180.30

: Sonardyne - got all data, Vehicle coordinates,
    r=182.450000, x=180.300000, y=-7.020000, z=-27.070000 tat = 720
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223257.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223257.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R181.20,X-6.81,Y31.61,Z-178.29

: Sonardyne - parsing R181.20,X-6.81,Y31.61,Z-178.29

: Sonardyne - read R = 181.200000 from 181.20,X-6.81,Y31.61,Z-178.29

: Sonardyne - got all data, Vehicle coordinates,
    r=181.200000, x=178.290000, y=-6.810000, z=-31.610000 tat = 720
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223258.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223258.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R180.15,X-6.43,Y20.82,Z-178.83

: Sonardyne - parsing R180.15,X-6.43,Y20.82,Z-178.83

: Sonardyne - read R = 180.150000 from 180.15,X-6.43,Y20.82,Z-178.83

: Sonardyne - got all data, Vehicle coordinates,
    r=180.150000, x=178.830000, y=-6.430000, z=-20.820000 tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223259.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223259.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  5.55 16.99 3.87 3.90 0  -209.51 05:04:08 m

: Sonardyne - POS response: 
POS V4,1 R178.97,X-5.69,Y17.57,Z-178.01

: Sonardyne - parsing R178.97,X-5.69,Y17.57,Z-178.01

: Sonardyne - read R = 178.970000 from 178.97,X-5.69,Y17.57,Z-178.01

: Sonardyne - got all data, Vehicle coordinates,
    r=178.970000, x=178.010000, y=-5.690000, z=-17.570000 tat = 710
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223300.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223300.00,,,,,0,00,,,M,,M,,*48


: 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 R178.00,X-5.00,Y23.45,Z-176.38

: Sonardyne - parsing R178.00,X-5.00,Y23.45,Z-176.38

: Sonardyne - read R = 178.000000 from 178.00,X-5.00,Y23.45,Z-176.38

: Sonardyne - got all data, Vehicle coordinates,
    r=178.000000, x=176.380000, y=-5.000000, z=-23.450000 tat = 710
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223301.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223301.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R176.96,X-3.20,Y29.45,Z-174.46

: Sonardyne - parsing R176.96,X-3.20,Y29.45,Z-174.46

: Sonardyne - read R = 176.960000 from 176.96,X-3.20,Y29.45,Z-174.46

: Sonardyne - got all data, Vehicle coordinates,
    r=176.960000, x=174.460000, y=-3.200000, z=-29.450000 tat = 710
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223302.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223302.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R176.02,X-3.93,Y23.53,Z-174.39

: Sonardyne - parsing R176.02,X-3.93,Y23.53,Z-174.39

: Sonardyne - read R = 176.020000 from 176.02,X-3.93,Y23.53,Z-174.39

: Sonardyne - got all data, Vehicle coordinates,
    r=176.020000, x=174.390000, y=-3.930000, z=-23.530000 tat = 710
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223303.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223303.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R174.62,X-3.74,Y18.72,Z-173.58

: Sonardyne - parsing R174.62,X-3.74,Y18.72,Z-173.58

: Sonardyne - read R = 174.620000 from 174.62,X-3.74,Y18.72,Z-173.58

: Sonardyne - got all data, Vehicle coordinates,
    r=174.620000, x=173.580000, y=-3.740000, z=-18.720000 tat = 710
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223304.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223304.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R173.27,X-3.51,Y15.23,Z-172.56

: Sonardyne - parsing R173.27,X-3.51,Y15.23,Z-172.56

: Sonardyne - read R = 173.270000 from 173.27,X-3.51,Y15.23,Z-172.56

: Sonardyne - got all data, Vehicle coordinates,
    r=173.270000, x=172.560000, y=-3.510000, z=-15.230000 tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223305.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223305.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R172.14,X-2.85,Y15.65,Z-171.40

: Sonardyne - parsing R172.14,X-2.85,Y15.65,Z-171.40

: Sonardyne - read R = 172.140000 from 172.14,X-2.85,Y15.65,Z-171.40

: Sonardyne - got all data, Vehicle coordinates,
    r=172.140000, x=171.400000, y=-2.850000, z=-15.650000 tat = 700
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223306.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223306.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R171.00,X-1.59,Y18.54,Z-169.98

: Sonardyne - parsing R171.00,X-1.59,Y18.54,Z-169.98

: Sonardyne - read R = 171.000000 from 171.00,X-1.59,Y18.54,Z-169.98

: Sonardyne - got all data, Vehicle coordinates,
    r=171.000000, x=169.980000, y=-1.590000, z=-18.540000 tat = 700
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223307.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223307.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R170.08,X-0.81,Y19.33,Z-168.97

: Sonardyne - parsing R170.08,X-0.81,Y19.33,Z-168.97

: Sonardyne - read R = 170.080000 from 170.08,X-0.81,Y19.33,Z-168.97

: Sonardyne - got all data, Vehicle coordinates,
    r=170.080000, x=168.970000, y=-0.810000, z=-19.330000 tat = 700
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223308.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223308.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,223309.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223309.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.09 16.99 3.87 3.90 0  -209.92 05:04:18 m

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

: AshtechGps::processRecord() - $GPGGA,223310.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223310.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223311.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223311.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223312.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223312.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.62,X0.07,Y29.97,Z-162.89

: Sonardyne - parsing R165.62,X0.07,Y29.97,Z-162.89

: Sonardyne - read R = 165.620000 from 165.62,X0.07,Y29.97,Z-162.89

: Sonardyne - got all data, Vehicle coordinates,
    r=165.620000, x=162.890000, y=0.070000, z=-29.970000 tat = 690
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223313.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223313.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.14

: Sonardyne - parsing R165.14

: Sonardyne - read R = 165.140000 from 165.14

: Sonardyne - got range only (165.140000), tat = 670
: Sonardyne - POSD response: 
POSD S138.3,N19.3,D33,U2,Q0.000054

: Sonardyne - POSD response: 
POSD S138.3,N19.3,D33,U2,Q0.000054

: 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,223314.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223314.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.72,X-1.22,Y21.20,Z-162.34

: Sonardyne - parsing R163.72,X-1.22,Y21.20,Z-162.34

: Sonardyne - read R = 163.720000 from 163.72,X-1.22,Y21.20,Z-162.34

: Sonardyne - got all data, Vehicle coordinates,
    r=163.720000, x=162.340000, y=-1.220000, z=-21.200000 tat = 690
: 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,223315.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223315.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.61,X-2.95,Y16.58,Z-161.73

: Sonardyne - parsing R162.61,X-2.95,Y16.58,Z-161.73

: Sonardyne - read R = 162.610000 from 162.61,X-2.95,Y16.58,Z-161.73

: Sonardyne - got all data, Vehicle coordinates,
    r=162.610000, x=161.730000, y=-2.950000, z=-16.580000 tat = 690
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223316.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223316.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R161.40,X-2.23,Y20.79,Z-160.04

: Sonardyne - parsing R161.40,X-2.23,Y20.79,Z-160.04

: Sonardyne - read R = 161.400000 from 161.40,X-2.23,Y20.79,Z-160.04

: Sonardyne - got all data, Vehicle coordinates,
    r=161.400000, x=160.040000, y=-2.230000, z=-20.790000 tat = 690
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223317.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223317.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.22,X-0.90,Y21.32,Z-158.80

: Sonardyne - parsing R160.22,X-0.90,Y21.32,Z-158.80

: Sonardyne - read R = 160.220000 from 160.22,X-0.90,Y21.32,Z-158.80

: Sonardyne - got all data, Vehicle coordinates,
    r=160.220000, x=158.800000, y=-0.900000, z=-21.320000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223318.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223318.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R159.16,X-0.51,Y24.28,Z-157.30

: Sonardyne - parsing R159.16,X-0.51,Y24.28,Z-157.30

: Sonardyne - read R = 159.160000 from 159.16,X-0.51,Y24.28,Z-157.30

: Sonardyne - got all data, Vehicle coordinates,
    r=159.160000, x=157.300000, y=-0.510000, z=-24.280000 tat = 690
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223319.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223319.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R159.58

: Sonardyne - parsing R159.58

: Sonardyne - read R = 159.580000 from 159.58

: Sonardyne - got range only (159.580000), tat = 660
: Sonardyne - POSD response: 
POSD S135.6,N27.6,D53,U2,Q0.000184

: Sonardyne - POSD response: 
POSD S135.6,N27.6,D53,U2,Q0.000184

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: BluefinBatt Reply: $aaq0 d- 31.04  6.03 16.99 3.87 3.90 0  -210.51 05:04:28 m

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

: AshtechGps::processRecord() - $GPGGA,223320.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223320.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.64,X-1.53,Y18.80,Z-156.51

: Sonardyne - parsing R157.64,X-1.53,Y18.80,Z-156.51

: Sonardyne - read R = 157.640000 from 157.64,X-1.53,Y18.80,Z-156.51

: Sonardyne - got all data, Vehicle coordinates,
    r=157.640000, x=156.510000, y=-1.530000, z=-18.800000 tat = 680
: 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,223321.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223321.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.77,X-0.78,Y18.14,Z-155.72

: Sonardyne - parsing R156.77,X-0.78,Y18.14,Z-155.72

: Sonardyne - read R = 156.770000 from 156.77,X-0.78,Y18.14,Z-155.72

: Sonardyne - got all data, Vehicle coordinates,
    r=156.770000, x=155.720000, y=-0.780000, z=-18.140000 tat = 680
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223322.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223322.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.54,X-1.16,Y20.49,Z-154.18

: Sonardyne - parsing R155.54,X-1.16,Y20.49,Z-154.18

: Sonardyne - read R = 155.540000 from 155.54,X-1.16,Y20.49,Z-154.18

: Sonardyne - got all data, Vehicle coordinates,
    r=155.540000, x=154.180000, y=-1.160000, z=-20.490000 tat = 680
: AshtechGps::processRecord() - $GPGGA,223323.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223323.00,,,,,0,00,,,M,,M,,*49


:  wdt = 00895,  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 R154.91,X-1.28,Y21.08,Z-153.47

: Sonardyne - parsing R154.91,X-1.28,Y21.08,Z-153.47

: Sonardyne - read R = 154.910000 from 154.91,X-1.28,Y21.08,Z-153.47

: Sonardyne - got all data, Vehicle coordinates,
    r=154.910000, x=153.470000, y=-1.280000, z=-21.080000 tat = 680
: AshtechGps::processRecord() - $GPGGA,223324.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223324.00,,,,,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 R154.10,X-0.82,Y18.72,Z-152.95

: Sonardyne - parsing R154.10,X-0.82,Y18.72,Z-152.95

: Sonardyne - read R = 154.100000 from 154.10,X-0.82,Y18.72,Z-152.95

: Sonardyne - got all data, Vehicle coordinates,
    r=154.100000, x=152.950000, y=-0.820000, z=-18.720000 tat = 680
: AshtechGps::processRecord() - $GPGGA,223325.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223325.00,,,,,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 R153.19,X-1.72,Y18.42,Z-152.07

: Sonardyne - parsing R153.19,X-1.72,Y18.42,Z-152.07

: Sonardyne - read R = 153.190000 from 153.19,X-1.72,Y18.42,Z-152.07

: Sonardyne - got all data, Vehicle coordinates,
    r=153.190000, x=152.070000, y=-1.720000, z=-18.420000 tat = 680
: AshtechGps::processRecord() - $GPGGA,223326.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223326.00,,,,,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,223327.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223327.00,,,,,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,223328.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223328.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223329.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223329.00,,,,,0,00,,,M,,M,,*43


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

: BluefinBatt Reply: $aaq0 d- 31.00  5.82 16.99 3.87 3.90 0  -210.92 05:04:38 m

: Sonardyne - POS response: 
POS V4,1 R148.72

: Sonardyne - parsing R148.72

: Sonardyne - read R = 148.720000 from 148.72

: Sonardyne - got range only (148.720000), tat = 649
: Sonardyne - POSD response: 
POSD S138.9,N22.1,D-110,U3,Q0.008670

: Sonardyne - POSD response: 
POSD S138.9,N22.1,D-110,U3,Q0.008670

: AshtechGps::processRecord() - $GPGGA,223330.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223330.00,,,,,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

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

: Sonardyne - POS response: 
POS V4,1 R147.37,X1.05,Y19.71,Z-146.05

: Sonardyne - parsing R147.37,X1.05,Y19.71,Z-146.05

: Sonardyne - read R = 147.370000 from 147.37,X1.05,Y19.71,Z-146.05

: Sonardyne - got all data, Vehicle coordinates,
    r=147.370000, x=146.050000, y=1.050000, z=-19.710000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223331.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223331.00,,,,,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 R146.99,X1.80,Y18.82,Z-145.77

: Sonardyne - parsing R146.99,X1.80,Y18.82,Z-145.77

: Sonardyne - read R = 146.990000 from 146.99,X1.80,Y18.82,Z-145.77

: Sonardyne - got all data, Vehicle coordinates,
    r=146.990000, x=145.770000, y=1.800000, z=-18.820000 tat = 670
: AshtechGps::processRecord() - $GPGGA,223332.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223332.00,,,,,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 R145.42,X1.98,Y21.41,Z-143.83

: Sonardyne - parsing R145.42,X1.98,Y21.41,Z-143.83

: Sonardyne - read R = 145.420000 from 145.42,X1.98,Y21.41,Z-143.83

: Sonardyne - got all data, Vehicle coordinates,
    r=145.420000, x=143.830000, y=1.980000, z=-21.410000 tat = 670
: AshtechGps::processRecord() - $GPGGA,223333.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223333.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R95.84,X1.23,Y14.14,Z-94.78

: Sonardyne - parsing R95.84,X1.23,Y14.14,Z-94.78

: Sonardyne - read R = 95.840000 from 95.84,X1.23,Y14.14,Z-94.78

: Sonardyne - got all data, Vehicle coordinates,
    r=95.840000, x=94.780000, y=1.230000, z=-14.140000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223334.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223334.00,,,,,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 R143.26,X1.09,Y14.25,Z-142.55

: Sonardyne - parsing R143.26,X1.09,Y14.25,Z-142.55

: Sonardyne - read R = 143.260000 from 143.26,X1.09,Y14.25,Z-142.55

: Sonardyne - got all data, Vehicle coordinates,
    r=143.260000, x=142.550000, y=1.090000, z=-14.250000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223335.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223335.00,,,,,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 R142.43,X0.52,Y16.34,Z-141.49

: Sonardyne - parsing R142.43,X0.52,Y16.34,Z-141.49

: Sonardyne - read R = 142.430000 from 142.43,X0.52,Y16.34,Z-141.49

: Sonardyne - got all data, Vehicle coordinates,
    r=142.430000, x=141.490000, y=0.520000, z=-16.340000 tat = 710
: AshtechGps::processRecord() - $GPGGA,223336.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223336.00,,,,,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 R141.56,X0.34,Y21.22,Z-139.96

: Sonardyne - parsing R141.56,X0.34,Y21.22,Z-139.96

: Sonardyne - read R = 141.560000 from 141.56,X0.34,Y21.22,Z-139.96

: Sonardyne - got all data, Vehicle coordinates,
    r=141.560000, x=139.960000, y=0.340000, z=-21.220000 tat = 710
: AshtechGps::processRecord() - $GPGGA,223337.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223337.00,,,,,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 R140.62,X1.56,Y27.85,Z-137.82

: Sonardyne - parsing R140.62,X1.56,Y27.85,Z-137.82

: Sonardyne - read R = 140.620000 from 140.62,X1.56,Y27.85,Z-137.82

: Sonardyne - got all data, Vehicle coordinates,
    r=140.620000, x=137.820000, y=1.560000, z=-27.850000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223338.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223338.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R139.61,X0.47,Y21.49,Z-137.95

: Sonardyne - parsing R139.61,X0.47,Y21.49,Z-137.95

: Sonardyne - read R = 139.610000 from 139.61,X0.47,Y21.49,Z-137.95

: Sonardyne - got all data, Vehicle coordinates,
    r=139.610000, x=137.950000, y=0.470000, z=-21.490000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223339.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223339.00,,,,,0,00,,,M,,M,,*42


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

: BluefinBatt Reply: $aaq0 d- 31.04  6.16 16.99 3.87 3.90 0  -211.55 05:04:48 m

: Sonardyne - POS response: 
POS V4,1 R138.68,X0.90,Y25.91,Z-136.23

: Sonardyne - parsing R138.68,X0.90,Y25.91,Z-136.23

: Sonardyne - read R = 138.680000 from 138.68,X0.90,Y25.91,Z-136.23

: Sonardyne - got all data, Vehicle coordinates,
    r=138.680000, x=136.230000, y=0.900000, z=-25.910000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223340.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223340.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - POS response: 
POS V4,1 R137.91,X0.17,Y19.28,Z-136.55

: Sonardyne - parsing R137.91,X0.17,Y19.28,Z-136.55

: Sonardyne - read R = 137.910000 from 137.91,X0.17,Y19.28,Z-136.55

: Sonardyne - got all data, Vehicle coordinates,
    r=137.910000, x=136.550000, y=0.170000, z=-19.280000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223341.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223341.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R136.78,X0.16,Y23.96,Z-134.66

: Sonardyne - parsing R136.78,X0.16,Y23.96,Z-134.66

: Sonardyne - read R = 136.780000 from 136.78,X0.16,Y23.96,Z-134.66

: Sonardyne - got all data, Vehicle coordinates,
    r=136.780000, x=134.660000, y=0.160000, z=-23.960000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223342.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223342.00,,,,,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 R137.16

: Sonardyne - parsing R137.16

: Sonardyne - read R = 137.160000 from 137.16

: Sonardyne - got range only (137.160000), tat = 630
: Sonardyne - POSD response: 
POSD S135.8,N15.3,D92,U5,Q0.004369

: Sonardyne - POSD response: 
POSD S135.8,N15.3,D92,U5,Q0.004369

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223343.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223343.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R135.12,X-0.02,Y26.04,Z-132.59

: Sonardyne - parsing R135.12,X-0.02,Y26.04,Z-132.59

: Sonardyne - read R = 135.120000 from 135.12,X-0.02,Y26.04,Z-132.59

: Sonardyne - got all data, Vehicle coordinates,
    r=135.120000, x=132.590000, y=-0.020000, z=-26.040000 tat = 649
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223344.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223344.00,,,,,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 R134.03

: Sonardyne - parsing R134.03

: Sonardyne - read R = 134.030000 from 134.03

: Sonardyne - got range only (134.030000), tat = 630
: Sonardyne - POSD response: 
POSD S+143.3,N23.0,D-75,U4,Q0.000592

: Sonardyne - POSD response: 
POSD S+143.3,N23.0,D-75,U4,Q0.000592

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223345.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223345.00,,,,,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 R135.97

: Sonardyne - parsing R135.97

: Sonardyne - read R = 135.970000 from 135.97

: Sonardyne - got range only (135.970000), tat = 630
: Sonardyne - POSD response: 
POSD S133.8,N25.0,D-139,U2,Q0.015043

: Sonardyne - POSD response: 
POSD S133.8,N25.0,D-139,U2,Q0.015043

: AshtechGps::processRecord() - $GPGGA,223346.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223346.00,,,,,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 R132.19,X-1.25,Y20.72,Z-130.55

: Sonardyne - parsing R132.19,X-1.25,Y20.72,Z-130.55

: Sonardyne - read R = 132.190000 from 132.19,X-1.25,Y20.72,Z-130.55

: Sonardyne - got all data, Vehicle coordinates,
    r=132.190000, x=130.550000, y=-1.250000, z=-20.720000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223347.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223347.00,,,,,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 R131.24,X-2.43,Y14.74,Z-130.38

: Sonardyne - parsing R131.24,X-2.43,Y14.74,Z-130.38

: Sonardyne - read R = 131.240000 from 131.24,X-2.43,Y14.74,Z-130.38

: Sonardyne - got all data, Vehicle coordinates,
    r=131.240000, x=130.380000, y=-2.430000, z=-14.740000 tat = 650
: AshtechGps::processRecord() - $GPGGA,223348.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223348.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R130.50,X-2.37,Y21.49,Z-128.70

: Sonardyne - parsing R130.50,X-2.37,Y21.49,Z-128.70

: Sonardyne - read R = 130.500000 from 130.50,X-2.37,Y21.49,Z-128.70

: Sonardyne - got all data, Vehicle coordinates,
    r=130.500000, x=128.700000, y=-2.370000, z=-21.490000 tat = 650
: AshtechGps::processRecord() - $GPGGA,223349.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223349.00,,,,,0,00,,,M,,M,,*45


