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

Su: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
per: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
viso: WorkSite server: 0x22eec
r::createTask() - layeredC: New Navigation component constructor
on: Navigation - Using only the Dvl to compute altitude.
trolServer
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
Supervisor::createTask: SerialDevice: done...

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

iS: SerialDevice: done...

erver: I'm the child...forking


: SerialDevice: done...

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

Supervisor:: SerialDevice: done...

:createTask() - bluefinBattDrive: Gps: initializing

r
: SerialDevice: done...

: SerialDevice: done...

Super: SerialDevice: done...

vis: SerialDevice: done...

o: Gps: done initializing...

r:: **** EventTriggers::add() - attaching proxy
:: Crossbow.cc: Setting polled mode
createTask: Crossbow.cc: Setting polled mode
() -: Crossbow.cc: In getSerialNumber()
 dvlS: Crossbow.cc: _device->read failed with error
er: SerialDevice: done...

ve: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
r
S: SerialDevice: done...

u: seabirdDriver RUNNING...

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

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

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


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

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

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

ver: BluefinBatt::init() - querying for batt ids

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

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


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

) - dropWeightServer
Supervisor::createT: SerialDevice: done...

ask() - sonardyneSer: SerialDevice: done...

ver
: 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...
Task::spawnServer() - execlp() of "fan" failed: Operation not permitted
: Seabird/ctdDriver -- constructing Log...

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: ahrs if is Ahrs

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

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

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

:  default

: SerialDevice: done...

: AshtechGps::processRecord() - $GPGGA,222456.00,3636.77031,N,12152.48431,W,1,10,0.9,-2.36,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,222456.00,3636.77031,N,12152.48431,W,1,10,0.9,-2.36,M,-33.22,M,,*79


: successfully parse sentence at 22:24:56

: SerialDevice: done...

: AshtechGPS::processRecord -sample time is 1143757495
: 3 Modules found
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: Sonardyne -- configuration:
	PollPeriod = 500 ms
	PresetGain = 0
	PowerLevel = 0
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V4,1

: DynamicControlServer - Got event 1 from TailCone

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: Sonardyne - PG response: 
PG0 PAN TDR GAIN: VLOW

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

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

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

: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,222457.00,3636.77044,N,12152.48427,W,1,10,0.9,-2.55,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,222457.00,3636.77044,N,12152.48427,W,1,10,0.9,-2.55,M,-33.22,M,,*78


: successfully parse sentence at 22:24:57

: AshtechGPS::processRecord -sample time is 1143757496
: Parosci.cc -- Parosci initial pressure period = 30.138900
: Parosci.cc -- Parosci initial temp period = 5.842248
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: EX10011
>
: EA+04500
>
: WP0001
>
: WN25
>
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  Dvl::initialize - The number of cells is 25.

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

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

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

:  Dvl record header not found.  Resynchronize.

: AshtechGps::processRecord() - $GPGGA,222458.00,3636.77053,N,12152.48427,W,1,10,0.9,-2.61,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222458.00,3636.77053,N,12152.48427,W,1,10,0.9,-2.61,M,-33.22,M,,*76


: successfully parse sentence at 22:24:58

: AshtechGPS::processRecord -sample time is 1143757497
:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222459.00,3636.77060,N,12152.48423,W,1,10,0.9,-2.38,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222459.00,3636.77060,N,12152.48423,W,1,10,0.9,-2.38,M,-33.22,M,,*7F


: successfully parse sentence at 22:24:59

: AshtechGPS::processRecord -sample time is 1143757498
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: AshtechGps::processRecord() - $GPGGA,222500.00,3636.77060,N,12152.48413,W,1,10,0.9,-2.18,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,222500.00,3636.77060,N,12152.48413,W,1,10,0.9,-2.18,M,-33.22,M,,*73