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

: BluefinBatt Reply: $aaq0 d- 31.04  6.43 16.99 3.87 3.90 0  -211.95 05:04:58 m

: Sonardyne - POS response: 
POS V4,1 R129.47,X-3.60,Y12.93,Z-128.77

: Sonardyne - parsing R129.47,X-3.60,Y12.93,Z-128.77

: Sonardyne - read R = 129.470000 from 129.47,X-3.60,Y12.93,Z-128.77

: Sonardyne - got all data, Vehicle coordinates,
    r=129.470000, x=128.770000, y=-3.600000, z=-12.930000 tat = 650
: AshtechGps::processRecord() - $GPGGA,223350.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223350.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R128.43,X-0.81,Y19.65,Z-126.92

: Sonardyne - parsing R128.43,X-0.81,Y19.65,Z-126.92

: Sonardyne - read R = 128.430000 from 128.43,X-0.81,Y19.65,Z-126.92

: Sonardyne - got all data, Vehicle coordinates,
    r=128.430000, x=126.920000, y=-0.810000, z=-19.650000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223351.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223351.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R127.31,X-1.28,Y23.02,Z-125.20

: Sonardyne - parsing R127.31,X-1.28,Y23.02,Z-125.20

: Sonardyne - read R = 127.310000 from 127.31,X-1.28,Y23.02,Z-125.20

: Sonardyne - got all data, Vehicle coordinates,
    r=127.310000, x=125.200000, y=-1.280000, z=-23.020000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223352.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223352.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R126.28,X-0.58,Y26.26,Z-123.52

: Sonardyne - parsing R126.28,X-0.58,Y26.26,Z-123.52

: Sonardyne - read R = 126.280000 from 126.28,X-0.58,Y26.26,Z-123.52

: Sonardyne - got all data, Vehicle coordinates,
    r=126.280000, x=123.520000, y=-0.580000, z=-26.260000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223353.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223353.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R125.37,X-0.18,Y22.96,Z-123.25

: Sonardyne - parsing R125.37,X-0.18,Y22.96,Z-123.25

: Sonardyne - read R = 125.370000 from 125.37,X-0.18,Y22.96,Z-123.25

: Sonardyne - got all data, Vehicle coordinates,
    r=125.370000, x=123.250000, y=-0.180000, z=-22.960000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223354.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223354.00,,,,,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 R124.62,X-0.91,Y23.67,Z-122.34

: Sonardyne - parsing R124.62,X-0.91,Y23.67,Z-122.34

: Sonardyne - read R = 124.620000 from 124.62,X-0.91,Y23.67,Z-122.34

: Sonardyne - got all data, Vehicle coordinates,
    r=124.620000, x=122.340000, y=-0.910000, z=-23.670000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223355.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223355.00,,,,,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 R123.82,X-1.60,Y16.71,Z-122.67

: Sonardyne - parsing R123.82,X-1.60,Y16.71,Z-122.67

: Sonardyne - read R = 123.820000 from 123.82,X-1.60,Y16.71,Z-122.67

: Sonardyne - got all data, Vehicle coordinates,
    r=123.820000, x=122.670000, y=-1.600000, z=-16.710000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223356.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223356.00,,,,,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 R123.03,X-0.54,Y20.79,Z-121.26

: Sonardyne - parsing R123.03,X-0.54,Y20.79,Z-121.26

: Sonardyne - read R = 123.030000 from 123.03,X-0.54,Y20.79,Z-121.26

: Sonardyne - got all data, Vehicle coordinates,
    r=123.030000, x=121.260000, y=-0.540000, z=-20.790000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223357.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223357.00,,,,,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 R122.10,X-1.48,Y15.70,Z-121.08

: Sonardyne - parsing R122.10,X-1.48,Y15.70,Z-121.08

: Sonardyne - read R = 122.100000 from 122.10,X-1.48,Y15.70,Z-121.08

: Sonardyne - got all data, Vehicle coordinates,
    r=122.100000, x=121.080000, y=-1.480000, z=-15.700000 tat = 640
: AshtechGps::processRecord() - $GPGGA,223358.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223358.00,,,,,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 R121.32,X-1.31,Y18.43,Z-119.91

: Sonardyne - parsing R121.32,X-1.31,Y18.43,Z-119.91

: Sonardyne - read R = 121.320000 from 121.32,X-1.31,Y18.43,Z-119.91

: Sonardyne - got all data, Vehicle coordinates,
    r=121.320000, x=119.910000, y=-1.310000, z=-18.430000 tat = 629
: AshtechGps::processRecord() - $GPGGA,223359.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223359.00,,,,,0,00,,,M,,M,,*44


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

: BluefinBatt Reply: $aaq0 d- 31.04  6.16 16.99 3.87 3.90 0  -212.60 05:05:08 m

: Sonardyne - POS response: 
POS V4,1 R120.07,X-0.95,Y16.16,Z-118.98

: Sonardyne - parsing R120.07,X-0.95,Y16.16,Z-118.98

: Sonardyne - read R = 120.070000 from 120.07,X-0.95,Y16.16,Z-118.98

: Sonardyne - got all data, Vehicle coordinates,
    r=120.070000, x=118.980000, y=-0.950000, z=-16.160000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223400.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223400.00,,,,,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

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

: Sonardyne - POS response: 
POS V4,1 R119.26,X-0.89,Y13.32,Z-118.51

: Sonardyne - parsing R119.26,X-0.89,Y13.32,Z-118.51

: Sonardyne - read R = 119.260000 from 119.26,X-0.89,Y13.32,Z-118.51

: Sonardyne - got all data, Vehicle coordinates,
    r=119.260000, x=118.510000, y=-0.890000, z=-13.320000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223401.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223401.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R118.32,X-0.57,Y13.84,Z-117.50

: Sonardyne - parsing R118.32,X-0.57,Y13.84,Z-117.50

: Sonardyne - read R = 118.320000 from 118.32,X-0.57,Y13.84,Z-117.50

: Sonardyne - got all data, Vehicle coordinates,
    r=118.320000, x=117.500000, y=-0.570000, z=-13.840000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223402.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223402.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R117.57,X-1.12,Y11.54,Z-116.99

: Sonardyne - parsing R117.57,X-1.12,Y11.54,Z-116.99

: Sonardyne - read R = 117.570000 from 117.57,X-1.12,Y11.54,Z-116.99

: Sonardyne - got all data, Vehicle coordinates,
    r=117.570000, x=116.990000, y=-1.120000, z=-11.540000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223403.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223403.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R116.70,X0.83,Y22.65,Z-114.48

: Sonardyne - parsing R116.70,X0.83,Y22.65,Z-114.48

: Sonardyne - read R = 116.700000 from 116.70,X0.83,Y22.65,Z-114.48

: Sonardyne - got all data, Vehicle coordinates,
    r=116.700000, x=114.480000, y=0.830000, z=-22.650000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223404.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223404.00,,,,,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 R116.12,X-1.91,Y-1.99,Z-116.09

: Sonardyne - parsing R116.12,X-1.91,Y-1.99,Z-116.09

: Sonardyne - read R = 116.120000 from 116.12,X-1.91,Y-1.99,Z-116.09

: Sonardyne - got all data, Vehicle coordinates,
    r=116.120000, x=116.090000, y=-1.910000, z=1.990000 tat = 630
: AshtechGps::processRecord() - $GPGGA,223405.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223405.00,,,,,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 R114.53

: Sonardyne - parsing R114.53

: Sonardyne - read R = 114.530000 from 114.53

: Sonardyne - got range only (114.530000), tat = 600
: Sonardyne - POSD response: 
POSD S+144.2,N24.3,D-88,U3,Q0.000666

: Sonardyne - POSD response: 
POSD S+144.2,N24.3,D-88,U3,Q0.000666

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223406.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223406.00,,,,,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 R113.59,X0.11,Y14.83,Z-112.62

: Sonardyne - parsing R113.59,X0.11,Y14.83,Z-112.62

: Sonardyne - read R = 113.590000 from 113.59,X0.11,Y14.83,Z-112.62

: Sonardyne - got all data, Vehicle coordinates,
    r=113.590000, x=112.620000, y=0.110000, z=-14.830000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.5,N28.5,D-49,U8,Q0.000101

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223407.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223407.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R112.57,X-0.67,Y11.96,Z-111.94

: Sonardyne - parsing R112.57,X-0.67,Y11.96,Z-111.94

: Sonardyne - read R = 112.570000 from 112.57,X-0.67,Y11.96,Z-111.94

: Sonardyne - got all data, Vehicle coordinates,
    r=112.570000, x=111.940000, y=-0.670000, z=-11.960000 tat = 620
: Sonardyne - POSD response: 
POSD S+143.5,N25.7,D29,U8,Q0.000463

: AshtechGps::processRecord() - $GPGGA,223408.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223408.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R111.91,X-0.41,Y14.81,Z-110.93

: Sonardyne - parsing R111.91,X-0.41,Y14.81,Z-110.93

: Sonardyne - read R = 111.910000 from 111.91,X-0.41,Y14.81,Z-110.93

: Sonardyne - got all data, Vehicle coordinates,
    r=111.910000, x=110.930000, y=-0.410000, z=-14.810000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.3,N27.8,D44,U8,Q0.001167

: AshtechGps::processRecord() - $GPGGA,223409.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223409.00,,,,,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- 31.00  5.79 16.99 3.87 3.90 0  -213.02 05:05:18 m

: Sonardyne - POS response: 
POS V4,1 R111.40,X0.30,Y19.05,Z-109.75

: Sonardyne - parsing R111.40,X0.30,Y19.05,Z-109.75

: Sonardyne - read R = 111.400000 from 111.40,X0.30,Y19.05,Z-109.75

: Sonardyne - got all data, Vehicle coordinates,
    r=111.400000, x=109.750000, y=0.300000, z=-19.050000 tat = 620
: Sonardyne - POSD response: 
POSD S+143.4,N24.5,D44,U8,Q0.000259

: AshtechGps::processRecord() - $GPGGA,223410.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223410.00,,,,,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

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

: Sonardyne - POS response: 
POS V4,1 R110.00

: Sonardyne - parsing R110.00

: Sonardyne - read R = 110.000000 from 110.00

: Sonardyne - got range only (110.000000), tat = 600
: Sonardyne - POSD response: 
POSD S+142.6,N26.2,D-76,U3,Q0.000185

: Sonardyne - POSD response: 
POSD S+142.6,N26.2,D-76,U3,Q0.000185

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223411.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223411.00,,,,,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 R109.27,X-0.10,Y19.29,Z-107.55

: Sonardyne - parsing R109.27,X-0.10,Y19.29,Z-107.55

: Sonardyne - read R = 109.270000 from 109.27,X-0.10,Y19.29,Z-107.55

: Sonardyne - got all data, Vehicle coordinates,
    r=109.270000, x=107.550000, y=-0.100000, z=-19.290000 tat = 620
: Sonardyne - POSD response: 
POSD S+144.7,N35.6,D-27,U8,Q0.000138

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223412.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223412.00,,,,,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 R108.36,X-0.22,Y14.44,Z-107.40

: Sonardyne - parsing R108.36,X-0.22,Y14.44,Z-107.40

: Sonardyne - read R = 108.360000 from 108.36,X-0.22,Y14.44,Z-107.40

: Sonardyne - got all data, Vehicle coordinates,
    r=108.360000, x=107.400000, y=-0.220000, z=-14.440000 tat = 620
: Sonardyne - POSD response: 
POSD S+141.0,N26.3,D27,U8,Q0.000054

: AshtechGps::processRecord() - $GPGGA,223413.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223413.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R107.61,X0.39,Y12.01,Z-106.94

: Sonardyne - parsing R107.61,X0.39,Y12.01,Z-106.94

: Sonardyne - read R = 107.610000 from 107.61,X0.39,Y12.01,Z-106.94

: Sonardyne - got all data, Vehicle coordinates,
    r=107.610000, x=106.940000, y=0.390000, z=-12.010000 tat = 620
: Sonardyne - POSD response: 
POSD S128.4,N16.7,D49,U7,Q0.001540

: AshtechGps::processRecord() - $GPGGA,223414.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223414.00,,,,,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 R106.45,X0.47,Y20.94,Z-104.37

: Sonardyne - parsing R106.45,X0.47,Y20.94,Z-104.37

: Sonardyne - read R = 106.450000 from 106.45,X0.47,Y20.94,Z-104.37

: Sonardyne - got all data, Vehicle coordinates,
    r=106.450000, x=104.370000, y=0.470000, z=-20.940000 tat = 610
: AshtechGps::processRecord() - $GPGGA,223415.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223415.00,,,,,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 R105.43,X-0.86,Y18.13,Z-103.86

: Sonardyne - parsing R105.43,X-0.86,Y18.13,Z-103.86

: Sonardyne - read R = 105.430000 from 105.43,X-0.86,Y18.13,Z-103.86

: Sonardyne - got all data, Vehicle coordinates,
    r=105.430000, x=103.860000, y=-0.860000, z=-18.130000 tat = 610
: AshtechGps::processRecord() - $GPGGA,223416.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223416.00,,,,,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 R104.34,X-0.73,Y17.96,Z-102.78

: Sonardyne - parsing R104.34,X-0.73,Y17.96,Z-102.78

: Sonardyne - read R = 104.340000 from 104.34,X-0.73,Y17.96,Z-102.78

: Sonardyne - got all data, Vehicle coordinates,
    r=104.340000, x=102.780000, y=-0.730000, z=-17.960000 tat = 610
: AshtechGps::processRecord() - $GPGGA,223417.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223417.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R103.19,X-0.97,Y16.95,Z-101.79

: Sonardyne - parsing R103.19,X-0.97,Y16.95,Z-101.79

: Sonardyne - read R = 103.190000 from 103.19,X-0.97,Y16.95,Z-101.79

: Sonardyne - got all data, Vehicle coordinates,
    r=103.190000, x=101.790000, y=-0.970000, z=-16.950000 tat = 610
: AshtechGps::processRecord() - $GPGGA,223418.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223418.00,,,,,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 R102.21,X-0.86,Y12.42,Z-101.45

: Sonardyne - parsing R102.21,X-0.86,Y12.42,Z-101.45

: Sonardyne - read R = 102.210000 from 102.21,X-0.86,Y12.42,Z-101.45

: Sonardyne - got all data, Vehicle coordinates,
    r=102.210000, x=101.450000, y=-0.860000, z=-12.420000 tat = 610
: AshtechGps::processRecord() - $GPGGA,223419.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223419.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  5.49 16.99 3.87 3.90 0  -213.66 05:05:28 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 R101.29

: Sonardyne - parsing R101.29

: Sonardyne - read R = 101.290000 from 101.29

: Sonardyne - got range only (101.290000), tat = 580
: Sonardyne - POSD response: 
POSD S+144.3,N31.7,D31,U2,Q0.000887

: Sonardyne - POSD response: 
POSD S+144.3,N31.7,D31,U2,Q0.000887

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223420.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223420.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R100.68,X-0.06,Y16.51,Z-99.32

: Sonardyne - parsing R100.68,X-0.06,Y16.51,Z-99.32

: Sonardyne - read R = 100.680000 from 100.68,X-0.06,Y16.51,Z-99.32

: Sonardyne - got all data, Vehicle coordinates,
    r=100.680000, x=99.320000, y=-0.060000, z=-16.510000 tat = 610
: Sonardyne - POSD response: 
POSD S+144.5,N31.7,D19,U8,Q0.000119

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223421.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223421.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R100.03

: Sonardyne - parsing R100.03

: Sonardyne - read R = 100.030000 from 100.03

: Sonardyne - got range only (100.030000), tat = 580
: Sonardyne - POSD response: 
POSD S+143.4,N21.1,D-144,U3,Q0.002563

: Sonardyne - POSD response: 
POSD S+143.4,N21.1,D-144,U3,Q0.002563

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223422.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223422.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R99.26,X-0.59,Y10.72,Z-98.68

: Sonardyne - parsing R99.26,X-0.59,Y10.72,Z-98.68

: Sonardyne - read R = 99.260000 from 99.26,X-0.59,Y10.72,Z-98.68

: Sonardyne - got all data, Vehicle coordinates,
    r=99.260000, x=98.680000, y=-0.590000, z=-10.720000 tat = 600
: Sonardyne - POSD response: 
POSD S+144.0,N29.5,D20,U8,Q0.001204

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223423.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223423.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R98.60

: Sonardyne - parsing R98.60

: Sonardyne - read R = 98.600000 from 98.60

: Sonardyne - got range only (98.600000), tat = 580
: Sonardyne - POSD response: 
POSD S138.5,N17.5,D-144,U5,Q0.000724

: Sonardyne - POSD response: 
POSD S138.5,N17.5,D-144,U5,Q0.000724

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223424.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223424.00,,,,,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 R97.56,X0.46,Y16.51,Z-96.15

: Sonardyne - parsing R97.56,X0.46,Y16.51,Z-96.15

: Sonardyne - read R = 97.560000 from 97.56,X0.46,Y16.51,Z-96.15

: Sonardyne - got all data, Vehicle coordinates,
    r=97.560000, x=96.150000, y=0.460000, z=-16.510000 tat = 600
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223425.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223425.00,,,,,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 R96.41,X-0.36,Y10.24,Z-95.86

: Sonardyne - parsing R96.41,X-0.36,Y10.24,Z-95.86

: Sonardyne - read R = 96.410000 from 96.41,X-0.36,Y10.24,Z-95.86

: Sonardyne - got all data, Vehicle coordinates,
    r=96.410000, x=95.860000, y=-0.360000, z=-10.240000 tat = 600
: AshtechGps::processRecord() - $GPGGA,223426.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223426.00,,,,,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 R96.96

: Sonardyne - parsing R96.96

: Sonardyne - read R = 96.960000 from 96.96

: Sonardyne - got range only (96.960000), tat = 580
: Sonardyne - POSD response: 
POSD S+144.0,N33.1,D90,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S+144.0,N33.1,D90,U1,Q0.019270

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223427.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223427.00,,,,,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 R94.35,X0.51,Y20.31,Z-92.13

: Sonardyne - parsing R94.35,X0.51,Y20.31,Z-92.13

: Sonardyne - read R = 94.350000 from 94.35,X0.51,Y20.31,Z-92.13

: Sonardyne - got all data, Vehicle coordinates,
    r=94.350000, x=92.130000, y=0.510000, z=-20.310000 tat = 589
: Sonardyne - POSD response: 
POSD S+144.5,N28.1,D-95,U8,Q0.000132

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223428.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223428.00,,,,,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 R93.25,X-0.09,Y13.61,Z-92.25

: Sonardyne - parsing R93.25,X-0.09,Y13.61,Z-92.25

: Sonardyne - read R = 93.250000 from 93.25,X-0.09,Y13.61,Z-92.25

: Sonardyne - got all data, Vehicle coordinates,
    r=93.250000, x=92.250000, y=-0.090000, z=-13.610000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.8,N31.6,D-41,U8,Q0.000145

: AshtechGps::processRecord() - $GPGGA,223429.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223429.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.26 16.99 3.87 3.90 0  -214.10 05:05:38 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 R92.11,X-0.27,Y13.92,Z-91.05

: Sonardyne - parsing R92.11,X-0.27,Y13.92,Z-91.05

: Sonardyne - read R = 92.110000 from 92.11,X-0.27,Y13.92,Z-91.05

: Sonardyne - got all data, Vehicle coordinates,
    r=92.110000, x=91.050000, y=-0.270000, z=-13.920000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.7,N35.6,D18,U8,Q0.000358

: AshtechGps::processRecord() - $GPGGA,223430.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223430.00,,,,,0,00,,,M,,M,,*4C


: 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

: Sonardyne - POS response: 
POS V4,1 R91.07,X0.29,Y11.81,Z-90.30

: Sonardyne - parsing R91.07,X0.29,Y11.81,Z-90.30

: Sonardyne - read R = 91.070000 from 91.07,X0.29,Y11.81,Z-90.30

: Sonardyne - got all data, Vehicle coordinates,
    r=91.070000, x=90.300000, y=0.290000, z=-11.810000 tat = 590
: Sonardyne - POSD response: 
POSD S128.4,N15.5,D-65,U7,Q0.000644

: AshtechGps::processRecord() - $GPGGA,223431.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223431.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R90.14

: Sonardyne - parsing R90.14

: Sonardyne - read R = 90.140000 from 90.14

: Sonardyne - got range only (90.140000), tat = 570
: Sonardyne - POSD response: 
POSD S+143.2,N22.9,D7,U2,Q0.000529

: Sonardyne - POSD response: 
POSD S+143.2,N22.9,D7,U2,Q0.000529

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223432.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223432.00,,,,,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 R89.29,X-0.83,Y11.46,Z-88.54

: Sonardyne - parsing R89.29,X-0.83,Y11.46,Z-88.54

: Sonardyne - read R = 89.290000 from 89.29,X-0.83,Y11.46,Z-88.54

: Sonardyne - got all data, Vehicle coordinates,
    r=89.290000, x=88.540000, y=-0.830000, z=-11.460000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.6,N30.9,D-7,U8,Q0.000068

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223433.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223433.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R88.47,X-1.29,Y7.85,Z-88.11

: Sonardyne - parsing R88.47,X-1.29,Y7.85,Z-88.11

: Sonardyne - read R = 88.470000 from 88.47,X-1.29,Y7.85,Z-88.11

: Sonardyne - got all data, Vehicle coordinates,
    r=88.470000, x=88.110000, y=-1.290000, z=-7.850000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.4,N32.5,D75,U8,Q0.000135

: AshtechGps::processRecord() - $GPGGA,223434.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223434.00,,,,,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 R87.74,X-1.24,Y8.11,Z-87.36

: Sonardyne - parsing R87.74,X-1.24,Y8.11,Z-87.36

: Sonardyne - read R = 87.740000 from 87.74,X-1.24,Y8.11,Z-87.36

: Sonardyne - got all data, Vehicle coordinates,
    r=87.740000, x=87.360000, y=-1.240000, z=-8.110000 tat = 590
: Sonardyne - POSD response: 
POSD S+144.6,N26.2,D54,U8,Q0.000298

: AshtechGps::processRecord() - $GPGGA,223435.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223435.00,,,,,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 R89.35

: Sonardyne - parsing R89.35

: Sonardyne - read R = 89.350000 from 89.35

: Sonardyne - got range only (89.350000), tat = 570
: Sonardyne - POSD response: 
POSD S137.8,N22.9,D-123,U1,Q0.002406

: Sonardyne - POSD response: 
POSD S137.8,N22.9,D-123,U1,Q0.002406

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223436.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223436.00,,,,,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 R86.40,X-0.50,Y10.28,Z-85.79

: Sonardyne - parsing R86.40,X-0.50,Y10.28,Z-85.79

: Sonardyne - read R = 86.400000 from 86.40,X-0.50,Y10.28,Z-85.79

: Sonardyne - got all data, Vehicle coordinates,
    r=86.400000, x=85.790000, y=-0.500000, z=-10.280000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223437.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223437.00,,,,,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 R85.66,X-0.26,Y15.59,Z-84.23

: Sonardyne - parsing R85.66,X-0.26,Y15.59,Z-84.23

: Sonardyne - read R = 85.660000 from 85.66,X-0.26,Y15.59,Z-84.23

: Sonardyne - got all data, Vehicle coordinates,
    r=85.660000, x=84.230000, y=-0.260000, z=-15.590000 tat = 580
: AshtechGps::processRecord() - $GPGGA,223438.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223438.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R84.63,X0.25,Y13.08,Z-83.62

: Sonardyne - parsing R84.63,X0.25,Y13.08,Z-83.62

: Sonardyne - read R = 84.630000 from 84.63,X0.25,Y13.08,Z-83.62

: Sonardyne - got all data, Vehicle coordinates,
    r=84.630000, x=83.620000, y=0.250000, z=-13.080000 tat = 580
: AshtechGps::processRecord() - $GPGGA,223439.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223439.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  6.53 16.99 3.87 3.90 0  -214.76 05:05:48 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 R83.29,X0.01,Y8.36,Z-82.87

: Sonardyne - parsing R83.29,X0.01,Y8.36,Z-82.87

: Sonardyne - read R = 83.290000 from 83.29,X0.01,Y8.36,Z-82.87

: Sonardyne - got all data, Vehicle coordinates,
    r=83.290000, x=82.870000, y=0.010000, z=-8.360000 tat = 580
: AshtechGps::processRecord() - $GPGGA,223440.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223440.00,,,,,0,00,,,M,,M,,*4B


: 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

: Sonardyne - POS response: 
POS V4,1 R82.17,X0.03,Y11.59,Z-81.35

: Sonardyne - parsing R82.17,X0.03,Y11.59,Z-81.35

: Sonardyne - read R = 82.170000 from 82.17,X0.03,Y11.59,Z-81.35

: Sonardyne - got all data, Vehicle coordinates,
    r=82.170000, x=81.350000, y=0.030000, z=-11.590000 tat = 580
: AshtechGps::processRecord() - $GPGGA,223441.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223441.00,,,,,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 R81.09,X0.45,Y13.94,Z-79.88

: Sonardyne - parsing R81.09,X0.45,Y13.94,Z-79.88

: Sonardyne - read R = 81.090000 from 81.09,X0.45,Y13.94,Z-79.88

: Sonardyne - got all data, Vehicle coordinates,
    r=81.090000, x=79.880000, y=0.450000, z=-13.940000 tat = 580
: AshtechGps::processRecord() - $GPGGA,223442.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223442.00,,,,,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 R80.03,X0.10,Y12.15,Z-79.10

: Sonardyne - parsing R80.03,X0.10,Y12.15,Z-79.10

: Sonardyne - read R = 80.030000 from 80.03,X0.10,Y12.15,Z-79.10

: Sonardyne - got all data, Vehicle coordinates,
    r=80.030000, x=79.100000, y=0.100000, z=-12.150000 tat = 579
: AshtechGps::processRecord() - $GPGGA,223443.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223443.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R82.66

: Sonardyne - parsing R82.66

: Sonardyne - read R = 82.660000 from 82.66

: Sonardyne - got range only (82.660000), tat = 560
: Sonardyne - POSD response: 
POSD S135.8,N28.1,D111,U2,Q0.000887

: Sonardyne - POSD response: 
POSD S135.8,N28.1,D111,U2,Q0.000887

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223444.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223444.00,,,,,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 R78.19

: Sonardyne - parsing R78.19

: Sonardyne - read R = 78.190000 from 78.19

: Sonardyne - got range only (78.190000), tat = 550
: Sonardyne - POSD response: 
POSD S+144.5,N25.1,D-84,U3,Q0.000078

: Sonardyne - POSD response: 
POSD S+144.5,N25.1,D-84,U3,Q0.000078

: AshtechGps::processRecord() - $GPGGA,223445.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223445.00,,,,,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 R77.42,X0.13,Y12.05,Z-76.48

: Sonardyne - parsing R77.42,X0.13,Y12.05,Z-76.48

: Sonardyne - read R = 77.420000 from 77.42,X0.13,Y12.05,Z-76.48

: Sonardyne - got all data, Vehicle coordinates,
    r=77.420000, x=76.480000, y=0.130000, z=-12.050000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.8,N36.4,D-14,U8,Q0.000062

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223446.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223446.00,,,,,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 R76.82

: Sonardyne - parsing R76.82

: Sonardyne - read R = 76.820000 from 76.82

: Sonardyne - got range only (76.820000), tat = 550
: Sonardyne - POSD response: 
POSD S+141.1,N29.1,D-5,U4,Q0.001072

: Sonardyne - POSD response: 
POSD S+141.1,N29.1,D-5,U4,Q0.001072

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223447.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223447.00,,,,,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 R75.96,X-0.08,Y13.99,Z-74.66

: Sonardyne - parsing R75.96,X-0.08,Y13.99,Z-74.66

: Sonardyne - read R = 75.960000 from 75.96,X-0.08,Y13.99,Z-74.66

: Sonardyne - got all data, Vehicle coordinates,
    r=75.960000, x=74.660000, y=-0.080000, z=-13.990000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.1,N24.3,D2,U8,Q0.000149

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223448.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223448.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R75.16,X0.37,Y13.24,Z-73.98

: Sonardyne - parsing R75.16,X0.37,Y13.24,Z-73.98

: Sonardyne - read R = 75.160000 from 75.16,X0.37,Y13.24,Z-73.98

: Sonardyne - got all data, Vehicle coordinates,
    r=75.160000, x=73.980000, y=0.370000, z=-13.240000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.7,N33.2,D-37,U8,Q0.000225

: AshtechGps::processRecord() - $GPGGA,223449.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223449.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.57 16.99 3.87 3.90 0  -215.17 05:05:58 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 R74.32,X-0.38,Y6.94,Z-74.00

: Sonardyne - parsing R74.32,X-0.38,Y6.94,Z-74.00

: Sonardyne - read R = 74.320000 from 74.32,X-0.38,Y6.94,Z-74.00

: Sonardyne - got all data, Vehicle coordinates,
    r=74.320000, x=74.000000, y=-0.380000, z=-6.940000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.1,N22.4,D98,U8,Q0.000737

: AshtechGps::processRecord() - $GPGGA,223450.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223450.00,,,,,0,00,,,M,,M,,*4A


: 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

: Sonardyne - POS response: 
POS V4,1 R76.42,X-0.86,Y-8.36,Z-75.96

: Sonardyne - parsing R76.42,X-0.86,Y-8.36,Z-75.96

: Sonardyne - read R = 76.420000 from 76.42,X-0.86,Y-8.36,Z-75.96

: Sonardyne - got all data, Vehicle coordinates,
    r=76.420000, x=75.960000, y=-0.860000, z=8.360000 tat = 570
: Sonardyne - POSD response: 
POSD S+141.4,N21.4,D-57,U8,Q0.000322

: AshtechGps::processRecord() - $GPGGA,223451.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223451.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.71,X0.34,Y12.21,Z-71.68

: Sonardyne - parsing R72.71,X0.34,Y12.21,Z-71.68

: Sonardyne - read R = 72.710000 from 72.71,X0.34,Y12.21,Z-71.68

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

: Sonardyne - got all data, Vehicle coordinates,
    r=72.710000, x=71.680000, y=0.340000, z=-12.210000 tat = 570
: Sonardyne - POSD response: 
POSD S+144.2,N26.5,D-2,U8,Q0.000078

: AshtechGps::processRecord() - $GPGGA,223452.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223452.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.08,X-0.34,Y7.18,Z-70.71

: Sonardyne - parsing R71.08,X-0.34,Y7.18,Z-70.71

: Sonardyne - read R = 71.080000 from 71.08,X-0.34,Y7.18,Z-70.71

: Sonardyne - got all data, Vehicle coordinates,
    r=71.080000, x=70.710000, y=-0.340000, z=-7.180000 tat = 560
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.6,N27.7,D-62,U8,Q0.000147

: AshtechGps::processRecord() - $GPGGA,223453.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223453.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.12

: Sonardyne - parsing R73.12

: Sonardyne - read R = 73.120000 from 73.12

: Sonardyne - got range only (73.120000), tat = 540
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+143.3,N30.7,D-61,U1,Q0.020187

: Sonardyne - POSD response: 
POSD S+143.3,N30.7,D-61,U1,Q0.020187

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223454.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223454.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.74,X-0.13,Y8.66,Z-68.19

: Sonardyne - parsing R68.74,X-0.13,Y8.66,Z-68.19

: Sonardyne - read R = 68.740000 from 68.74,X-0.13,Y8.66,Z-68.19

: Sonardyne - got all data, Vehicle coordinates,
    r=68.740000, x=68.190000, y=-0.130000, z=-8.660000 tat = 560
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.8,N33.2,D43,U8,Q0.000054

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223455.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223455.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.83

: Sonardyne - parsing R67.83

: Sonardyne - read R = 67.830000 from 67.83

: Sonardyne - got range only (67.830000), tat = 540
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S+144.0,N24.4,D145,U4,Q0.000072

: Sonardyne - POSD response: 
POSD S+144.0,N24.4,D145,U4,Q0.000072

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223456.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223456.00,,,,,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,223457.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223457.00,,,,,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,223458.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223458.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223459.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223459.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $aaq0 d- 31.04  5.59 16.99 3.87 3.90 0  -215.78 05:06:08 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 R64.35,X0.46,Y8.82,Z-63.74

: Sonardyne - parsing R64.35,X0.46,Y8.82,Z-63.74

: Sonardyne - read R = 64.350000 from 64.35,X0.46,Y8.82,Z-63.74

: Sonardyne - got all data, Vehicle coordinates,
    r=64.350000, x=63.740000, y=0.460000, z=-8.820000 tat = 550
: AshtechGps::processRecord() - $GPGGA,223500.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223500.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
: 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

: Sonardyne - POS response: 
POS V4,1 R63.35,X0.72,Y7.36,Z-62.92

: Sonardyne - parsing R63.35,X0.72,Y7.36,Z-62.92

: Sonardyne - read R = 63.350000 from 63.35,X0.72,Y7.36,Z-62.92

: Sonardyne - got all data, Vehicle coordinates,
    r=63.350000, x=62.920000, y=0.720000, z=-7.360000 tat = 550
: AshtechGps::processRecord() - $GPGGA,223501.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223501.00,,,,,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 R62.25,X0.54,Y6.47,Z-61.92

: Sonardyne - parsing R62.25,X0.54,Y6.47,Z-61.92

: Sonardyne - read R = 62.250000 from 62.25,X0.54,Y6.47,Z-61.92

: Sonardyne - got all data, Vehicle coordinates,
    r=62.250000, x=61.920000, y=0.540000, z=-6.470000 tat = 550
: AshtechGps::processRecord() - $GPGGA,223502.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223502.00,,,,,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 R61.19,X1.26,Y8.52,Z-60.58

: Sonardyne - parsing R61.19,X1.26,Y8.52,Z-60.58

: Sonardyne - read R = 61.190000 from 61.19,X1.26,Y8.52,Z-60.58

: Sonardyne - got all data, Vehicle coordinates,
    r=61.190000, x=60.580000, y=1.260000, z=-8.520000 tat = 550
: AshtechGps::processRecord() - $GPGGA,223503.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223503.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,223504.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223504.00,,,,,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,223505.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223505.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223506.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223506.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223507.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223507.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.86,X-0.20,Y5.12,Z-56.63

: Sonardyne - parsing R56.86,X-0.20,Y5.12,Z-56.63

: Sonardyne - read R = 56.860000 from 56.86,X-0.20,Y5.12,Z-56.63

: Sonardyne - got all data, Vehicle coordinates,
    r=56.860000, x=56.630000, y=-0.200000, z=-5.120000 tat = 540
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223508.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223508.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.17,X0.03,Y6.94,Z-55.74

: Sonardyne - parsing R56.17,X0.03,Y6.94,Z-55.74

: Sonardyne - read R = 56.170000 from 56.17,X0.03,Y6.94,Z-55.74

: Sonardyne - got all data, Vehicle coordinates,
    r=56.170000, x=55.740000, y=0.030000, z=-6.940000 tat = 540
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223509.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223509.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.43 16.99 3.87 3.90 0  -216.20 05:06:18 m

: Sonardyne - POS response: 
POS V4,1 R58.46

: Sonardyne - parsing R58.46

: Sonardyne - read R = 58.460000 from 58.46

: Sonardyne - got range only (58.460000), tat = 520
: Sonardyne - POSD response: 
POSD S+140.2,N29.9,D-39,U2,Q0.016113

: Sonardyne - POSD response: 
POSD S+140.2,N29.9,D-39,U2,Q0.016113

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223510.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223510.00,,,,,0,00,,,M,,M,,*4F


: 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 R54.42,X-0.12,Y8.62,Z-53.73

: Sonardyne - parsing R54.42,X-0.12,Y8.62,Z-53.73

: Sonardyne - read R = 54.420000 from 54.42,X-0.12,Y8.62,Z-53.73

: Sonardyne - got all data, Vehicle coordinates,
    r=54.420000, x=53.730000, y=-0.120000, z=-8.620000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.7,N24.2,D-44,U8,Q0.000067

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223511.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223511.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.26,X0.21,Y9.77,Z-52.36

: Sonardyne - parsing R53.26,X0.21,Y9.77,Z-52.36

: Sonardyne - read R = 53.260000 from 53.26,X0.21,Y9.77,Z-52.36

: Sonardyne - got all data, Vehicle coordinates,
    r=53.260000, x=52.360000, y=0.210000, z=-9.770000 tat = 539
: Sonardyne - POSD response: 
POSD S+144.7,N21.5,D-99,U8,Q0.000077

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

: AshtechGps::processRecord() - $GPGGA,223512.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223512.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.07,X-0.25,Y5.22,Z-51.81

: Sonardyne - parsing R52.07,X-0.25,Y5.22,Z-51.81

: Sonardyne - read R = 52.070000 from 52.07,X-0.25,Y5.22,Z-51.81

: Sonardyne - got all data, Vehicle coordinates,
    r=52.070000, x=51.810000, y=-0.250000, z=-5.220000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.5,N37.6,D-12,U8,Q0.000088

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

: AshtechGps::processRecord() - $GPGGA,223513.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223513.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.96,X0.12,Y7.79,Z-50.37

: Sonardyne - parsing R50.96,X0.12,Y7.79,Z-50.37

: Sonardyne - read R = 50.960000 from 50.96,X0.12,Y7.79,Z-50.37

: Sonardyne - got all data, Vehicle coordinates,
    r=50.960000, x=50.370000, y=0.120000, z=-7.790000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.9,N34.6,D-45,U6,Q0.000083

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

: AshtechGps::processRecord() - $GPGGA,223514.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223514.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R50.05,X-0.29,Y5.99,Z-49.69

: Sonardyne - parsing R50.05,X-0.29,Y5.99,Z-49.69

: Sonardyne - read R = 50.050000 from 50.05,X-0.29,Y5.99,Z-49.69

: Sonardyne - got all data, Vehicle coordinates,
    r=50.050000, x=49.690000, y=-0.290000, z=-5.990000 tat = 540
: Sonardyne - POSD response: 
POSD S+144.8,N31.2,D-44,U6,Q0.000089

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

: AshtechGps::processRecord() - $GPGGA,223515.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223515.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R49.24,X0.30,Y7.45,Z-48.68

: Sonardyne - parsing R49.24,X0.30,Y7.45,Z-48.68

: Sonardyne - read R = 49.240000 from 49.24,X0.30,Y7.45,Z-48.68

: Sonardyne - got all data, Vehicle coordinates,
    r=49.240000, x=48.680000, y=0.300000, z=-7.450000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.8,N29.2,D-29,U8,Q0.000058

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

: AshtechGps::processRecord() - $GPGGA,223516.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223516.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.33

: Sonardyne - parsing R54.33

: Sonardyne - read R = 54.330000 from 54.33

: Sonardyne - got range only (54.330000), tat = 520
: Sonardyne - POSD response: 
POSD S138.7,N30.6,D14,U1,Q0.006268

: Sonardyne - POSD response: 
POSD S138.7,N30.6,D14,U1,Q0.006268

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223517.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223517.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.74,X0.15,Y5.61,Z-47.41

: Sonardyne - parsing R47.74,X0.15,Y5.61,Z-47.41

: Sonardyne - read R = 47.740000 from 47.74,X0.15,Y5.61,Z-47.41

: Sonardyne - got all data, Vehicle coordinates,
    r=47.740000, x=47.410000, y=0.150000, z=-5.610000 tat = 530
: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223518.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223518.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R47.07

: Sonardyne - parsing R47.07

: Sonardyne - read R = 47.070000 from 47.07

: Sonardyne - got range only (47.070000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N28.6,D-56,U4,Q0.000099

: Sonardyne - POSD response: 
POSD S+144.7,N28.6,D-56,U4,Q0.000099

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223519.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223519.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  5.92 16.99 3.87 3.90 0  -216.87 05:06:28 m

: Sonardyne - POS response: 
POS V4,1 R46.17,X-0.14,Y5.46,Z-45.85

: Sonardyne - parsing R46.17,X-0.14,Y5.46,Z-45.85

: Sonardyne - read R = 46.170000 from 46.17,X-0.14,Y5.46,Z-45.85

: Sonardyne - got all data, Vehicle coordinates,
    r=46.170000, x=45.850000, y=-0.140000, z=-5.460000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.6,N25.3,D-67,U6,Q0.000112

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223520.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223520.00,,,,,0,00,,,M,,M,,*4C


: 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 R45.02

: Sonardyne - parsing R45.02

: Sonardyne - read R = 45.020000 from 45.02

: Sonardyne - got range only (45.020000), tat = 510
: Sonardyne - POSD response: 
POSD S+144.6,N23.8,D-145,U4,Q0.000062

: Sonardyne - POSD response: 
POSD S+144.6,N23.8,D-145,U4,Q0.000062

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223521.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223521.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R43.79,X0.03,Y4.84,Z-43.52

: Sonardyne - parsing R43.79,X0.03,Y4.84,Z-43.52

: Sonardyne - read R = 43.790000 from 43.79,X0.03,Y4.84,Z-43.52

: Sonardyne - got all data, Vehicle coordinates,
    r=43.790000, x=43.520000, y=0.030000, z=-4.840000 tat = 530
: Sonardyne - POSD response: 
POSD S+144.5,N32.4,D4,U8,Q0.000110