: successfully parse sentence at 22:25:0

: AshtechGPS::processRecord -sample time is 1143757499
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222501.00,3636.77056,N,12152.48402,W,1,10,0.9,-2.14,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222501.00,3636.77056,N,12152.48402,W,1,10,0.9,-2.14,M,-33.22,M,,*7B


: successfully parse sentence at 22:25:1

: AshtechGPS::processRecord -sample time is 1143757500
: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222502.00,3636.77054,N,12152.48386,W,1,10,0.9,-2.10,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222502.00,3636.77054,N,12152.48386,W,1,10,0.9,-2.10,M,-33.22,M,,*75


: successfully parse sentence at 22:25:2

: AshtechGPS::processRecord -sample time is 1143757501
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222503.00,3636.77041,N,12152.48371,W,1,10,0.9,-2.07,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222503.00,3636.77041,N,12152.48371,W,1,10,0.9,-2.07,M,-33.22,M,,*7E


: successfully parse sentence at 22:25:3

: AshtechGPS::processRecord -sample time is 1143757502
: 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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222504.00,3636.77039,N,12152.48350,W,1,10,0.9,-2.04,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222504.00,3636.77039,N,12152.48350,W,1,10,0.9,-2.04,M,-33.22,M,,*76


: successfully parse sentence at 22:25:4

: AshtechGPS::processRecord -sample time is 1143757503
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Seabird/ctdDriver: sending configure commands...(5257)

: AshtechGps::processRecord() - $GPGGA,222505.00,3636.77027,N,12152.48334,W,1,10,0.9,-2.41,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222505.00,3636.77027,N,12152.48334,W,1,10,0.9,-2.41,M,-33.22,M,,*7B


: successfully parse sentence at 22:25:5

: AshtechGPS::processRecord -sample time is 1143757504
: Seabird/ctdDriver: setting scans...

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

: AshtechGps::processRecord() - $GPGGA,222506.00,3636.77031,N,12152.48333,W,1,10,0.9,-2.62,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,222506.00,3636.77031,N,12152.48333,W,1,10,0.9,-2.62,M,-33.22,M,,*79


: successfully parse sentence at 22:25:6

: AshtechGPS::processRecord -sample time is 1143757505
: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222507.00,3636.77041,N,12152.48338,W,1,10,0.9,-2.71,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222507.00,3636.77041,N,12152.48338,W,1,10,0.9,-2.71,M,-33.22,M,,*76


: successfully parse sentence at 22:25:7

: AshtechGPS::processRecord -sample time is 1143757506
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222508.00,3636.77054,N,12152.48343,W,1,10,0.9,-2.51,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,222508.00,3636.77054,N,12152.48343,W,1,10,0.9,-2.51,M,-33.22,M,,*73


: successfully parse sentence at 22:25:8

: AshtechGPS::processRecord -sample time is 1143757507
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,222509.00,3636.77054,N,12152.48334,W,1,10,0.9,-2.16,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,222509.00,3636.77054,N,12152.48334,W,1,10,0.9,-2.16,M,-33.22,M,,*71


: successfully parse sentence at 22:25:9

: AshtechGPS::processRecord -sample time is 1143757508
: SerialDevice::confirm() - Timed Out
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222510.00,3636.77044,N,12152.48315,W,1,10,0.9,-2.01,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222510.00,3636.77044,N,12152.48315,W,1,10,0.9,-2.01,M,-33.22,M,,*7D


: successfully parse sentence at 22:25:10

: AshtechGPS::processRecord -sample time is 1143757509
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,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,222511.00,3636.77040,N,12152.48294,W,1,10,0.9,-2.04,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222511.00,3636.77040,N,12152.48294,W,1,10,0.9,-2.04,M,-33.22,M,,*75


: successfully parse sentence at 22:25:11

: AshtechGPS::processRecord -sample time is 1143757510
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222512.00,3636.77033,N,12152.48277,W,1,10,0.9,-2.29,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,222512.00,3636.77033,N,12152.48277,W,1,10,0.9,-2.29,M,-33.22,M,,*70