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223522.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223522.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.44,X0.05,Y5.65,Z-42.06

: Sonardyne - parsing R42.44,X0.05,Y5.65,Z-42.06

: Sonardyne - read R = 42.440000 from 42.44,X0.05,Y5.65,Z-42.06

: Sonardyne - got all data, Vehicle coordinates,
    r=42.440000, x=42.060000, y=0.050000, z=-5.650000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.7,N23.9,D-103,U8,Q0.000094

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

: AshtechGps::processRecord() - $GPGGA,223523.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223523.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R44.53

: Sonardyne - parsing R44.53

: Sonardyne - read R = 44.530000 from 44.53

: Sonardyne - got range only (44.530000), tat = 510
: Sonardyne - POSD response: 
POSD S137.0,N29.7,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.0,N29.7,D17,U0,Q0.000000

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223524.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223524.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.90,X-0.50,Y1.76,Z-39.86

: Sonardyne - parsing R39.90,X-0.50,Y1.76,Z-39.86

: Sonardyne - read R = 39.900000 from 39.90,X-0.50,Y1.76,Z-39.86

: Sonardyne - got all data, Vehicle coordinates,
    r=39.900000, x=39.860000, y=-0.500000, z=-1.760000 tat = 520
: 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,223525.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223525.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R42.05

: Sonardyne - parsing R42.05

: Sonardyne - read R = 42.050000 from 42.05

: Sonardyne - got range only (42.050000), tat = 500
: Sonardyne - POSD response: 
POSD S129.3,N30.1,D48,U1,Q0.009853

: Sonardyne - POSD response: 
POSD S129.3,N30.1,D48,U1,Q0.009853

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223526.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223526.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.42,X-0.18,Y2.72,Z-38.32

: Sonardyne - parsing R38.42,X-0.18,Y2.72,Z-38.32

: Sonardyne - read R = 38.420000 from 38.42,X-0.18,Y2.72,Z-38.32

: Sonardyne - got all data, Vehicle coordinates,
    r=38.420000, x=38.320000, y=-0.180000, z=-2.720000 tat = 520
: 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,223527.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223527.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.97

: Sonardyne - parsing R37.97

: Sonardyne - read R = 37.970000 from 37.97

: Sonardyne - got range only (37.970000), tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N36.8,D-15,U4,Q0.000053

: Sonardyne - POSD response: 
POSD S+144.9,N36.8,D-15,U4,Q0.000053

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223528.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223528.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R37.50,X0.19,Y3.06,Z-37.37

: Sonardyne - parsing R37.50,X0.19,Y3.06,Z-37.37

: Sonardyne - read R = 37.500000 from 37.50,X0.19,Y3.06,Z-37.37

: Sonardyne - got all data, Vehicle coordinates,
    r=37.500000, x=37.370000, y=0.190000, z=-3.060000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.8,N39.5,D-3,U8,Q0.000068

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223529.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223529.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.33 16.99 3.87 3.90 0  -217.26 05:06:38 m

: Sonardyne - POS response: 
POS V4,1 R36.72,X0.34,Y2.66,Z-36.62

: Sonardyne - parsing R36.72,X0.34,Y2.66,Z-36.62

: Sonardyne - read R = 36.720000 from 36.72,X0.34,Y2.66,Z-36.62

: Sonardyne - got all data, Vehicle coordinates,
    r=36.720000, x=36.620000, y=0.340000, z=-2.660000 tat = 520
: Sonardyne - POSD response: 
POSD S+144.9,N37.3,D24,U8,Q0.000065

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

: AshtechGps::processRecord() - $GPGGA,223530.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223530.00,,,,,0,00,,,M,,M,,*4D


: 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 R35.66

: Sonardyne - parsing R35.66

: Sonardyne - read R = 35.660000 from 35.66

: Sonardyne - got range only (35.660000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.2,N21.5,D138,U3,Q0.000048

: Sonardyne - POSD response: 
POSD S+144.2,N21.5,D138,U3,Q0.000048

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

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
: AshtechGps::processRecord() - $GPGGA,223531.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223531.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.29,X0.29,Y2.80,Z-34.17

: Sonardyne - parsing R34.29,X0.29,Y2.80,Z-34.17

: Sonardyne - read R = 34.290000 from 34.29,X0.29,Y2.80,Z-34.17

: Sonardyne - got all data, Vehicle coordinates,
    r=34.290000, x=34.170000, y=0.290000, z=-2.800000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N29.5,D-53,U8,Q0.000072

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

: WaypointHoming: The Usbl has aquired the transponder!
: AshtechGps::processRecord() - $GPGGA,223532.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223532.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.83

: Sonardyne - parsing R32.83

: Sonardyne - read R = 32.830000 from 32.83

: Sonardyne - got range only (32.830000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N23.7,D-100,U5,Q0.000049

: Sonardyne - POSD response: 
POSD S+144.8,N23.7,D-100,U5,Q0.000049

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223533.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223533.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.53,X0.01,Y2.10,Z-31.46

: Sonardyne - parsing R31.53,X0.01,Y2.10,Z-31.46

: Sonardyne - read R = 31.530000 from 31.53,X0.01,Y2.10,Z-31.46

: Sonardyne - got all data, Vehicle coordinates,
    r=31.530000, x=31.460000, y=0.010000, z=-2.100000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.7,N23.4,D-101,U8,Q0.000068

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223534.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223534.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.63

: Sonardyne - parsing R30.63

: Sonardyne - read R = 30.630000 from 30.63

: Sonardyne - got range only (30.630000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N25.6,D83,U5,Q0.000060

: Sonardyne - POSD response: 
POSD S+144.7,N25.6,D83,U5,Q0.000060

: 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,223535.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223535.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.49

: Sonardyne - parsing R30.49

: Sonardyne - read R = 30.490000 from 30.49

: Sonardyne - got range only (30.490000), tat = 490
: Sonardyne - POSD response: 
POSD S+144.7,N36.3,D-142,U2,Q0.000265

: Sonardyne - POSD response: 
POSD S+144.7,N36.3,D-142,U2,Q0.000265

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

: AshtechGps::processRecord() - $GPGGA,223536.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223536.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.40,X-0.53,Y2.32,Z-29.31

: Sonardyne - parsing R29.40,X-0.53,Y2.32,Z-29.31

: Sonardyne - read R = 29.400000 from 29.40,X-0.53,Y2.32,Z-29.31

: Sonardyne - got all data, Vehicle coordinates,
    r=29.400000, x=29.310000, y=-0.530000, z=-2.320000 tat = 510
: Sonardyne - POSD response: 
POSD S+144.9,N42.7,D-9,U8,Q0.000184

: 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,223537.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223537.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.54

: Sonardyne - parsing R28.54

: Sonardyne - read R = 28.540000 from 28.54

: Sonardyne - got range only (28.540000), tat = 480
: Sonardyne - POSD response: 
POSD S+144.5,N28.7,D45,U5,Q0.000081

: Sonardyne - POSD response: 
POSD S+144.5,N28.7,D45,U5,Q0.000081

: 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,223538.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223538.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.34

: Sonardyne - parsing R27.34

: Sonardyne - read R = 27.340000 from 27.34

: Sonardyne - got range only (27.340000), tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N28.7,D-59,U4,Q0.000048

: Sonardyne - POSD response: 
POSD S+144.9,N28.7,D-59,U4,Q0.000048

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

: AshtechGps::processRecord() - $GPGGA,223539.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223539.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  7.21 16.99 3.87 3.90 0  -217.94 05:06:48 m

: Sonardyne - POS response: 
POS V4,1 R26.06,X-0.57,Y1.29,Z-26.02

: Sonardyne - parsing R26.06,X-0.57,Y1.29,Z-26.02

: Sonardyne - read R = 26.060000 from 26.06,X-0.57,Y1.29,Z-26.02

: Sonardyne - got all data, Vehicle coordinates,
    r=26.060000, x=26.020000, y=-0.570000, z=-1.290000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.7,N21.6,D-138,U7,Q0.000112

: 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,223540.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223540.00,,,,,0,00,,,M,,M,,*4A


: 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 R24.89

: Sonardyne - parsing R24.89

: Sonardyne - read R = 24.890000 from 24.89

: Sonardyne - got range only (24.890000), tat = 479
: Sonardyne - POSD response: 
POSD S+144.8,N23.2,D-87,U5,Q0.000121

: Sonardyne - POSD response: 
POSD S+144.8,N23.2,D-87,U5,Q0.000121

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223541.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223541.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.00,X-0.64,Y0.97,Z-23.97

: Sonardyne - parsing R24.00,X-0.64,Y0.97,Z-23.97

: Sonardyne - read R = 24.000000 from 24.00,X-0.64,Y0.97,Z-23.97

: Sonardyne - got all data, Vehicle coordinates,
    r=24.000000, x=23.970000, y=-0.640000, z=-0.970000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N37.3,D-19,U8,Q0.000151

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223542.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223542.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.30,X-0.68,Y0.63,Z-23.28

: Sonardyne - parsing R23.30,X-0.68,Y0.63,Z-23.28

: Sonardyne - read R = 23.300000 from 23.30,X-0.68,Y0.63,Z-23.28

: Sonardyne - got all data, Vehicle coordinates,
    r=23.300000, x=23.280000, y=-0.680000, z=-0.630000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.9,N43.5,D8,U8,Q0.000175

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

: AshtechGps::processRecord() - $GPGGA,223543.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223543.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.66

: Sonardyne - parsing R22.66

: Sonardyne - read R = 22.660000 from 22.66

: Sonardyne - got range only (22.660000), tat = 480
: Sonardyne - POSD response: 
POSD S+144.7,N28.2,D48,U5,Q0.000163

: Sonardyne - POSD response: 
POSD S+144.7,N28.2,D48,U5,Q0.000163

: 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,223544.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223544.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R21.87,X-0.53,Y0.99,Z-21.84

: Sonardyne - parsing R21.87,X-0.53,Y0.99,Z-21.84

: Sonardyne - read R = 21.870000 from 21.87,X-0.53,Y0.99,Z-21.84

: Sonardyne - got all data, Vehicle coordinates,
    r=21.870000, x=21.840000, y=-0.530000, z=-0.990000 tat = 500
: Sonardyne - POSD response: 
POSD S+144.5,N22.4,D-103,U8,Q0.000155

: 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,223545.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223545.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.89

: Sonardyne - parsing R20.89

: Sonardyne - read R = 20.890000 from 20.89

: Sonardyne - got range only (20.890000), tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N34.1,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+144.9,N34.1,D-31,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223546.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223546.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.75,X-0.41,Y0.48,Z-19.74

: Sonardyne - parsing R19.75,X-0.41,Y0.48,Z-19.74

: Sonardyne - read R = 19.750000 from 19.75,X-0.41,Y0.48,Z-19.74

: Sonardyne - got all data, Vehicle coordinates,
    r=19.750000, x=19.740000, y=-0.410000, z=-0.480000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.5,N21.7,D-106,U8,Q0.000161

: 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,223547.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223547.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.54,X-0.44,Y0.07,Z-18.53

: Sonardyne - parsing R18.54,X-0.44,Y0.07,Z-18.53

: Sonardyne - read R = 18.540000 from 18.54,X-0.44,Y0.07,Z-18.53

: Sonardyne - got all data, Vehicle coordinates,
    r=18.540000, x=18.530000, y=-0.440000, z=-0.070000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.8,N30.2,D20,U6,Q0.000151

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

: AshtechGps::processRecord() - $GPGGA,223548.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223548.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.46,X-0.41,Y-0.05,Z-17.46

: Sonardyne - parsing R17.46,X-0.41,Y-0.05,Z-17.46

: Sonardyne - read R = 17.460000 from 17.46,X-0.41,Y-0.05,Z-17.46

: Sonardyne - got all data, Vehicle coordinates,
    r=17.460000, x=17.460000, y=-0.410000, z=0.050000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N37.7,D-26,U8,Q0.000088

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

: AshtechGps::processRecord() - $GPGGA,223549.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223549.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.53 16.99 3.87 3.90 0  -218.32 05:06:58 m

: Sonardyne - POS response: 
POS V4,1 R16.57,X-0.43,Y-0.21,Z-16.56

: Sonardyne - parsing R16.57,X-0.43,Y-0.21,Z-16.56

: Sonardyne - read R = 16.570000 from 16.57,X-0.43,Y-0.21,Z-16.56

: Sonardyne - got all data, Vehicle coordinates,
    r=16.570000, x=16.560000, y=-0.430000, z=0.210000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N37.8,D-18,U8,Q0.000139

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

: AshtechGps::processRecord() - $GPGGA,223550.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223550.00,,,,,0,00,,,M,,M,,*4B


: 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 R15.71,X-0.44,Y-0.33,Z-15.70

: Sonardyne - parsing R15.71,X-0.44,Y-0.33,Z-15.70

: Sonardyne - read R = 15.710000 from 15.71,X-0.44,Y-0.33,Z-15.70

: Sonardyne - got all data, Vehicle coordinates,
    r=15.710000, x=15.700000, y=-0.440000, z=0.330000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N40.4,D-13,U8,Q0.000139

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

: AshtechGps::processRecord() - $GPGGA,223551.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223551.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.94,X-0.33,Y-0.36,Z-14.93

: Sonardyne - parsing R14.94,X-0.33,Y-0.36,Z-14.93

: Sonardyne - read R = 14.940000 from 14.94,X-0.33,Y-0.36,Z-14.93

: Sonardyne - got all data, Vehicle coordinates,
    r=14.940000, x=14.930000, y=-0.330000, z=0.360000 tat = 490
: Sonardyne - POSD response: 
POSD S+145.0,N36.1,D-23,U8,Q0.000132

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

: AshtechGps::processRecord() - $GPGGA,223552.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223552.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.05,X-0.26,Y-0.54,Z-14.03

: Sonardyne - parsing R14.05,X-0.26,Y-0.54,Z-14.03

: Sonardyne - read R = 14.050000 from 14.05,X-0.26,Y-0.54,Z-14.03

: Sonardyne - got all data, Vehicle coordinates,
    r=14.050000, x=14.030000, y=-0.260000, z=0.540000 tat = 490
: Sonardyne - POSD response: 
POSD S+144.9,N33.5,D-26,U8,Q0.000109

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

: AshtechGps::processRecord() - $GPGGA,223553.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223553.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R13.00,X-0.24,Y-0.85,Z-12.97

: Sonardyne - parsing R13.00,X-0.24,Y-0.85,Z-12.97

: Sonardyne - read R = 13.000000 from 13.00,X-0.24,Y-0.85,Z-12.97

: Sonardyne - got all data, Vehicle coordinates,
    r=13.000000, x=12.970000, y=-0.240000, z=0.850000 tat = 490
: Sonardyne - POSD response: 
POSD S+145.0,N33.6,D-29,U8,Q0.000146

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

: AshtechGps::processRecord() - $GPGGA,223554.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223554.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R11.92,X-0.26,Y-0.97,Z-11.87

: Sonardyne - parsing R11.92,X-0.26,Y-0.97,Z-11.87

: Sonardyne - read R = 11.920000 from 11.92,X-0.26,Y-0.97,Z-11.87

: Sonardyne - got all data, Vehicle coordinates,
    r=11.920000, x=11.870000, y=-0.260000, z=0.970000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N33.7,D-27,U8,Q0.000159

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

: AshtechGps::processRecord() - $GPGGA,223555.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223555.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.94,X-0.34,Y-1.14,Z-10.87

: Sonardyne - parsing R10.94,X-0.34,Y-1.14,Z-10.87

: Sonardyne - read R = 10.940000 from 10.94,X-0.34,Y-1.14,Z-10.87

: Sonardyne - got all data, Vehicle coordinates,
    r=10.940000, x=10.870000, y=-0.340000, z=1.140000 tat = 479
: Sonardyne - POSD response: 
POSD S+145.0,N35.4,D-23,U8,Q0.000209

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

: AshtechGps::processRecord() - $GPGGA,223556.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223556.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.02,X-0.40,Y-1.45,Z-9.90

: Sonardyne - parsing R10.02,X-0.40,Y-1.45,Z-9.90

: Sonardyne - read R = 10.020000 from 10.02,X-0.40,Y-1.45,Z-9.90

: Sonardyne - got all data, Vehicle coordinates,
    r=10.020000, x=9.900000, y=-0.400000, z=1.450000 tat = 480
: Sonardyne - POSD response: 
POSD S+145.0,N32.4,D-30,U8,Q0.000628

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

: AshtechGps::processRecord() - $GPGGA,223557.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223557.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.12,X-0.40,Y-1.63,Z-8.96

: Sonardyne - parsing R9.12,X-0.40,Y-1.63,Z-8.96

: Sonardyne - read R = 9.120000 from 9.12,X-0.40,Y-1.63,Z-8.96

: Sonardyne - got all data, Vehicle coordinates,
    r=9.120000, x=8.960000, y=-0.400000, z=1.630000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N36.3,D-23,U8,Q0.001508

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

: AshtechGps::processRecord() - $GPGGA,223558.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223558.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R8.25,X-0.39,Y-1.83,Z-8.03

: Sonardyne - parsing R8.25,X-0.39,Y-1.83,Z-8.03

: Sonardyne - read R = 8.250000 from 8.25,X-0.39,Y-1.83,Z-8.03

: Sonardyne - got all data, Vehicle coordinates,
    r=8.250000, x=8.030000, y=-0.390000, z=1.830000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N42.0,D-15,U8,Q0.002858

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

: AshtechGps::processRecord() - $GPGGA,223559.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223559.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  6.19 16.99 3.87 3.90 0  -218.95 05:07:08 m

: Sonardyne - POS response: 
POS V4,1 R7.38,X-0.40,Y-2.14,Z-7.05

: Sonardyne - parsing R7.38,X-0.40,Y-2.14,Z-7.05

: Sonardyne - read R = 7.380000 from 7.38,X-0.40,Y-2.14,Z-7.05

: Sonardyne - got all data, Vehicle coordinates,
    r=7.380000, x=7.050000, y=-0.400000, z=2.140000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N38.6,D-20,U8,Q0.002523

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

: AshtechGps::processRecord() - $GPGGA,223600.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223600.00,,,,,0,00,,,M,,M,,*4D


: 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 R6.54,X-0.41,Y-2.38,Z-6.08

: Sonardyne - parsing R6.54,X-0.41,Y-2.38,Z-6.08

: Sonardyne - read R = 6.540000 from 6.54,X-0.41,Y-2.38,Z-6.08

: Sonardyne - got all data, Vehicle coordinates,
    r=6.540000, x=6.080000, y=-0.410000, z=2.380000 tat = 480
: Sonardyne - POSD response: 
POSD S+144.9,N36.1,D-22,U8,Q0.001668

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

: AshtechGps::processRecord() - $GPGGA,223601.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223601.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.75,X-0.29,Y-2.45,Z-5.20

: Sonardyne - parsing R5.75,X-0.29,Y-2.45,Z-5.20

: Sonardyne - read R = 5.750000 from 5.75,X-0.29,Y-2.45,Z-5.20

: Sonardyne - got all data, Vehicle coordinates,
    r=5.750000, x=5.200000, y=-0.290000, z=2.450000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N36.6,D-26,U8,Q0.000605

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

: AshtechGps::processRecord() - $GPGGA,223602.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223602.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R5.02,X-0.23,Y-2.41,Z-4.40

: Sonardyne - parsing R5.02,X-0.23,Y-2.41,Z-4.40

: Sonardyne - read R = 5.020000 from 5.02,X-0.23,Y-2.41,Z-4.40

: Sonardyne - got all data, Vehicle coordinates,
    r=5.020000, x=4.400000, y=-0.230000, z=2.410000 tat = 470
: Sonardyne - POSD response: 
POSD S+145.0,N38.2,D-17,U8,Q0.004697

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

: AshtechGps::processRecord() - $GPGGA,223603.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223603.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.44,X-0.12,Y-2.50,Z-3.67

: Sonardyne - parsing R4.44,X-0.12,Y-2.50,Z-3.67

: Sonardyne - read R = 4.440000 from 4.44,X-0.12,Y-2.50,Z-3.67

: Sonardyne - got all data, Vehicle coordinates,
    r=4.440000, x=3.670000, y=-0.120000, z=2.500000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N43.6,D-10,U6,Q0.016723

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

: AshtechGps::processRecord() - $GPGGA,223604.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223604.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.03,X-0.10,Y4.03,Z0.00

: Sonardyne - parsing R4.03,X-0.10,Y4.03,Z0.00

: Sonardyne - read R = 4.030000 from 4.03,X-0.10,Y4.03,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=4.030000, x=0.000000, y=-0.100000, z=-4.030000 tat = 470
: Sonardyne - POSD response: 
POSD S+145.0,N38.3,D-15,U8,Q0.003792

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

: AshtechGps::processRecord() - $GPGGA,223605.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223605.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.79

: Sonardyne - parsing R3.79

: Sonardyne - read R = 3.790000 from 3.79

: Sonardyne - got range only (3.790000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N38.2,D2,U1,Q0.007897

: Sonardyne - POSD response: 
POSD S+144.9,N38.2,D2,U1,Q0.007897

: 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,223606.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223606.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.64,X-0.31,Y-3.45,Z-1.14

: Sonardyne - parsing R3.64,X-0.31,Y-3.45,Z-1.14

: Sonardyne - read R = 3.640000 from 3.64,X-0.31,Y-3.45,Z-1.14

: Sonardyne - got all data, Vehicle coordinates,
    r=3.640000, x=1.140000, y=-0.310000, z=3.450000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N44.0,D-1,U8,Q0.005210

: 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,223607.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223607.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R3.71

: Sonardyne - parsing R3.71

: Sonardyne - read R = 3.710000 from 3.71

: Sonardyne - got range only (3.710000), tat = 450
: Sonardyne - POSD response: 
POSD S+144.9,N45.5,D5,U1,Q0.007590

: Sonardyne - POSD response: 
POSD S+144.9,N45.5,D5,U1,Q0.007590

: 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,223608.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223608.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R4.05,X-0.16,Y0.71,Z-3.99

: Sonardyne - parsing R4.05,X-0.16,Y0.71,Z-3.99

: Sonardyne - read R = 4.050000 from 4.05,X-0.16,Y0.71,Z-3.99

: Sonardyne - got all data, Vehicle coordinates,
    r=4.050000, x=3.990000, y=-0.160000, z=-0.710000 tat = 470
: Sonardyne - POSD response: 
POSD S+144.9,N54.6,D3,U6,Q0.001934

: 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,223609.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223609.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  6.43 16.99 3.87 3.90 0  -219.38 05:07:18 m

: Sonardyne - POS response: 
POS V4,1 R4.74

: Sonardyne - parsing R4.74

: Sonardyne - read R = 4.740000 from 4.74

: Sonardyne - got range only (4.740000), tat = 450
: Sonardyne - POSD response: 
POSD S+142.2,N35.0,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.2,N35.0,D15,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223610.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223610.00,,,,,0,00,,,M,,M,,*4C


: 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 R5.64,X-0.06,Y0.60,Z-5.61

: Sonardyne - parsing R5.64,X-0.06,Y0.60,Z-5.61

: Sonardyne - read R = 5.640000 from 5.64,X-0.06,Y0.60,Z-5.61

: Sonardyne - got all data, Vehicle coordinates,
    r=5.640000, x=5.610000, y=-0.060000, z=-0.600000 tat = 470
: Sonardyne - POSD response: 
POSD S+143.1,N28.7,D20,U8,Q0.014695

: WaypointHoming: The Usbl has aquired the transponder!
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223611.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223611.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.38

: Sonardyne - parsing R6.38

: Sonardyne - read R = 6.380000 from 6.38

: Sonardyne - got range only (6.380000), tat = 450
: Sonardyne - POSD response: 
POSD S134.5,N28.7,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.5,N28.7,D-6,U0,Q0.000000

: 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,223612.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223612.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R7.28,X-0.33,Y0.70,Z-7.24

: Sonardyne - parsing R7.28,X-0.33,Y0.70,Z-7.24

: Sonardyne - read R = 7.280000 from 7.28,X-0.33,Y0.70,Z-7.24

: Sonardyne - got all data, Vehicle coordinates,
    r=7.280000, x=7.240000, y=-0.330000, z=-0.700000 tat = 480
: 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,223613.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223613.00,,,,,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,223614.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223614.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,223615.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223615.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,U0,Q0.000000

: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223616.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223616.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,223617.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223617.00,,,,,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,223618.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223618.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223619.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223619.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.04  5.72 16.99 3.87 3.90 0  -220.03 05:07:28 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 R13.80

: Sonardyne - parsing R13.80

: Sonardyne - read R = 13.800000 from 13.80

: Sonardyne - got range only (13.800000), tat = 560
: AshtechGps::processRecord() - $GPGGA,223620.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223620.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - POSD response: 
POSD S124.0,N21.1,D56,U1,Q0.004974

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.0,N21.1,D56,U1,Q0.004974

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

: Sonardyne - POS response: 
POS V4,1 R14.91,X1.27,Y1.07,Z-14.81

: Sonardyne - parsing R14.91,X1.27,Y1.07,Z-14.81

: Sonardyne - read R = 14.910000 from 14.91,X1.27,Y1.07,Z-14.81

: Sonardyne - got all data, Vehicle coordinates,
    r=14.910000, x=14.810000, y=1.270000, z=-1.070000 tat = 490
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223621.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223621.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder!
: Sonardyne - POS response: 
POS V4,1 R16.07

: Sonardyne - parsing R16.07

: Sonardyne - read R = 16.070000 from 16.07

: Sonardyne - got range only (16.070000), tat = 470
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.4,N24.0,D103,U5,Q0.010767

: Sonardyne - POSD response: 
POSD S123.4,N24.0,D103,U5,Q0.010767

: AshtechGps::processRecord() - $GPGGA,223622.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223622.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl doesn't NOT detect the transponder!
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223623.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223623.00,,,,,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,223624.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223624.00,,,,,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,223625.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223625.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223626.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223626.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.82

: Sonardyne - parsing R18.82

: Sonardyne - read R = 18.820000 from 18.82

: Sonardyne - got range only (18.820000), tat = 470
: Sonardyne - POSD response: 
POSD S112.3,N19.9,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.3,N19.9,D-21,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,223627.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223627.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.65

: Sonardyne - parsing R19.65

: Sonardyne - read R = 19.650000 from 19.65

: Sonardyne - got range only (19.650000), tat = 470
: Sonardyne - POSD response: 
POSD S118.8,N27.9,D45,U2,Q0.004104

: Sonardyne - POSD response: 
POSD S118.8,N27.9,D45,U2,Q0.004104

: LayeredControl::execute() -- (t = 476.597351) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 476.60                            (wplog)
  The current location (N,E) = 4051819.2      , 600627.2         (wplog)
  The next waypoint          = 4051868.9      , 600696.3         (wplog)
  The bearing to the next w.p. is 54.2 Degrees.

: LayeredControl::execute() -- (t = 476.597351) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,223628.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223628.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.86

: Sonardyne - parsing R20.86

: Sonardyne - read R = 20.860000 from 20.86

: Sonardyne - got range only (20.860000), tat = 470
: Sonardyne - POSD response: 
POSD S114.9,N22.8,D81,U2,Q0.002592

: Sonardyne - POSD response: 
POSD S114.9,N22.8,D81,U2,Q0.002592

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

: AshtechGps::processRecord() - $GPGGA,223629.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223629.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  6.19 16.99 3.87 3.90 0  -220.45 05:07:38 m

: Sonardyne - POS response: 
POS V4,1 R22.15

: Sonardyne - parsing R22.15

: Sonardyne - read R = 22.150000 from 22.15

: Sonardyne - got range only (22.150000), tat = 480
: Sonardyne - POSD response: 
POSD S109.6,N16.4,D-49,U1,Q0.017836

: Sonardyne - POSD response: 
POSD S109.6,N16.4,D-49,U1,Q0.017836

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

: AshtechGps::processRecord() - $GPGGA,223630.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223630.00,,,,,0,00,,,M,,M,,*4E


: 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 R24.34

: Sonardyne - parsing R24.34

: Sonardyne - read R = 24.340000 from 24.34

: Sonardyne - got range only (24.340000), tat = 480
: Sonardyne - POSD response: 
POSD S117.2,N24.9,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.2,N24.9,D-12,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,223631.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223631.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.87

: Sonardyne - parsing R24.87

: Sonardyne - read R = 24.870000 from 24.87

: Sonardyne - got range only (24.870000), tat = 480
: Sonardyne - POSD response: 
POSD S118.6,N25.8,D67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.6,N25.8,D67,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,223632.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223632.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.37

: Sonardyne - parsing R29.37

: Sonardyne - read R = 29.370000 from 29.37

: Sonardyne - got range only (29.370000), tat = 490
: Sonardyne - POSD response: 
POSD S125.1,N23.1,D-6,U3,Q0.005754

: Sonardyne - POSD response: 
POSD S125.1,N23.1,D-6,U3,Q0.005754

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

: AshtechGps::processRecord() - $GPGGA,223633.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223633.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.21

: Sonardyne - parsing R28.21

: Sonardyne - read R = 28.210000 from 28.21

: Sonardyne - got range only (28.210000), tat = 480
: Sonardyne - POSD response: 
POSD S123.8,N28.0,D42,U2,Q0.001250

: Sonardyne - POSD response: 
POSD S123.8,N28.0,D42,U2,Q0.001250

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

: AshtechGps::processRecord() - $GPGGA,223634.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223634.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.13

: Sonardyne - parsing R28.13

: Sonardyne - read R = 28.130000 from 28.13

: Sonardyne - got range only (28.130000), tat = 480
: Sonardyne - POSD response: 
POSD S118.6,N25.0,D-82,U4,Q0.000074

: Sonardyne - POSD response: 
POSD S118.6,N25.0,D-82,U4,Q0.000074

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

: AshtechGps::processRecord() - $GPGGA,223635.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223635.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.64,X1.73,Y28.59,Z0.00

: Sonardyne - parsing R28.64,X1.73,Y28.59,Z0.00

: Sonardyne - read R = 28.640000 from 28.64,X1.73,Y28.59,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=28.640000, x=0.000000, y=1.730000, z=-28.590000 tat = 500
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223636.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223636.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.42

: Sonardyne - parsing R29.42

: Sonardyne - read R = 29.420000 from 29.42

: Sonardyne - got range only (29.420000), tat = 490
: Sonardyne - POSD response: 
POSD S127.3,N24.9,D68,U4,Q0.004675

: Sonardyne - POSD response: 
POSD S127.3,N24.9,D68,U4,Q0.004675

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

: AshtechGps::processRecord() - $GPGGA,223637.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223637.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.80

: Sonardyne - parsing R29.80

: Sonardyne - read R = 29.800000 from 29.80

: Sonardyne - got range only (29.800000), tat = 490
: Sonardyne - POSD response: 
POSD S124.0,N26.7,D-14,U1,Q0.007037

: Sonardyne - POSD response: 
POSD S124.0,N26.7,D-14,U1,Q0.007037

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

: AshtechGps::processRecord() - $GPGGA,223638.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223638.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R30.54

: Sonardyne - parsing R30.54

: Sonardyne - read R = 30.540000 from 30.54

: Sonardyne - got range only (30.540000), tat = 490
: Sonardyne - POSD response: 
POSD S128.7,N30.6,D2,U5,Q0.000097

: Sonardyne - POSD response: 
POSD S128.7,N30.6,D2,U5,Q0.000097

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

: AshtechGps::processRecord() - $GPGGA,223639.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223639.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  8.66 16.99 3.85 3.88 0  -221.37 05:07:48 m

: Sonardyne - POS response: 
POS V4,1 R31.16

: Sonardyne - parsing R31.16

: Sonardyne - read R = 31.160000 from 31.16

: Sonardyne - got range only (31.160000), tat = 490
: Sonardyne - POSD response: 
POSD S139.5,N32.3,D3,U2,Q0.006759

: Sonardyne - POSD response: 
POSD S139.5,N32.3,D3,U2,Q0.006759

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

: AshtechGps::processRecord() - $GPGGA,223640.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223640.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R31.20

: Sonardyne - parsing R31.20

: Sonardyne - read R = 31.200000 from 31.20

: Sonardyne - got range only (31.200000), tat = 490
: Sonardyne - POSD response: 
POSD S136.6,N25.0,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.6,N25.0,D-48,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,223641.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223641.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.43

: Sonardyne - parsing R31.43

: Sonardyne - read R = 31.430000 from 31.43

: Sonardyne - got range only (31.430000), tat = 490
: Sonardyne - POSD response: 
POSD S136.3,N27.8,D-27,U1,Q0.010404

: Sonardyne - POSD response: 
POSD S136.3,N27.8,D-27,U1,Q0.010404

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

: AshtechGps::processRecord() - $GPGGA,223642.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223642.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R31.48

: Sonardyne - parsing R31.48

: Sonardyne - read R = 31.480000 from 31.48

: Sonardyne - got range only (31.480000), tat = 490
: Sonardyne - POSD response: 
POSD S133.5,N22.5,D-49,U2,Q0.002541

: Sonardyne - POSD response: 
POSD S133.5,N22.5,D-49,U2,Q0.002541

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

: AshtechGps::processRecord() - $GPGGA,223643.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223643.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.05

: Sonardyne - parsing R32.05

: Sonardyne - read R = 32.050000 from 32.05

: Sonardyne - got range only (32.050000), tat = 490
: Sonardyne - POSD response: 
POSD S+140.0,N26.9,D80,U5,Q0.016225

: Sonardyne - POSD response: 
POSD S+140.0,N26.9,D80,U5,Q0.016225

: AshtechGps::processRecord() - $GPGGA,223644.00,,,,,0,00,,,M,,M,,*4D

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

: GpsUtils::parseFix() - $GPGGA,223644.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.75

: Sonardyne - parsing R38.75

: Sonardyne - read R = 38.750000 from 38.75

: Sonardyne - got range only (38.750000), tat = 500
: Sonardyne - POSD response: 
POSD S130.5,N30.3,D43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.5,N30.3,D43,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223645.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223645.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.61,X-0.69,Y-12.25,Z-30.22

: Sonardyne - parsing R32.61,X-0.69,Y-12.25,Z-30.22

: Sonardyne - read R = 32.610000 from 32.61,X-0.69,Y-12.25,Z-30.22

: Sonardyne - got all data, Vehicle coordinates,
    r=32.610000, x=30.220000, y=-0.690000, z=12.250000 tat = 510
: AshtechGps::processRecord() - $GPGGA,223646.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223646.00,,,,,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 R48.75

: Sonardyne - parsing R48.75

: Sonardyne - read R = 48.750000 from 48.75

: Sonardyne - got range only (48.750000), tat = 510
: Sonardyne - POSD response: 
POSD S119.7,N16.9,D-149,U2,Q0.001045

: Sonardyne - POSD response: 
POSD S119.7,N16.9,D-149,U2,Q0.001045

: AshtechGps::processRecord() - $GPGGA,223647.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223647.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R32.60

: Sonardyne - parsing R32.60

: Sonardyne - read R = 32.600000 from 32.60

: Sonardyne - got range only (32.600000), tat = 490
: Sonardyne - POSD response: 
POSD S+142.2,N25.9,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+142.2,N25.9,D22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223648.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223648.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R32.89

: Sonardyne - parsing R32.89

: Sonardyne - read R = 32.890000 from 32.89

: Sonardyne - got range only (32.890000), tat = 490
: Sonardyne - POSD response: 
POSD S133.3,N25.6,D36,U3,Q0.004874

: Sonardyne - POSD response: 
POSD S133.3,N25.6,D36,U3,Q0.004874

: AshtechGps::processRecord() - $GPGGA,223649.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223649.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $aaq0 d- 30.89 10.24 16.99 3.85 3.88 0  -222.04 05:07:58 m

: Sonardyne - POS response: 
POS V4,1 R32.88

: Sonardyne - parsing R32.88

: Sonardyne - read R = 32.880000 from 32.88

: Sonardyne - got range only (32.880000), tat = 490
: Sonardyne - POSD response: 
POSD S134.2,N27.2,D5,U1,Q0.019363

: Sonardyne - POSD response: 
POSD S134.2,N27.2,D5,U1,Q0.019363

: AshtechGps::processRecord() - $GPGGA,223650.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223650.00,,,,,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 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R33.58

: Sonardyne - parsing R33.58

: Sonardyne - read R = 33.580000 from 33.58

: Sonardyne - got range only (33.580000), tat = 490
: Sonardyne - POSD response: 
POSD S135.6,N26.7,D35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.6,N26.7,D35,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223651.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223651.00,,,,,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 R34.50

: Sonardyne - parsing R34.50

: Sonardyne - read R = 34.500000 from 34.50

: Sonardyne - got range only (34.500000), tat = 490
: Sonardyne - POSD response: 
POSD S130.2,N28.7,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N28.7,D29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223652.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223652.00,,,,,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 R35.42

: Sonardyne - parsing R35.42

: Sonardyne - read R = 35.420000 from 35.42

: Sonardyne - got range only (35.420000), tat = 490
: Sonardyne - POSD response: 
POSD S130.9,N24.8,D-42,U1,Q0.008688

: Sonardyne - POSD response: 
POSD S130.9,N24.8,D-42,U1,Q0.008688

: AshtechGps::processRecord() - $GPGGA,223653.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223653.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R36.54

: Sonardyne - parsing R36.54

: Sonardyne - read R = 36.540000 from 36.54

: Sonardyne - got range only (36.540000), tat = 499
: Sonardyne - POSD response: 
POSD S129.9,N32.7,D20,U1,Q0.004922

: Sonardyne - POSD response: 
POSD S129.9,N32.7,D20,U1,Q0.004922

: AshtechGps::processRecord() - $GPGGA,223654.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223654.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R37.64

: Sonardyne - parsing R37.64

: Sonardyne - read R = 37.640000 from 37.64

: Sonardyne - got range only (37.640000), tat = 500
: Sonardyne - POSD response: 
POSD S122.9,N24.9,D-31,U1,Q0.007934

: Sonardyne - POSD response: 
POSD S122.9,N24.9,D-31,U1,Q0.007934

: AshtechGps::processRecord() - $GPGGA,223655.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223655.00,,,,,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,223656.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223656.00,,,,,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,223657.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223657.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223658.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223658.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N10.2,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,N10.2,D0,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R42.75

: Sonardyne - parsing R42.75

: Sonardyne - read R = 42.750000 from 42.75

: Sonardyne - got range only (42.750000), tat = 500
: Sonardyne - POSD response: 
POSD S111.4,N14.2,D58,U1,Q0.007356

: Sonardyne - POSD response: 
POSD S111.4,N14.2,D58,U1,Q0.007356

: AshtechGps::processRecord() - $GPGGA,223659.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223659.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.89 10.00 17.08 3.85 3.88 0  -223.00 05:08:08 m

: Sonardyne - POS response: 
POS V4,1 R46.77

: Sonardyne - parsing R46.77

: Sonardyne - read R = 46.770000 from 46.77

: Sonardyne - got range only (46.770000), tat = 510
: Sonardyne - POSD response: 
POSD S124.6,N25.5,D-54,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223700.00,,,,,0,00,,,M,,M,,*4C

: Sonardyne - POSD response: 
POSD S124.6,N25.5,D-54,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,223700.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,223701.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223701.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,223702.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223702.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,223703.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223703.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223704.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223704.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R52.44

: Sonardyne - parsing R52.44

: Sonardyne - read R = 52.440000 from 52.44

: Sonardyne - got range only (52.440000), tat = 520
: Sonardyne - POSD response: 
POSD S115.2,N21.7,D-50,U1,Q0.008738

: Sonardyne - POSD response: 
POSD S115.2,N21.7,D-50,U1,Q0.008738

: AshtechGps::processRecord() - $GPGGA,223705.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223705.00,,,,,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 R52.76

: Sonardyne - parsing R52.76

: Sonardyne - read R = 52.760000 from 52.76

: Sonardyne - got range only (52.760000), tat = 520
: Sonardyne - POSD response: 
POSD S119.3,N24.6,D-103,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S119.3,N24.6,D-103,U1,Q0.007526

: AshtechGps::processRecord() - $GPGGA,223706.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223706.00,,,,,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,223707.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223707.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,223708.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223708.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223709.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223709.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.89  8.69 17.08 3.85 3.88 0  -223.62 05:08:18 m

: AshtechGps::processRecord() - $GPGGA,223710.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223710.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,223711.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223711.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,223712.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223712.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223713.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223713.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,223714.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223714.00,,,,,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

: LayeredControl::execute() -- (t = 523.794118) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 523.79                            (wplog)
  The current location (N,E) = 4051851.1      , 600671.9         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 338.8 Degrees.