: successfully parse sentence at 22:25:12

: AshtechGPS::processRecord -sample time is 1143757511
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222513.00,3636.77043,N,12152.48270,W,1,10,0.9,-2.47,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,222513.00,3636.77043,N,12152.48270,W,1,10,0.9,-2.47,M,-33.22,M,,*79


: successfully parse sentence at 22:25:13

: AshtechGPS::processRecord -sample time is 1143757512
: 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...(5257)

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.1,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

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

: Sonardyne - POSD response: 
POSD S-100.0,N1.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222514.00,3636.77035,N,12152.48269,W,1,10,0.9,-2.41,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,222514.00,3636.77035,N,12152.48269,W,1,10,0.9,-2.41,M,-33.22,M,,*71


: successfully parse sentence at 22:25:14

: AshtechGPS::processRecord -sample time is 1143757513
: Seabird/ctdDriver::initialize() - confirming voltage...

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,222515.00,3636.77049,N,12152.48265,W,1,10,0.9,-2.43,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222515.00,3636.77049,N,12152.48265,W,1,10,0.9,-2.43,M,-33.22,M,,*75


: successfully parse sentence at 22:25:15

: AshtechGPS::processRecord -sample time is 1143757514
: 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,222516.00,3636.77042,N,12152.48260,W,1,10,0.9,-2.38,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,222516.00,3636.77042,N,12152.48260,W,1,10,0.9,-2.38,M,-33.22,M,,*74


: successfully parse sentence at 22:25:16

: AshtechGPS::processRecord -sample time is 1143757515
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222517.00,3636.77047,N,12152.48247,W,1,10,0.9,-2.31,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222517.00,3636.77047,N,12152.48247,W,1,10,0.9,-2.31,M,-33.22,M,,*7C


: successfully parse sentence at 22:25:17

: AshtechGPS::processRecord -sample time is 1143757516
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.91  2.25 16.40 3.97 4.00 0  1283.91 06:22:38 m

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

: AshtechGps::processRecord() - $GPGGA,222518.00,3636.77035,N,12152.48233,W,1,10,0.9,-2.23,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222518.00,3636.77035,N,12152.48233,W,1,10,0.9,-2.23,M,-33.22,M,,*76


: successfully parse sentence at 22:25:18

: AshtechGPS::processRecord -sample time is 1143757517
: batts online 1, min cell voltage 3.970000, mean min cell voltage 3.970000

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

: AshtechGps::processRecord() - $GPGGA,222519.00,3636.77036,N,12152.48215,W,1,10,0.9,-2.30,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,222519.00,3636.77036,N,12152.48215,W,1,10,0.9,-2.30,M,-33.22,M,,*72


: successfully parse sentence at 22:25:19

: AshtechGPS::processRecord -sample time is 1143757518
: 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 4073654.20, 608108.69

: 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 ***

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

: 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,222520.00,3636.77027,N,12152.48210,W,1,10,0.9,-2.30,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222520.00,3636.77027,N,12152.48210,W,1,10,0.9,-2.30,M,-33.22,M,,*7D


: successfully parse sentence at 22:25:20

: AshtechGPS::processRecord -sample time is 1143757519
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222521.00,3636.77045,N,12152.48209,W,1,10,0.9,-2.53,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222521.00,3636.77045,N,12152.48209,W,1,10,0.9,-2.53,M,-33.22,M,,*75


: successfully parse sentence at 22:25:21

: AshtechGPS::processRecord -sample time is 1143757520
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222522.00,3636.77037,N,12152.48210,W,1,10,0.9,-2.36,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,222522.00,3636.77037,N,12152.48210,W,1,10,0.9,-2.36,M,-33.22,M,,*78


: successfully parse sentence at 22:25:22

: AshtechGPS::processRecord -sample time is 1143757521
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222523.00,3636.77051,N,12152.48201,W,1,10,0.9,-2.25,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222523.00,3636.77051,N,12152.48201,W,1,10,0.9,-2.25,M,-33.22,M,,*7B