: LayeredControl::execute() -- (t = 523.794118) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,223715.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223715.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223716.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223716.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

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

: Sonardyne - POS response: 
POS V4,1 R72.63

: Sonardyne - parsing R72.63

: Sonardyne - read R = 72.630000 from 72.63

: Sonardyne - got range only (72.630000), tat = 540
: Sonardyne - POSD response: 
POSD S114.1,N31.3,D33,U2,Q0.000766

: AshtechGps::processRecord() - $GPGGA,223717.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223717.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S114.1,N31.3,D33,U2,Q0.000766

:  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 R73.99

: Sonardyne - parsing R73.99

: Sonardyne - read R = 73.990000 from 73.99

: Sonardyne - got range only (73.990000), tat = 550
: Sonardyne - POSD response: 
POSD S114.5,N26.7,D45,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223718.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223718.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S114.5,N26.7,D45,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,223719.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223719.00,,,,,0,00,,,M,,M,,*44


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

: BluefinBatt Reply: $aaq0 d- 30.89  8.76 17.08 3.85 3.88 0  -224.58 05:08:28 m

: AshtechGps::processRecord() - $GPGGA,223720.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223720.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,223721.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223721.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223722.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223722.00,,,,,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,223723.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223723.00,,,,,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,223724.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223724.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223725.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223725.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R76.48

: Sonardyne - parsing R76.48

: Sonardyne - read R = 76.480000 from 76.48

: Sonardyne - got range only (76.480000), tat = 550
: Sonardyne - POSD response: 
POSD S135.5,N27.9,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223726.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223726.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.5,N27.9,D-24,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R76.31,X-69.03,Y-0.97,Z-32.50

: Sonardyne - parsing R76.31,X-69.03,Y-0.97,Z-32.50

: Sonardyne - read R = 76.310000 from 76.31,X-69.03,Y-0.97,Z-32.50

: Sonardyne - got all data, Vehicle coordinates,
    r=76.310000, x=32.500000, y=-69.030000, z=0.970000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223727.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223727.00,,,,,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 R75.95

: Sonardyne - parsing R75.95

: Sonardyne - read R = 75.950000 from 75.95

: Sonardyne - got range only (75.950000), tat = 550
: Sonardyne - POSD response: 
POSD S133.8,N22.5,D-33,U4,Q0.003234

: AshtechGps::processRecord() - $GPGGA,223728.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223728.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.8,N22.5,D-33,U4,Q0.003234

:  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 R75.48

: Sonardyne - parsing R75.48

: Sonardyne - read R = 75.480000 from 75.48

: Sonardyne - got range only (75.480000), tat = 550
: Sonardyne - POSD response: 
POSD S+140.5,N31.3,D-46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223729.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223729.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+140.5,N31.3,D-46,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- 30.89 10.00 17.08 3.85 3.88 0  -225.20 05:08:38 m

: Sonardyne - POS response: 
POS V4,1 R75.11,X-60.42,Y14.18,Z-42.30

: Sonardyne - parsing R75.11,X-60.42,Y14.18,Z-42.30

: Sonardyne - read R = 75.110000 from 75.11,X-60.42,Y14.18,Z-42.30

: Sonardyne - got all data, Vehicle coordinates,
    r=75.110000, x=42.300000, y=-60.420000, z=-14.180000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223730.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223730.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.1,N20.6,D-100,U7,Q0.002799

:  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 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R74.23,X-61.66,Y4.17,Z-41.10

: Sonardyne - parsing R74.23,X-61.66,Y4.17,Z-41.10

: Sonardyne - read R = 74.230000 from 74.23,X-61.66,Y4.17,Z-41.10

: Sonardyne - got all data, Vehicle coordinates,
    r=74.230000, x=41.100000, y=-61.660000, z=-4.170000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223731.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223731.00,,,,,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 R73.49,X-60.66,Y3.25,Z-41.36

: Sonardyne - parsing R73.49,X-60.66,Y3.25,Z-41.36

: Sonardyne - read R = 73.490000 from 73.49,X-60.66,Y3.25,Z-41.36

: Sonardyne - got all data, Vehicle coordinates,
    r=73.490000, x=41.360000, y=-60.660000, z=-3.250000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223732.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223732.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R72.77

: Sonardyne - parsing R72.77

: Sonardyne - read R = 72.770000 from 72.77

: Sonardyne - got range only (72.770000), tat = 550
: Sonardyne - POSD response: 
POSD S139.1,N29.8,D-45,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223733.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223733.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S139.1,N29.8,D-45,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 R72.12,X-64.11,Y1.52,Z-32.98

: Sonardyne - parsing R72.12,X-64.11,Y1.52,Z-32.98

: Sonardyne - read R = 72.120000 from 72.12,X-64.11,Y1.52,Z-32.98

: Sonardyne - got all data, Vehicle coordinates,
    r=72.120000, x=32.980000, y=-64.110000, z=-1.520000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223734.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223734.00,,,,,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 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 S+141.4,N35.2,D15,U4,Q0.017725

: AshtechGps::processRecord() - $GPGGA,223735.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223735.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S+141.4,N35.2,D15,U4,Q0.017725

:  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 R70.95

: Sonardyne - parsing R70.95

: Sonardyne - read R = 70.950000 from 70.95

: Sonardyne - got range only (70.950000), tat = 540
: Sonardyne - POSD response: 
POSD S136.4,N26.4,D134,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223736.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223736.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S136.4,N26.4,D134,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 R70.55

: Sonardyne - parsing R70.55

: Sonardyne - read R = 70.550000 from 70.55

: Sonardyne - got range only (70.550000), tat = 540
: Sonardyne - POSD response: 
POSD S135.2,N31.5,D-25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223737.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223737.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.2,N31.5,D-25,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 R70.21

: Sonardyne - parsing R70.21

: Sonardyne - read R = 70.210000 from 70.21

: Sonardyne - got range only (70.210000), tat = 540
: Sonardyne - POSD response: 
POSD S134.7,N28.8,D43,U2,Q0.010164

: AshtechGps::processRecord() - $GPGGA,223738.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223738.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S134.7,N28.8,D43,U2,Q0.010164

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

: Sonardyne - POS response: 
POS V4,1 R69.72

: Sonardyne - parsing R69.72

: Sonardyne - read R = 69.720000 from 69.72

: Sonardyne - got range only (69.720000), tat = 540
: Sonardyne - POSD response: 
POSD S135.2,N33.3,D19,U1,Q0.008639

: AshtechGps::processRecord() - $GPGGA,223739.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223739.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.2,N33.3,D19,U1,Q0.008639

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

: BluefinBatt Reply: $aaq0 d- 30.85  9.73 17.08 3.85 3.87 0  -226.16 05:08:48 m

: Sonardyne - POS response: 
POS V4,1 R69.37,X53.92,Y39.43,Z-18.73

: Sonardyne - parsing R69.37,X53.92,Y39.43,Z-18.73

: Sonardyne - read R = 69.370000 from 69.37,X53.92,Y39.43,Z-18.73

: Sonardyne - got all data, Vehicle coordinates,
    r=69.370000, x=18.730000, y=53.920000, z=-39.430000 tat = 560
: AshtechGps::processRecord() - $GPGGA,223740.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223740.00,,,,,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 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R70.29

: Sonardyne - parsing R70.29

: Sonardyne - read R = 70.290000 from 70.29

: Sonardyne - got range only (70.290000), tat = 540
: Sonardyne - POSD response: 
POSD S130.1,N27.3,D31,U1,Q0.000880

: AshtechGps::processRecord() - $GPGGA,223741.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223741.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.1,N27.3,D31,U1,Q0.000880

:  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 R72.27

: Sonardyne - parsing R72.27

: Sonardyne - read R = 72.270000 from 72.27

: Sonardyne - got range only (72.270000), tat = 540
: Sonardyne - POSD response: 
POSD S129.2,N24.9,D-87,U1,Q0.000334

: AshtechGps::processRecord() - $GPGGA,223742.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223742.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.2,N24.9,D-87,U1,Q0.000334

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

: Sonardyne - POS response: 
POS V4,1 R70.44

: Sonardyne - parsing R70.44

: Sonardyne - read R = 70.440000 from 70.44

: Sonardyne - got range only (70.440000), tat = 540
: Sonardyne - POSD response: 
POSD S132.4,N23.1,D90,U1,Q0.004401

: AshtechGps::processRecord() - $GPGGA,223743.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223743.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.4,N23.1,D90,U1,Q0.004401

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

: Sonardyne - POS response: 
POS V4,1 R70.49

: Sonardyne - parsing R70.49

: Sonardyne - read R = 70.490000 from 70.49

: Sonardyne - got range only (70.490000), tat = 540
: Sonardyne - POSD response: 
POSD S129.3,N29.9,D34,U1,Q0.002891

: AshtechGps::processRecord() - $GPGGA,223744.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223744.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.3,N29.9,D34,U1,Q0.002891

:  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 R70.13

: Sonardyne - parsing R70.13

: Sonardyne - read R = 70.130000 from 70.13

: Sonardyne - got range only (70.130000), tat = 540
: Sonardyne - POSD response: 
POSD S132.3,N21.6,D148,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223745.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223745.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.3,N21.6,D148,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 R71.31

: Sonardyne - parsing R71.31

: Sonardyne - read R = 71.310000 from 71.31

: Sonardyne - got range only (71.310000), tat = 540
: Sonardyne - POSD response: 
POSD S131.9,N25.3,D41,U2,Q0.001211

: AshtechGps::processRecord() - $GPGGA,223746.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223746.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.9,N25.3,D41,U2,Q0.001211

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

: Sonardyne - POS response: 
POS V4,1 R70.54

: Sonardyne - parsing R70.54

: Sonardyne - read R = 70.540000 from 70.54

: Sonardyne - got range only (70.540000), tat = 540
: Sonardyne - POSD response: 
POSD S135.6,N31.3,D-42,U3,Q0.001945

: AshtechGps::processRecord() - $GPGGA,223747.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223747.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.6,N31.3,D-42,U3,Q0.001945

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

: Sonardyne - POS response: 
POS V4,1 R71.53

: Sonardyne - parsing R71.53

: Sonardyne - read R = 71.530000 from 71.53

: Sonardyne - got range only (71.530000), tat = 540
: Sonardyne - POSD response: 
POSD S131.4,N30.5,D-7,U2,Q0.001911

: AshtechGps::processRecord() - $GPGGA,223748.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223748.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.4,N30.5,D-7,U2,Q0.001911

:  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 R72.01,X47.55,Y36.37,Z-40.02

: Sonardyne - parsing R72.01,X47.55,Y36.37,Z-40.02

: Sonardyne - read R = 72.010000 from 72.01,X47.55,Y36.37,Z-40.02

: Sonardyne - got all data, Vehicle coordinates,
    r=72.010000, x=40.020000, y=47.550000, z=-36.370000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223749.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223749.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.70 17.08 3.85 3.87 0  -226.79 05:08:58 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 R71.65

: Sonardyne - parsing R71.65

: Sonardyne - read R = 71.650000 from 71.65

: Sonardyne - got range only (71.650000), tat = 540
: Sonardyne - POSD response: 
POSD S123.9,N22.7,D-14,U5,Q0.003980

: AshtechGps::processRecord() - $GPGGA,223750.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223750.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S123.9,N22.7,D-14,U5,Q0.003980

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

:  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 R72.12

: Sonardyne - parsing R72.12

: Sonardyne - read R = 72.120000 from 72.12

: Sonardyne - got range only (72.120000), tat = 540
: Sonardyne - POSD response: 
POSD S128.7,N24.9,D-41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223751.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223751.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.7,N24.9,D-41,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R72.93

: Sonardyne - parsing R72.93

: Sonardyne - read R = 72.930000 from 72.93

: Sonardyne - got range only (72.930000), tat = 599
: AshtechGps::processRecord() - $GPGGA,223752.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223752.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.6,N28.8,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.6,N28.8,D33,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R73.67

: Sonardyne - parsing R73.67

: Sonardyne - read R = 73.670000 from 73.67

: Sonardyne - got range only (73.670000), tat = 550
: Sonardyne - POSD response: 
POSD S128.9,N30.6,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223753.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223753.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.9,N30.6,D-16,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 R74.45

: Sonardyne - parsing R74.45

: Sonardyne - read R = 74.450000 from 74.45

: Sonardyne - got range only (74.450000), tat = 550
: Sonardyne - POSD response: 
POSD S129.0,N27.2,D60,U5,Q0.004738

: AshtechGps::processRecord() - $GPGGA,223754.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223754.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.0,N27.2,D60,U5,Q0.004738

:  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 R75.11

: Sonardyne - parsing R75.11

: Sonardyne - read R = 75.110000 from 75.11

: Sonardyne - got range only (75.110000), tat = 550
: Sonardyne - POSD response: 
POSD S122.0,N23.7,D18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223755.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223755.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S122.0,N23.7,D18,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 R75.88

: Sonardyne - parsing R75.88

: Sonardyne - read R = 75.880000 from 75.88

: Sonardyne - got range only (75.880000), tat = 550
: Sonardyne - POSD response: 
POSD S124.6,N21.5,D118,U5,Q0.002836

: AshtechGps::processRecord() - $GPGGA,223756.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223756.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.6,N21.5,D118,U5,Q0.002836

:  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 R76.76,X60.05,Y47.81,Z0.00

: Sonardyne - parsing R76.76,X60.05,Y47.81,Z0.00

: Sonardyne - read R = 76.760000 from 76.76,X60.05,Y47.81,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=76.760000, x=0.000000, y=60.050000, z=-47.810000 tat = 570
: AshtechGps::processRecord() - $GPGGA,223757.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223757.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R77.63

: Sonardyne - parsing R77.63

: Sonardyne - read R = 77.630000 from 77.63

: Sonardyne - got range only (77.630000), tat = 550
: Sonardyne - POSD response: 
POSD S124.2,N25.2,D33,U3,Q0.000838

: AshtechGps::processRecord() - $GPGGA,223758.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223758.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.2,N25.2,D33,U3,Q0.000838

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

: AshtechGps::processRecord() - $GPGGA,223759.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223759.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89  8.89 17.08 3.85 3.88 0  -227.71 05:09:08 m

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

: AshtechGps::processRecord() - $GPGGA,223800.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223800.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223801.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223801.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,223802.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223802.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R86.51

: Sonardyne - parsing R86.51

: Sonardyne - read R = 86.510000 from 86.51

: Sonardyne - got range only (86.510000), tat = 560
: Sonardyne - POSD response: 
POSD S116.0,N23.6,D-40,U2,Q0.003925

: Sonardyne - POSD response: 
POSD S116.0,N23.6,D-40,U2,Q0.003925

: AshtechGps::processRecord() - $GPGGA,223803.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223803.00,,,,,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 R83.07

: Sonardyne - parsing R83.07

: Sonardyne - read R = 83.070000 from 83.07

: Sonardyne - got range only (83.070000), tat = 560
: Sonardyne - POSD response: 
POSD S122.6,N23.8,D-73,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N23.8,D-73,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223804.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223804.00,,,,,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 R84.13

: Sonardyne - parsing R84.13

: Sonardyne - read R = 84.130000 from 84.13

: Sonardyne - got range only (84.130000), tat = 560
: Sonardyne - POSD response: 
POSD S123.9,N28.0,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.9,N28.0,D46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223805.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223805.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R85.66

: Sonardyne - parsing R85.66

: Sonardyne - read R = 85.660000 from 85.66

: Sonardyne - got range only (85.660000), tat = 610
: Sonardyne - POSD response: 
POSD S121.2,N26.0,D0,U3,Q0.010681

: Sonardyne - POSD response: 
POSD S121.2,N26.0,D0,U3,Q0.010681

: AshtechGps::processRecord() - $GPGGA,223806.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223806.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R86.51

: Sonardyne - parsing R86.51

: Sonardyne - read R = 86.510000 from 86.51

: Sonardyne - got range only (86.510000), tat = 559
: Sonardyne - POSD response: 
POSD S114.0,N21.3,D-80,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S114.0,N21.3,D-80,U1,Q0.016109

: AshtechGps::processRecord() - $GPGGA,223807.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223807.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R90.87

: Sonardyne - parsing R90.87

: Sonardyne - read R = 90.870000 from 90.87

: Sonardyne - got range only (90.870000), tat = 570
: Sonardyne - POSD response: 
POSD S116.1,N20.0,D-59,U1,Q0.002854

: Sonardyne - POSD response: 
POSD S116.1,N20.0,D-59,U1,Q0.002854

: AshtechGps::processRecord() - $GPGGA,223808.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223808.00,,,,,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,223809.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223809.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89  9.67 17.08 3.85 3.88 0  -228.34 05:09:18 m

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

: AshtechGps::processRecord() - $GPGGA,223810.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223810.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223811.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223811.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: Sonardyne - POS response: 
POS V4,1 R93.12

: Sonardyne - parsing R93.12

: Sonardyne - read R = 93.120000 from 93.12

: Sonardyne - got range only (93.120000), tat = 570
: AshtechGps::processRecord() - $GPGGA,223812.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223812.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S113.8,N28.9,D-16,U1,Q0.005038

: Sonardyne - POSD response: 
POSD S113.8,N28.9,D-16,U1,Q0.005038

:  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 R94.52

: Sonardyne - parsing R94.52

: Sonardyne - read R = 94.520000 from 94.52

: Sonardyne - got range only (94.520000), tat = 570
: AshtechGps::processRecord() - $GPGGA,223813.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223813.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S116.8,N21.0,D67,U3,Q0.013063

: Sonardyne - POSD response: 
POSD S116.8,N21.0,D67,U3,Q0.013063

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

: Sonardyne - POS response: 
POS V4,1 R107.34

: Sonardyne - parsing R107.34

: Sonardyne - read R = 107.340000 from 107.34

: Sonardyne - got range only (107.340000), tat = 590
: AshtechGps::processRecord() - $GPGGA,223814.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223814.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.2,N22.4,D-5,U2,Q0.004383

: Sonardyne - POSD response: 
POSD S117.2,N22.4,D-5,U2,Q0.004383

:  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 R96.59

: Sonardyne - parsing R96.59

: Sonardyne - read R = 96.590000 from 96.59

: Sonardyne - got range only (96.590000), tat = 580
: AshtechGps::processRecord() - $GPGGA,223815.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223815.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S112.6,N24.3,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.6,N24.3,D6,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 R100.19

: Sonardyne - parsing R100.19

: Sonardyne - read R = 100.190000 from 100.19

: Sonardyne - got range only (100.190000), tat = 580
: AshtechGps::processRecord() - $GPGGA,223816.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223816.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S113.5,N19.6,D-55,U2,Q0.003449

: Sonardyne - POSD response: 
POSD S113.5,N19.6,D-55,U2,Q0.003449

:  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 R99.63

: Sonardyne - parsing R99.63

: Sonardyne - read R = 99.630000 from 99.63

: Sonardyne - got range only (99.630000), tat = 580
: AshtechGps::processRecord() - $GPGGA,223817.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223817.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.5,N30.1,D3,U2,Q0.005510

: Sonardyne - POSD response: 
POSD S115.5,N30.1,D3,U2,Q0.005510

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

: AshtechGps::processRecord() - $GPGGA,223818.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223818.00,,,,,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,223819.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223819.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89  9.19 17.08 3.85 3.88 0  -229.30 05:09:28 m

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

: AshtechGps::processRecord() - $GPGGA,223820.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223820.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: Sonardyne - parsing R0.00

:  wdt = 00899,  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,N6.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223821.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223821.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.87

: Sonardyne - parsing R108.87

: Sonardyne - read R = 108.870000 from 108.87

: Sonardyne - got range only (108.870000), tat = 590
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S113.9,N21.0,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.9,N21.0,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223822.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223822.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,223823.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223823.00,,,,,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,223824.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223824.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223825.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223825.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223826.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223826.00,,,,,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,223827.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223827.00,,,,,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,223828.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223828.00,,,,,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
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223829.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223829.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  8.39 17.08 3.85 3.88 0  -229.93 05:09:38 m

: Sonardyne - POS response: 
POS V4,1 R120.76

: Sonardyne - parsing R120.76

: Sonardyne - read R = 120.760000 from 120.76

: Sonardyne - got range only (120.760000), tat = 610
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S106.4,N19.4,D67,U4,Q0.004530

: Sonardyne - POSD response: 
POSD S106.4,N19.4,D67,U4,Q0.004530

: AshtechGps::processRecord() - $GPGGA,223830.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223830.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223831.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223831.00,,,,,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,223832.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223832.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223833.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223833.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

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

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

: Sonardyne - POS response: 
POS V4,1 R126.16

: Sonardyne - parsing R126.16

: Sonardyne - read R = 126.160000 from 126.16

: Sonardyne - got range only (126.160000), tat = 620
: AshtechGps::processRecord() - $GPGGA,223834.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223834.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S109.1,N25.6,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S109.1,N25.6,D13,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,223835.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223835.00,,,,,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,223836.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223836.00,,,,,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,223837.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223837.00,,,,,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,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223838.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223838.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,223839.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223839.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.16 17.08 3.85 3.87 0  -230.81 05:09:48 m