: successfully parse sentence at 22:25:23

: AshtechGPS::processRecord -sample time is 1143757522
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222524.00,3636.77032,N,12152.48194,W,1,10,0.9,-2.15,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222524.00,3636.77032,N,12152.48194,W,1,10,0.9,-2.15,M,-33.22,M,,*75


: successfully parse sentence at 22:25:24

: AshtechGPS::processRecord -sample time is 1143757523
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,222525.00,3636.77042,N,12152.48180,W,1,10,0.9,-2.32,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,222525.00,3636.77042,N,12152.48180,W,1,10,0.9,-2.32,M,-33.22,M,,*73


: successfully parse sentence at 22:25:25

: AshtechGPS::processRecord -sample time is 1143757524
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222526.00,3636.77033,N,12152.48171,W,1,10,0.9,-2.19,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,222526.00,3636.77033,N,12152.48171,W,1,10,0.9,-2.19,M,-33.22,M,,*71


: successfully parse sentence at 22:25:26

: AshtechGPS::processRecord -sample time is 1143757525
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222527.00,3636.77038,N,12152.48157,W,1,10,0.9,-2.14,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,222527.00,3636.77038,N,12152.48157,W,1,10,0.9,-2.14,M,-33.22,M,,*72


: successfully parse sentence at 22:25:27

: AshtechGPS::processRecord -sample time is 1143757526
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: BluefinBatt Reply: $aaq0 d- 31.83  3.53 16.30 3.98 4.00 0  1283.62 06:22:48 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,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,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,222528.00,3636.77025,N,12152.48146,W,1,10,0.9,-2.09,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,222528.00,3636.77025,N,12152.48146,W,1,10,0.9,-2.09,M,-33.22,M,,*7D


: successfully parse sentence at 22:25:28

: AshtechGPS::processRecord -sample time is 1143757527
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.599411) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.599411) Behavior setpoint has changed to state Active

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,222529.00,3636.77028,N,12152.48134,W,1,10,0.9,-2.29,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222529.00,3636.77028,N,12152.48134,W,1,10,0.9,-2.29,M,-33.22,M,,*76


: successfully parse sentence at 22:25:29

: AshtechGPS::processRecord -sample time is 1143757528
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222530.00,3636.77020,N,12152.48118,W,1,10,0.9,-2.25,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,222530.00,3636.77020,N,12152.48118,W,1,10,0.9,-2.25,M,-33.22,M,,*74


: successfully parse sentence at 22:25:30

: AshtechGPS::processRecord -sample time is 1143757529
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222531.00,3636.77028,N,12152.48104,W,1,10,0.9,-2.31,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,222531.00,3636.77028,N,12152.48104,W,1,10,0.9,-2.31,M,-33.22,M,,*75


: successfully parse sentence at 22:25:31

: AshtechGPS::processRecord -sample time is 1143757530
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222532.00,3636.77022,N,12152.48086,W,1,10,0.9,-2.28,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222532.00,3636.77022,N,12152.48086,W,1,10,0.9,-2.28,M,-33.22,M,,*7F


: successfully parse sentence at 22:25:32

: AshtechGPS::processRecord -sample time is 1143757531
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222533.00,3636.77029,N,12152.48068,W,1,10,0.9,-2.47,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222533.00,3636.77029,N,12152.48068,W,1,10,0.9,-2.47,M,-33.22,M,,*7C


: successfully parse sentence at 22:25:33

: AshtechGPS::processRecord -sample time is 1143757532
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222534.00,3636.77040,N,12152.48044,W,1,10,0.9,-2.34,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,222534.00,3636.77040,N,12152.48044,W,1,10,0.9,-2.34,M,-33.22,M,,*7E


: successfully parse sentence at 22:25:34

: AshtechGPS::processRecord -sample time is 1143757533
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222535.00,3636.77047,N,12152.48009,W,1,10,0.9,-2.26,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,222535.00,3636.77047,N,12152.48009,W,1,10,0.9,-2.26,M,-33.22,M,,*72


: successfully parse sentence at 22:25:35

: AshtechGPS::processRecord -sample time is 1143757534
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222536.00,3636.77058,N,12152.47967,W,1,10,0.9,-2.04,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,222536.00,3636.77058,N,12152.47967,W,1,10,0.9,-2.04,M,-33.22,M,,*71


: successfully parse sentence at 22:25:36

: AshtechGPS::processRecord -sample time is 1143757535
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222537.00,3636.77062,N,12152.47909,W,1,10,0.9,-1.88,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222537.00,3636.77062,N,12152.47909,W,1,10,0.9,-1.88,M,-33.22,M,,*76


: successfully parse sentence at 22:25:37

: AshtechGPS::processRecord -sample time is 1143757536
: BluefinBatt Reply: $aaq0 d- 31.60  9.60 16.40 3.98 4.00 0  1283.15 06:22:58 m

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

: AshtechGps::processRecord() - $GPGGA,222538.00,3636.77085,N,12152.47860,W,1,10,0.9,-2.06,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222538.00,3636.77085,N,12152.47860,W,1,10,0.9,-2.06,M,-33.22,M,,*7B


: successfully parse sentence at 22:25:38

: AshtechGPS::processRecord -sample time is 1143757537
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: batts online 1, min cell voltage 3.980000, mean min cell voltage 3.980000

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

: AshtechGps::processRecord() - $GPGGA,222539.00,3636.77107,N,12152.47802,W,1,10,0.9,-2.05,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,222539.00,3636.77107,N,12152.47802,W,1,10,0.9,-2.05,M,-33.22,M,,*76


: successfully parse sentence at 22:25:39

: AshtechGPS::processRecord -sample time is 1143757538
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222540.00,3636.77138,N,12152.47752,W,1,10,0.9,-2.33,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,222540.00,3636.77138,N,12152.47752,W,1,10,0.9,-2.33,M,-33.22,M,,*7B


: successfully parse sentence at 22:25:40

: AshtechGPS::processRecord -sample time is 1143757539
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222541.00,3636.77181,N,12152.47706,W,1,10,0.9,-2.53,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,222541.00,3636.77181,N,12152.47706,W,1,10,0.9,-2.53,M,-33.22,M,,*7F


: successfully parse sentence at 22:25:41

: AshtechGPS::processRecord -sample time is 1143757540
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222542.00,3636.77226,N,12152.47654,W,1,10,0.9,-2.47,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,222542.00,3636.77226,N,12152.47654,W,1,10,0.9,-2.47,M,-33.22,M,,*71


: successfully parse sentence at 22:25:42

: AshtechGPS::processRecord -sample time is 1143757541
: AshtechGps::processRecord() - $GPGGA,222543.00,3636.77275,N,12152.47603,W,1,10,0.9,-2.38,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,222543.00,3636.77275,N,12152.47603,W,1,10,0.9,-2.38,M,-33.22,M,,*7C


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

: successfully parse sentence at 22:25:43

: AshtechGPS::processRecord -sample time is 1143757542
: AshtechGps::processRecord() - $GPGGA,222544.00,3636.77313,N,12152.47550,W,1,10,0.9,-2.51,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,222544.00,3636.77313,N,12152.47550,W,1,10,0.9,-2.51,M,-33.22,M,,*70


: successfully parse sentence at 22:25:44

: AshtechGPS::processRecord -sample time is 1143757543
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222545.00,3636.77331,N,12152.47501,W,1,10,0.9,-2.47,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,222545.00,3636.77331,N,12152.47501,W,1,10,0.9,-2.47,M,-33.22,M,,*72