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

: AshtechGps::processRecord() - $GPGGA,223840.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223840.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223841.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223841.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223842.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223842.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,223843.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223843.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,223844.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223844.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223845.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223845.00,,,,,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,223846.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223846.00,,,,,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,223847.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223847.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223848.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223848.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223849.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223849.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  8.99 17.08 3.85 3.87 0  -231.41 05:09:58 m

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

: AshtechGps::processRecord() - $GPGGA,223850.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223850.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223851.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223851.00,,,,,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,N9.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N9.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223852.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223852.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,223853.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223853.00,,,,,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,223854.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223854.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223855.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223855.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223856.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223856.00,,,,,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,223857.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223857.00,,,,,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,223858.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223858.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223859.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223859.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.26 17.08 3.85 3.88 0  -232.34 05:10:08 m

: Sonardyne - POS response: 
POS V4,1 R176.79

: Sonardyne - parsing R176.79

: Sonardyne - read R = 176.790000 from 176.79

: Sonardyne - got range only (176.790000), tat = 690
: Sonardyne - POSD response: 
POSD S106.5,N17.3,D-51,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S106.5,N17.3,D-51,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223900.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223900.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223901.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223901.00,,,,,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,223902.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223902.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223903.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223903.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223904.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223904.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,223905.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223905.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,223906.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223906.00,,,,,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,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,223907.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223907.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,223908.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223908.00,,,,,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,223909.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223909.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  8.52 17.08 3.85 3.88 0  -232.94 05:10:18 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223910.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223910.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223911.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223911.00,,,,,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,223912.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223912.00,,,,,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,223913.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223913.00,,,,,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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223914.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223914.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,223915.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223915.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,223916.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223916.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223917.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223917.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223918.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223918.00,,,,,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,223919.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223919.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.36 17.08 3.85 3.88 0  -233.84 05:10:28 m

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

: AshtechGps::processRecord() - $GPGGA,223920.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223920.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,223921.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223921.00,,,,,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,223922.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223922.00,,,,,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,223923.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223923.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223924.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223924.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223925.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223925.00,,,,,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,223926.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223926.00,,,,,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,223927.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223927.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,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,223928.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223928.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,223929.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223929.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.46 17.08 3.85 3.88 0  -234.44 05:10:38 m

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

: AshtechGps::processRecord() - $GPGGA,223930.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223930.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223931.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223931.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223932.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223932.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,223933.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223933.00,,,,,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,223934.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223934.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223935.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223935.00,,,,,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,223936.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223936.00,,,,,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,223937.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223937.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223938.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223938.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223939.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223939.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  8.96 17.08 3.85 3.87 0  -235.40 05:10:48 m

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

: AshtechGps::processRecord() - $GPGGA,223940.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223940.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223941.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223941.00,,,,,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,N7.7,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,223942.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223942.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,223943.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223943.00,,,,,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,223944.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223944.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223945.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223945.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

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

: AshtechGps::processRecord() - $GPGGA,223946.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223946.00,,,,,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,223947.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223947.00,,,,,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,223948.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223948.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223949.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223949.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.03 17.08 3.85 3.87 0  -236.02 05:10:58 m

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

: AshtechGps::processRecord() - $GPGGA,223950.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223950.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,223951.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223951.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,223952.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223952.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,223953.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223953.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,223954.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223954.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,223955.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223955.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223956.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223956.00,,,,,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,223957.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223957.00,,,,,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,223958.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223958.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,223959.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223959.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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

: BluefinBatt Reply: $aaq0 d- 30.78  9.83 17.08 3.85 3.87 0  -236.99 05:11:08 m

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

: AshtechGps::processRecord() - $GPGGA,224000.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,224000.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,224001.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,224001.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,224002.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,224002.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,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,224003.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,224003.00,,,,,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,224004.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224004.00,,,,,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,224005.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224005.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,224006.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224006.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - 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,224007.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224007.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224008.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,224008.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,224009.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,224009.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.82  9.94 17.08 3.85 3.87 0  -237.62 05:11:18 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224010.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,224010.00,,,,,0,00,,,M,,M,,*4D


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,224011.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,224011.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,224012.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,224012.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,224013.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,224013.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224014.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224014.00,,,,,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,224015.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224015.00,,,,,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,224016.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224016.00,,,,,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,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,224017.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224017.00,,,,,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,224018.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,224018.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,224019.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,224019.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.85  8.86 17.08 3.85 3.87 0  -238.54 05:11:28 m

: AshtechGps::processRecord() - $GPGGA,224020.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,224020.00,,,,,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 = 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,N6.3,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,224021.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,224021.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,224022.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,224022.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,224023.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,224023.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,224024.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224024.00,,,,,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,224025.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224025.00,,,,,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,224026.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224026.00,,,,,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
: AshtechGps::processRecord() - $GPGGA,224027.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224027.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,224028.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,224028.00,,,,,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,224029.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,224029.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.85  8.72 17.08 3.85 3.87 0  -239.15 05:11:38 m

: AshtechGps::processRecord() - $GPGGA,224030.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,224030.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: 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

:  Waypoint has set the state to finished.

: Waypoint (4052136.3, 600561.4), 
  reached at t = 719.80                                          (wplog)

: Vehicle Position is error is (0.2, 1.4)

: LayeredControl::execute() -- (t = 719.800690) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 719.800690) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,224031.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,224031.00,,,,,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,224032.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,224032.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,224033.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,224033.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,224034.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224034.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,224035.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224035.00,,,,,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,224036.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224036.00,,,,,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,224037.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224037.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,224038.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,224038.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R314.52,X-235.78,Y-118.12,Z-171.41

: Sonardyne - parsing R314.52,X-235.78,Y-118.12,Z-171.41

: Sonardyne - read R = 314.520000 from 314.52,X-235.78,Y-118.12,Z-171.41

: Sonardyne - got all data, Vehicle coordinates,
    r=314.520000, x=171.410000, y=-235.780000, z=118.120000 tat = 900
: AshtechGps::processRecord() - $GPGGA,224039.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,224039.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.85  8.69 17.08 3.85 3.88 0  -240.02 05:11:48 m

: Sonardyne - POS response: 
POS V4,1 R320.30

: Sonardyne - parsing R320.30

: Sonardyne - read R = 320.300000 from 320.30

: Sonardyne - got range only (320.300000), tat = 880
: Sonardyne - POSD response: 
POSD S105.7,N15.9,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S105.7,N15.9,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224040.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224040.00,,,,,0,00,,,M,,M,,*48


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,224041.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224041.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,224042.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224042.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,224043.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224043.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N12.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224044.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,224044.00,,,,,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 R312.30

: Sonardyne - parsing R312.30

: Sonardyne - read R = 312.300000 from 312.30

: Sonardyne - got range only (312.300000), tat = 870
: Sonardyne - POSD response: 
POSD S124.4,N26.4,D-71,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.4,N26.4,D-71,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224045.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,224045.00,,,,,0,00,,,M,,M,,*4D


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

: LayeredControl::execute() -- (t = 734.599676) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 734.599676) Behavior getgps has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R311.01,X113.45,Y-113.82,Z-266.27

: Sonardyne - parsing R311.01,X113.45,Y-113.82,Z-266.27

: Sonardyne - read R = 311.010000 from 311.01,X113.45,Y-113.82,Z-266.27

: Sonardyne - got all data, Vehicle coordinates,
    r=311.010000, x=266.270000, y=113.450000, z=113.820000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224046.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,224046.00,,,,,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 R310.56,X60.87,Y-110.35,Z-283.84

: Sonardyne - parsing R310.56,X60.87,Y-110.35,Z-283.84

: Sonardyne - read R = 310.560000 from 310.56,X60.87,Y-110.35,Z-283.84

: Sonardyne - got all data, Vehicle coordinates,
    r=310.560000, x=283.840000, y=60.870000, z=110.350000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224047.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,224047.00,,,,,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 R309.69,X17.12,Y-80.58,Z-298.53

: Sonardyne - parsing R309.69,X17.12,Y-80.58,Z-298.53

: Sonardyne - read R = 309.690000 from 309.69,X17.12,Y-80.58,Z-298.53

: Sonardyne - got all data, Vehicle coordinates,
    r=309.690000, x=298.530000, y=17.120000, z=80.580000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224048.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,224048.00,,,,,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 R308.21,X-4.84,Y-50.45,Z-304.02

: Sonardyne - parsing R308.21,X-4.84,Y-50.45,Z-304.02

: Sonardyne - read R = 308.210000 from 308.21,X-4.84,Y-50.45,Z-304.02

: Sonardyne - got all data, Vehicle coordinates,
    r=308.210000, x=304.020000, y=-4.840000, z=50.450000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224049.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,224049.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.00  4.75 17.18 3.85 3.88 0  -240.64 05:11:58 m

: Sonardyne - POS response: 
POS V4,1 R306.95,X-22.28,Y1.38,Z-306.14

: Sonardyne - parsing R306.95,X-22.28,Y1.38,Z-306.14

: Sonardyne - read R = 306.950000 from 306.95,X-22.28,Y1.38,Z-306.14

: Sonardyne - got all data, Vehicle coordinates,
    r=306.950000, x=306.140000, y=-22.280000, z=-1.380000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224050.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,224050.00,,,,,0,00,,,M,,M,,*49


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R306.50,X-35.26,Y23.29,Z-303.58

: Sonardyne - parsing R306.50,X-35.26,Y23.29,Z-303.58

: Sonardyne - read R = 306.500000 from 306.50,X-35.26,Y23.29,Z-303.58

: Sonardyne - got all data, Vehicle coordinates,
    r=306.500000, x=303.580000, y=-35.260000, z=-23.290000 tat = 890
: AshtechGps::processRecord() - $GPGGA,224051.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,224051.00,,,,,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 R305.86,X-56.60,Y32.67,Z-298.80

: Sonardyne - parsing R305.86,X-56.60,Y32.67,Z-298.80

: Sonardyne - read R = 305.860000 from 305.86,X-56.60,Y32.67,Z-298.80

: Sonardyne - got all data, Vehicle coordinates,
    r=305.860000, x=298.800000, y=-56.600000, z=-32.670000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224052.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,224052.00,,,,,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 R305.24,X-76.23,Y-8.65,Z-295.44

: Sonardyne - parsing R305.24,X-76.23,Y-8.65,Z-295.44

: Sonardyne - read R = 305.240000 from 305.24,X-76.23,Y-8.65,Z-295.44

: Sonardyne - got all data, Vehicle coordinates,
    r=305.240000, x=295.440000, y=-76.230000, z=8.650000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224053.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,224053.00,,,,,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 R304.32,X-67.77,Y-3.24,Z-296.66

: Sonardyne - parsing R304.32,X-67.77,Y-3.24,Z-296.66

: Sonardyne - read R = 304.320000 from 304.32,X-67.77,Y-3.24,Z-296.66

: Sonardyne - got all data, Vehicle coordinates,
    r=304.320000, x=296.660000, y=-67.770000, z=3.240000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224054.00,3636.57986,N,12152.49831,W,1,07,1.2,-5.34,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,224054.00,3636.57986,N,12152.49831,W,1,07,1.2,-5.34,M,-33.21,M,,*79


: successfully parse sentence at 22:40:54

: AshtechGPS::processRecord -sample time is 1142289654
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R302.82,X-70.09,Y0.07,Z-294.59

: Sonardyne - parsing R302.82,X-70.09,Y0.07,Z-294.59

: Sonardyne - read R = 302.820000 from 302.82,X-70.09,Y0.07,Z-294.59

: Sonardyne - got all data, Vehicle coordinates,
    r=302.820000, x=294.590000, y=-70.090000, z=-0.070000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224055.00,3636.57957,N,12152.49784,W,1,07,1.2,-4.88,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,224055.00,3636.57957,N,12152.49784,W,1,07,1.2,-4.88,M,-33.21,M,,*73


: successfully parse sentence at 22:40:55

: AshtechGPS::processRecord -sample time is 1142289655
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R302.34,X-85.86,Y19.50,Z-289.24

: Sonardyne - parsing R302.34,X-85.86,Y19.50,Z-289.24

: Sonardyne - read R = 302.340000 from 302.34,X-85.86,Y19.50,Z-289.24

: Sonardyne - got all data, Vehicle coordinates,
    r=302.340000, x=289.240000, y=-85.860000, z=-19.500000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224056.00,3636.57918,N,12152.49869,W,1,07,1.2,-5.08,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,224056.00,3636.57918,N,12152.49869,W,1,07,1.2,-5.08,M,-33.21,M,,*7E


: successfully parse sentence at 22:40:56

: AshtechGPS::processRecord -sample time is 1142289656
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R301.98,X-92.45,Y19.58,Z-286.82

: Sonardyne - parsing R301.98,X-92.45,Y19.58,Z-286.82

: Sonardyne - read R = 301.980000 from 301.98,X-92.45,Y19.58,Z-286.82

: Sonardyne - got all data, Vehicle coordinates,
    r=301.980000, x=286.820000, y=-92.450000, z=-19.580000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224057.00,3636.57899,N,12152.49866,W,1,08,1.1,-4.94,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,224057.00,3636.57899,N,12152.49866,W,1,08,1.1,-4.94,M,-33.21,M,,*70


: successfully parse sentence at 22:40:57

: AshtechGPS::processRecord -sample time is 1142289657
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R301.84,X-102.54,Y13.75,Z-283.56

: Sonardyne - parsing R301.84,X-102.54,Y13.75,Z-283.56

: Sonardyne - read R = 301.840000 from 301.84,X-102.54,Y13.75,Z-283.56

: Sonardyne - got all data, Vehicle coordinates,
    r=301.840000, x=283.560000, y=-102.540000, z=-13.750000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224058.00,3636.57885,N,12152.49854,W,1,08,1.1,-3.60,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,224058.00,3636.57885,N,12152.49854,W,1,08,1.1,-3.60,M,-33.21,M,,*7F


: successfully parse sentence at 22:40:58

: AshtechGPS::processRecord -sample time is 1142289658
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R301.86,X-112.78,Y10.02,Z-279.82

: Sonardyne - parsing R301.86,X-112.78,Y10.02,Z-279.82

: Sonardyne - read R = 301.860000 from 301.86,X-112.78,Y10.02,Z-279.82

: Sonardyne - got all data, Vehicle coordinates,
    r=301.860000, x=279.820000, y=-112.780000, z=-10.020000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224059.00,3636.57844,N,12152.49850,W,1,08,1.1,-3.61,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,224059.00,3636.57844,N,12152.49850,W,1,08,1.1,-3.61,M,-33.21,M,,*76


: successfully parse sentence at 22:40:59

: AshtechGPS::processRecord -sample time is 1142289659
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.00  4.41 17.18 3.87 3.90 0  -241.05 05:12:08 m

: Sonardyne - POS response: 
POS V4,1 R301.62

: Sonardyne - parsing R301.62

: Sonardyne - read R = 301.620000 from 301.62

: Sonardyne - got range only (301.620000), tat = 850
: Sonardyne - POSD response: 
POSD S125.7,N25.8,D-29,U5,Q0.002271

: Sonardyne - POSD response: 
POSD S125.7,N25.8,D-29,U5,Q0.002271

: AshtechGps::processRecord() - $GPGGA,224100.00,3636.57800,N,12152.49828,W,1,08,1.1,-3.46,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,224100.00,3636.57800,N,12152.49828,W,1,08,1.1,-3.46,M,-33.21,M,,*71


: successfully parse sentence at 22:41:0

: AshtechGPS::processRecord -sample time is 1142289660
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - POS response: 
POS V4,1 R301.27,X-137.94,Y10.50,Z-267.63

: Sonardyne - parsing R301.27,X-137.94,Y10.50,Z-267.63

: Sonardyne - read R = 301.270000 from 301.27,X-137.94,Y10.50,Z-267.63

: Sonardyne - got all data, Vehicle coordinates,
    r=301.270000, x=267.630000, y=-137.940000, z=-10.500000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224101.00,3636.57753,N,12152.49808,W,1,08,1.1,-3.37,M,-33.21,M,,*7D

: GpsUtils::parseFix() - $GPGGA,224101.00,3636.57753,N,12152.49808,W,1,08,1.1,-3.37,M,-33.21,M,,*7D


: successfully parse sentence at 22:41:1

: AshtechGPS::processRecord -sample time is 1142289661
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R300.16,X-144.46,Y-8.58,Z-262.98

: Sonardyne - parsing R300.16,X-144.46,Y-8.58,Z-262.98

: Sonardyne - read R = 300.160000 from 300.16,X-144.46,Y-8.58,Z-262.98

: Sonardyne - got all data, Vehicle coordinates,
    r=300.160000, x=262.980000, y=-144.460000, z=8.580000 tat = 879
: AshtechGps::processRecord() - $GPGGA,224102.00,3636.57719,N,12152.49800,W,1,08,1.1,-3.56,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,224102.00,3636.57719,N,12152.49800,W,1,08,1.1,-3.56,M,-33.21,M,,*7F


: successfully parse sentence at 22:41:2

: AshtechGPS::processRecord -sample time is 1142289662
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R299.47,X-151.29,Y11.29,Z-258.20

: Sonardyne - parsing R299.47,X-151.29,Y11.29,Z-258.20

: Sonardyne - read R = 299.470000 from 299.47,X-151.29,Y11.29,Z-258.20

: Sonardyne - got all data, Vehicle coordinates,
    r=299.470000, x=258.200000, y=-151.290000, z=-11.290000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224103.00,3636.57702,N,12152.49803,W,1,08,1.1,-3.64,M,-33.21,M,,*76

: GpsUtils::parseFix() - $GPGGA,224103.00,3636.57702,N,12152.49803,W,1,08,1.1,-3.64,M,-33.21,M,,*76


: successfully parse sentence at 22:41:3

: AshtechGPS::processRecord -sample time is 1142289663
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 752.198471) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: LayeredControl::execute() -- (t = 752.398457) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 752.398457) Behavior missionTimer has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R298.71,X-152.56,Y20.62,Z-255.99

: Sonardyne - parsing R298.71,X-152.56,Y20.62,Z-255.99

: Sonardyne - read R = 298.710000 from 298.71,X-152.56,Y20.62,Z-255.99

: Sonardyne - got all data, Vehicle coordinates,
    r=298.710000, x=255.990000, y=-152.560000, z=-20.620000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224104.00,3636.57678,N,12152.49809,W,1,08,1.1,-3.68,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,224104.00,3636.57678,N,12152.49809,W,1,08,1.1,-3.68,M,-33.21,M,,*7B


: successfully parse sentence at 22:41:4

: AshtechGPS::processRecord -sample time is 1142289664
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.72,X-158.87,Y5.37,Z-252.91

: Sonardyne - parsing R298.72,X-158.87,Y5.37,Z-252.91

: Sonardyne - read R = 298.720000 from 298.72,X-158.87,Y5.37,Z-252.91

: Sonardyne - got all data, Vehicle coordinates,
    r=298.720000, x=252.910000, y=-158.870000, z=-5.370000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224105.00,3636.57667,N,12152.49817,W,1,08,1.1,-3.84,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,224105.00,3636.57667,N,12152.49817,W,1,08,1.1,-3.84,M,-33.21,M,,*79


: successfully parse sentence at 22:41:5

: AshtechGPS::processRecord -sample time is 1142289665
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.68,X-169.50,Y24.34,Z-244.71

: Sonardyne - parsing R298.68,X-169.50,Y24.34,Z-244.71

: Sonardyne - read R = 298.680000 from 298.68,X-169.50,Y24.34,Z-244.71

: Sonardyne - got all data, Vehicle coordinates,
    r=298.680000, x=244.710000, y=-169.500000, z=-24.340000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224106.00,3636.57657,N,12152.49818,W,1,08,1.1,-3.78,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,224106.00,3636.57657,N,12152.49818,W,1,08,1.1,-3.78,M,-33.21,M,,*75


: successfully parse sentence at 22:41:6

: AshtechGPS::processRecord -sample time is 1142289666
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.19,X-172.43,Y6.43,Z-243.20

: Sonardyne - parsing R298.19,X-172.43,Y6.43,Z-243.20

: Sonardyne - read R = 298.190000 from 298.19,X-172.43,Y6.43,Z-243.20

: Sonardyne - got all data, Vehicle coordinates,
    r=298.190000, x=243.200000, y=-172.430000, z=-6.430000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224107.00,3636.57644,N,12152.49822,W,1,08,1.1,-3.75,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,224107.00,3636.57644,N,12152.49822,W,1,08,1.1,-3.75,M,-33.21,M,,*72


: successfully parse sentence at 22:41:7

: AshtechGPS::processRecord -sample time is 1142289667
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.25

: Sonardyne - parsing R298.25

: Sonardyne - read R = 298.250000 from 298.25

: Sonardyne - got range only (298.250000), tat = 850
: Sonardyne - POSD response: 
POSD S131.1,N29.7,D-6,U3,Q0.008125

: Sonardyne - POSD response: 
POSD S131.1,N29.7,D-6,U3,Q0.008125

: AshtechGps::processRecord() - $GPGGA,224108.00,3636.57632,N,12152.49828,W,1,08,1.1,-3.74,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,224108.00,3636.57632,N,12152.49828,W,1,08,1.1,-3.74,M,-33.21,M,,*77


: successfully parse sentence at 22:41:8

: AshtechGPS::processRecord -sample time is 1142289668
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R298.04,X-174.67,Y55.28,Z-235.08

: Sonardyne - parsing R298.04,X-174.67,Y55.28,Z-235.08

: Sonardyne - read R = 298.040000 from 298.04,X-174.67,Y55.28,Z-235.08

: Sonardyne - got all data, Vehicle coordinates,
    r=298.040000, x=235.080000, y=-174.670000, z=-55.280000 tat = 880
: AshtechGps::processRecord() - $GPGGA,224109.00,3636.57622,N,12152.49834,W,1,08,1.1,-3.61,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,224109.00,3636.57622,N,12152.49834,W,1,08,1.1,-3.61,M,-33.21,M,,*7E


: successfully parse sentence at 22:41:9

: AshtechGPS::processRecord -sample time is 1142289669
: BluefinBatt Reply: $aaq0 d- 31.08  3.03 17.18 3.87 3.90 0  -241.29 05:12:18 m

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

: Sonardyne - POS response: 
POS V4,1 R298.13,X-177.14,Y2.49,Z-239.78

: Sonardyne - parsing R298.13,X-177.14,Y2.49,Z-239.78

: Sonardyne - read R = 298.130000 from 298.13,X-177.14,Y2.49,Z-239.78

: Sonardyne - got all data, Vehicle coordinates,
    r=298.130000, x=239.780000, y=-177.140000, z=-2.490000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224110.00,3636.57609,N,12152.49837,W,1,08,1.1,-3.70,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,224110.00,3636.57609,N,12152.49837,W,1,08,1.1,-3.70,M,-33.21,M,,*7C


: successfully parse sentence at 22:41:10

: AshtechGPS::processRecord -sample time is 1142289670
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: Sonardyne - POS response: 
POS V4,1 R297.77,X-181.64,Y10.03,Z-235.75

: Sonardyne - parsing R297.77,X-181.64,Y10.03,Z-235.75

: Sonardyne - read R = 297.770000 from 297.77,X-181.64,Y10.03,Z-235.75

: Sonardyne - got all data, Vehicle coordinates,
    r=297.770000, x=235.750000, y=-181.640000, z=-10.030000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224111.00,3636.57592,N,12152.49835,W,1,08,1.1,-4.11,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,224111.00,3636.57592,N,12152.49835,W,1,08,1.1,-4.11,M,-33.21,M,,*7E


: successfully parse sentence at 22:41:11

: AshtechGPS::processRecord -sample time is 1142289671
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R297.63

: Sonardyne - parsing R297.63

: Sonardyne - read R = 297.630000 from 297.63

: Sonardyne - got range only (297.630000), tat = 850
: Sonardyne - POSD response: 
POSD S122.2,N24.7,D-97,U5,Q0.002180

: Sonardyne - POSD response: 
POSD S122.2,N24.7,D-97,U5,Q0.002180

: AshtechGps::processRecord() - $GPGGA,224112.00,3636.57577,N,12152.49834,W,1,08,1.1,-4.31,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,224112.00,3636.57577,N,12152.49834,W,1,08,1.1,-4.31,M,-33.21,M,,*75


: successfully parse sentence at 22:41:12

: AshtechGPS::processRecord -sample time is 1142289672
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R297.28,X-179.43,Y-7.69,Z-236.90

: Sonardyne - parsing R297.28,X-179.43,Y-7.69,Z-236.90

: Sonardyne - read R = 297.280000 from 297.28,X-179.43,Y-7.69,Z-236.90

: Sonardyne - got all data, Vehicle coordinates,
    r=297.280000, x=236.900000, y=-179.430000, z=7.690000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224113.00,3636.57561,N,12152.49833,W,1,08,1.1,-3.96,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,224113.00,3636.57561,N,12152.49833,W,1,08,1.1,-3.96,M,-33.21,M,,*7E


: successfully parse sentence at 22:41:13

: AshtechGPS::processRecord -sample time is 1142289673
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224114.00,3636.57545,N,12152.49828,W,1,08,1.1,-3.92,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,224114.00,3636.57545,N,12152.49828,W,1,08,1.1,-3.92,M,-33.21,M,,*71


: successfully parse sentence at 22:41:14

: AshtechGPS::processRecord -sample time is 1142289674
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224115.00,3636.57532,N,12152.49823,W,1,08,1.1,-4.13,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,224115.00,3636.57532,N,12152.49823,W,1,08,1.1,-4.13,M,-33.21,M,,*75


: successfully parse sentence at 22:41:15

: AshtechGPS::processRecord -sample time is 1142289675
:  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,N8.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,224116.00,3636.57519,N,12152.49836,W,1,06,1.3,-5.28,M,-33.21,M,,*7E

: GpsUtils::parseFix() - $GPGGA,224116.00,3636.57519,N,12152.49836,W,1,06,1.3,-5.28,M,-33.21,M,,*7E


: successfully parse sentence at 22:41:16

: AshtechGPS::processRecord -sample time is 1142289676
: Sonardyne - POSD response: 
POSD S-100.0,N8.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,224117.00,3636.57515,N,12152.49832,W,1,08,1.1,-4.46,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,224117.00,3636.57515,N,12152.49832,W,1,08,1.1,-4.46,M,-33.21,M,,*72


: successfully parse sentence at 22:41:17

: AshtechGPS::processRecord -sample time is 1142289677
: Sonardyne - POS response: 
POS V4,1 R295.73

: Sonardyne - parsing R295.73

: Sonardyne - read R = 295.730000 from 295.73

: Sonardyne - got range only (295.730000), tat = 840
: Sonardyne - POSD response: 
POSD S117.0,N21.6,D37,U3,Q0.001471

: Sonardyne - POSD response: 
POSD S117.0,N21.6,D37,U3,Q0.001471

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

: AshtechGps::processRecord() - $GPGGA,224118.00,3636.57507,N,12152.49837,W,1,08,1.1,-4.11,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,224118.00,3636.57507,N,12152.49837,W,1,08,1.1,-4.11,M,-33.21,M,,*79


: successfully parse sentence at 22:41:18

: AshtechGPS::processRecord -sample time is 1142289678
: Sonardyne - POS response: 
POS V4,1 R296.16,X-176.61,Y79.90,Z-223.91

: Sonardyne - parsing R296.16,X-176.61,Y79.90,Z-223.91

: Sonardyne - read R = 296.160000 from 296.16,X-176.61,Y79.90,Z-223.91

: Sonardyne - got all data, Vehicle coordinates,
    r=296.160000, x=223.910000, y=-176.610000, z=-79.900000 tat = 870
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224119.00,3636.57502,N,12152.49839,W,1,08,1.1,-4.06,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,224119.00,3636.57502,N,12152.49839,W,1,08,1.1,-4.06,M,-33.21,M,,*75


: successfully parse sentence at 22:41:19

: AshtechGPS::processRecord -sample time is 1142289679
: Sonardyne - POS response: 
POS V4,1 R296.02,X-177.83,Y71.25,Z-225.67

: Sonardyne - parsing R296.02,X-177.83,Y71.25,Z-225.67

: Sonardyne - read R = 296.020000 from 296.02,X-177.83,Y71.25,Z-225.67

: Sonardyne - got all data, Vehicle coordinates,
    r=296.020000, x=225.670000, y=-177.830000, z=-71.250000 tat = 870
: BluefinBatt Reply: $aaq0 d- 31.08  2.62 17.08 3.88 3.91 0  -241.55 05:12:28 m

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

: AshtechGps::processRecord() - $GPGGA,224120.00,3636.57501,N,12152.49841,W,1,08,1.1,-4.13,M,-33.21,M,,*77

: GpsUtils::parseFix() - $GPGGA,224120.00,3636.57501,N,12152.49841,W,1,08,1.1,-4.13,M,-33.21,M,,*77


: successfully parse sentence at 22:41:20

: AshtechGPS::processRecord -sample time is 1142289680
: Sonardyne - POS response: 
POS V4,1 R296.13

: Sonardyne - parsing R296.13

: Sonardyne - read R = 296.130000 from 296.13

: Sonardyne - got range only (296.130000), tat = 850
: Sonardyne - POSD response: 
POSD S126.3,N27.8,D11,U1,Q0.004914

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

: Sonardyne - POSD response: 
POSD S126.3,N27.8,D11,U1,Q0.004914

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

: AshtechGps::processRecord() - $GPGGA,224121.00,3636.57491,N,12152.49844,W,1,08,1.1,-3.87,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,224121.00,3636.57491,N,12152.49844,W,1,08,1.1,-3.87,M,-33.21,M,,*71


: successfully parse sentence at 22:41:21

: AshtechGPS::processRecord -sample time is 1142289681
: Sonardyne - POS response: 
POS V4,1 R296.12,X-170.51,Y-1.91,Z-242.10

: Sonardyne - parsing R296.12,X-170.51,Y-1.91,Z-242.10

: Sonardyne - read R = 296.120000 from 296.12,X-170.51,Y-1.91,Z-242.10

: Sonardyne - got all data, Vehicle coordinates,
    r=296.120000, x=242.100000, y=-170.510000, z=1.910000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224122.00,3636.57478,N,12152.49840,W,1,08,1.1,-3.67,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,224122.00,3636.57478,N,12152.49840,W,1,08,1.1,-3.67,M,-33.21,M,,*7F


: successfully parse sentence at 22:41:22

: AshtechGPS::processRecord -sample time is 1142289682
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224123.00,3636.57464,N,12152.49827,W,1,08,1.1,-3.67,M,-33.21,M,,*72

: GpsUtils::parseFix() - $GPGGA,224123.00,3636.57464,N,12152.49827,W,1,08,1.1,-3.67,M,-33.21,M,,*72


: successfully parse sentence at 22:41:23

: AshtechGPS::processRecord -sample time is 1142289683
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,224124.00,3636.57455,N,12152.49821,W,1,08,1.1,-3.87,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,224124.00,3636.57455,N,12152.49821,W,1,08,1.1,-3.87,M,-33.21,M,,*7F


: successfully parse sentence at 22:41:24

: AshtechGPS::processRecord -sample time is 1142289684
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,224125.00,3636.57448,N,12152.49825,W,1,08,1.1,-4.07,M,-33.21,M,,*79

: GpsUtils::parseFix() - $GPGGA,224125.00,3636.57448,N,12152.49825,W,1,08,1.1,-4.07,M,-33.21,M,,*79


: successfully parse sentence at 22:41:25

: AshtechGPS::processRecord -sample time is 1142289685
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R294.47,X-154.68,Y11.15,Z-250.32

: Sonardyne - parsing R294.47,X-154.68,Y11.15,Z-250.32

: Sonardyne - read R = 294.470000 from 294.47,X-154.68,Y11.15,Z-250.32

: Sonardyne - got all data, Vehicle coordinates,
    r=294.470000, x=250.320000, y=-154.680000, z=-11.150000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224126.00,3636.57442,N,12152.49821,W,1,08,1.1,-4.08,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,224126.00,3636.57442,N,12152.49821,W,1,08,1.1,-4.08,M,-33.21,M,,*7B


: successfully parse sentence at 22:41:26

: AshtechGPS::processRecord -sample time is 1142289686
:  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 R294.67,X-153.98,Y-0.14,Z-251.23

: Sonardyne - parsing R294.67,X-153.98,Y-0.14,Z-251.23

: Sonardyne - read R = 294.670000 from 294.67,X-153.98,Y-0.14,Z-251.23

: Sonardyne - got all data, Vehicle coordinates,
    r=294.670000, x=251.230000, y=-153.980000, z=0.140000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224127.00,3636.57438,N,12152.49824,W,1,08,1.1,-4.00,M,-33.21,M,,*7A

: GpsUtils::parseFix() - $GPGGA,224127.00,3636.57438,N,12152.49824,W,1,08,1.1,-4.00,M,-33.21,M,,*7A


: successfully parse sentence at 22:41:27

: AshtechGPS::processRecord -sample time is 1142289687
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R295.09,X-152.95,Y17.86,Z-251.72

: Sonardyne - parsing R295.09,X-152.95,Y17.86,Z-251.72

: Sonardyne - read R = 295.090000 from 295.09,X-152.95,Y17.86,Z-251.72

: Sonardyne - got all data, Vehicle coordinates,
    r=295.090000, x=251.720000, y=-152.950000, z=-17.860000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224128.00,3636.57428,N,12152.49809,W,1,08,1.1,-4.08,M,-33.21,M,,*73

: GpsUtils::parseFix() - $GPGGA,224128.00,3636.57428,N,12152.49809,W,1,08,1.1,-4.08,M,-33.21,M,,*73


: successfully parse sentence at 22:41:28

: AshtechGPS::processRecord -sample time is 1142289688
:  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 R294.92

: Sonardyne - parsing R294.92

: Sonardyne - read R = 294.920000 from 294.92

: Sonardyne - got range only (294.920000), tat = 840
: Sonardyne - POSD response: 
POSD S131.8,N31.4,D-26,U3,Q0.003504

: Sonardyne - POSD response: 
POSD S131.8,N31.4,D-26,U3,Q0.003504

: AshtechGps::processRecord() - $GPGGA,224129.00,3636.57420,N,12152.49802,W,1,08,1.1,-4.20,M,-33.21,M,,*7B

: GpsUtils::parseFix() - $GPGGA,224129.00,3636.57420,N,12152.49802,W,1,08,1.1,-4.20,M,-33.21,M,,*7B


: successfully parse sentence at 22:41:29

: AshtechGPS::processRecord -sample time is 1142289689
: BluefinBatt Reply: $aaq0 d- 31.12  2.52 17.08 3.88 3.91 0  -241.73 05:12:38 m

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

: Sonardyne - POS response: 
POS V4,1 R294.22

: Sonardyne - parsing R294.22

: Sonardyne - read R = 294.220000 from 294.22

: Sonardyne - got range only (294.220000), tat = 840
: Sonardyne - POSD response: 
POSD S132.2,N31.0,D-5,U3,Q0.003177

: Sonardyne - POSD response: 
POSD S132.2,N31.0,D-5,U3,Q0.003177

: AshtechGps::processRecord() - $GPGGA,224130.00,3636.57410,N,12152.49800,W,1,08,1.1,-4.22,M,-33.21,M,,*70

: GpsUtils::parseFix() - $GPGGA,224130.00,3636.57410,N,12152.49800,W,1,08,1.1,-4.22,M,-33.21,M,,*70


: successfully parse sentence at 22:41:30

: AshtechGPS::processRecord -sample time is 1142289690
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

:  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 R293.81

: Sonardyne - parsing R293.81

: Sonardyne - read R = 293.810000 from 293.81

: Sonardyne - got range only (293.810000), tat = 839
: Sonardyne - POSD response: 
POSD S124.9,N23.5,D105,U2,Q0.003495

: Sonardyne - POSD response: 
POSD S124.9,N23.5,D105,U2,Q0.003495

: AshtechGps::processRecord() - $GPGGA,224131.00,3636.57401,N,12152.49794,W,1,08,1.1,-4.46,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,224131.00,3636.57401,N,12152.49794,W,1,08,1.1,-4.46,M,-33.21,M,,*71


: successfully parse sentence at 22:41:31

: AshtechGPS::processRecord -sample time is 1142289691
:  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 R293.41

: Sonardyne - parsing R293.41

: Sonardyne - read R = 293.410000 from 293.41

: Sonardyne - got range only (293.410000), tat = 840
: Sonardyne - POSD response: 
POSD S123.2,N21.3,D128,U5,Q0.006601

: Sonardyne - POSD response: 
POSD S123.2,N21.3,D128,U5,Q0.006601

: AshtechGps::processRecord() - $GPGGA,224132.00,3636.57395,N,12152.49786,W,1,08,1.1,-4.50,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,224132.00,3636.57395,N,12152.49786,W,1,08,1.1,-4.50,M,-33.21,M,,*7C


: successfully parse sentence at 22:41:32

: AshtechGPS::processRecord -sample time is 1142289692
:  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 R293.13,X-155.57,Y14.98,Z-247.99

: Sonardyne - parsing R293.13,X-155.57,Y14.98,Z-247.99

: Sonardyne - read R = 293.130000 from 293.13,X-155.57,Y14.98,Z-247.99

: Sonardyne - got all data, Vehicle coordinates,
    r=293.130000, x=247.990000, y=-155.570000, z=-14.980000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224133.00,3636.57388,N,12152.49773,W,1,08,1.1,-4.32,M,-33.21,M,,*7F

: GpsUtils::parseFix() - $GPGGA,224133.00,3636.57388,N,12152.49773,W,1,08,1.1,-4.32,M,-33.21,M,,*7F


: successfully parse sentence at 22:41:33

: AshtechGPS::processRecord -sample time is 1142289693
:  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 R293.05,X-158.34,Y0.71,Z-246.58

: Sonardyne - parsing R293.05,X-158.34,Y0.71,Z-246.58

: Sonardyne - read R = 293.050000 from 293.05,X-158.34,Y0.71,Z-246.58

: Sonardyne - got all data, Vehicle coordinates,
    r=293.050000, x=246.580000, y=-158.340000, z=-0.710000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224134.00,3636.57383,N,12152.49774,W,1,08,1.1,-4.33,M,-33.21,M,,*75

: GpsUtils::parseFix() - $GPGGA,224134.00,3636.57383,N,12152.49774,W,1,08,1.1,-4.33,M,-33.21,M,,*75


: successfully parse sentence at 22:41:34

: AshtechGPS::processRecord -sample time is 1142289694
:  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 R293.22,X-163.17,Y-9.26,Z-243.45

: Sonardyne - parsing R293.22,X-163.17,Y-9.26,Z-243.45

: Sonardyne - read R = 293.220000 from 293.22,X-163.17,Y-9.26,Z-243.45

: Sonardyne - got all data, Vehicle coordinates,
    r=293.220000, x=243.450000, y=-163.170000, z=9.260000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224135.00,3636.57377,N,12152.49771,W,1,08,1.1,-4.53,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,224135.00,3636.57377,N,12152.49771,W,1,08,1.1,-4.53,M,-33.21,M,,*7C


: successfully parse sentence at 22:41:35

: AshtechGPS::processRecord -sample time is 1142289695
:  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 R292.70,X-168.79,Y12.09,Z-238.83

: Sonardyne - parsing R292.70,X-168.79,Y12.09,Z-238.83

: Sonardyne - read R = 292.700000 from 292.70,X-168.79,Y12.09,Z-238.83

: Sonardyne - got all data, Vehicle coordinates,
    r=292.700000, x=238.830000, y=-168.790000, z=-12.090000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224136.00,3636.57377,N,12152.49774,W,1,08,1.1,-4.55,M,-33.21,M,,*7C

: GpsUtils::parseFix() - $GPGGA,224136.00,3636.57377,N,12152.49774,W,1,08,1.1,-4.55,M,-33.21,M,,*7C


: successfully parse sentence at 22:41:36

: AshtechGPS::processRecord -sample time is 1142289696
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R293.54,X-171.65,Y-9.34,Z-237.94

: Sonardyne - parsing R293.54,X-171.65,Y-9.34,Z-237.94

: Sonardyne - read R = 293.540000 from 293.54,X-171.65,Y-9.34,Z-237.94

: Sonardyne - got all data, Vehicle coordinates,
    r=293.540000, x=237.940000, y=-171.650000, z=9.340000 tat = 870
: AshtechGps::processRecord() - $GPGGA,224137.00,3636.57378,N,12152.49771,W,1,08,1.1,-4.42,M,-33.21,M,,*71

: GpsUtils::parseFix() - $GPGGA,224137.00,3636.57378,N,12152.49771,W,1,08,1.1,-4.42,M,-33.21,M,,*71


: successfully parse sentence at 22:41:37

: AshtechGPS::processRecord -sample time is 1142289697
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: 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 DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 0007:0001CB74.
: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task j - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object dropWeightOutput ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00016116.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowCommand ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() - _theTaskServer doesn't exist
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