: successfully parse sentence at 22:25:45

: AshtechGPS::processRecord -sample time is 1143757544
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222546.00,,,,,0,01,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222546.00,,,,,0,01,,,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,222547.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222547.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.60  9.46 16.40 3.94 3.97 0  1282.19 06:23:08 m

: AshtechGps::processRecord() - $GPGGA,222548.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222548.00,,,,,0,00,,,M,,M,,*43


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

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222549.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222549.00,,,,,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,222550.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222550.00,,,,,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,222551.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222551.00,,,,,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,222552.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222552.00,,,,,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,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222553.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222553.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,222554.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222554.00,,,,,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,222555.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222555.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222556.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222556.00,,,,,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,222557.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222557.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 31.60  9.73 16.50 3.94 3.97 0  1281.48 06:23:18 m

: AshtechGps::processRecord() - $GPGGA,222558.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222558.00,,,,,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

: LayeredControl::execute() -- (t = 38.797342) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.797342) Behavior descend has changed to state Active

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,222559.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222559.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222600.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222600.00,,,,,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,222601.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222601.00,,,,,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,222602.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222602.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222603.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222603.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222604.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222604.00,,,,,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,222605.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222605.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,222606.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222606.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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

: AshtechGps::processRecord() - $GPGGA,222607.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222607.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.60  7.88 16.50 3.94 3.96 0  1280.42 06:23:28 m

: Descend::execute() - Descend terminating on depth 4.043910 > 4.000000 at time 48.196698

: LayeredControl::execute() -- (t = 48.196698) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 48.20                             (wplog)
  The current location (N,E) = 4052528.8      , 600671.7         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 243.1 Degrees.

: LayeredControl::execute() -- (t = 48.196698) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,222608.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222608.00,,,,,0,00,,,M,,M,,*44


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

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,222609.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222609.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222610.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222610.00,,,,,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,222611.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222611.00,,,,,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 R405.37

: Sonardyne - parsing R405.37

: Sonardyne - read R = 405.370000 from 405.37

: Sonardyne - got range only (405.370000), tat = 990
: Sonardyne - POSD response: 
POSD S114.2,N14.7,D-18,U5,Q0.011399

: Sonardyne - POSD response: 
POSD S114.2,N14.7,D-18,U5,Q0.011399

: AshtechGps::processRecord() - $GPGGA,222612.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222612.00,,,,,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,222613.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222613.00,,,,,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,222614.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222614.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N13.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222615.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222615.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,222616.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222616.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R399.29,X-73.18,Y5.25,Z-392.49

: Sonardyne - parsing R399.29,X-73.18,Y5.25,Z-392.49

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

: Sonardyne - read R = 399.290000 from 399.29,X-73.18,Y5.25,Z-392.49

: Sonardyne - got all data, Vehicle coordinates,
    r=399.290000, x=392.490000, y=-73.180000, z=-5.250000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,222617.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222617.00,,,,,0,00,,,M,,M,,*4A


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

: BluefinBatt Reply: $aaq0 d- 31.57  9.57 16.50 3.94 3.96 0  1279.70 06:23:38 m

: Sonardyne - POS response: 
POS V4,1 R396.57,X-178.19,Y48.84,Z-350.90

: Sonardyne - parsing R396.57,X-178.19,Y48.84,Z-350.90

: Sonardyne - read R = 396.570000 from 396.57,X-178.19,Y48.84,Z-350.90

: Sonardyne - got all data, Vehicle coordinates,
    r=396.570000, x=350.900000, y=-178.190000, z=-48.840000 tat = 1010
: AshtechGps::processRecord() - $GPGGA,222618.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222618.00,,,,,0,00,,,M,,M,,*45


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

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,222619.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222619.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R394.98

: Sonardyne - parsing R394.98

: Sonardyne - read R = 394.980000 from 394.98

: Sonardyne - got range only (394.980000), tat = 980
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.9,N32.4,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.9,N32.4,D-19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222620.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222620.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222621.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222621.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222622.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222622.00,,,,,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,N12.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222623.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222623.00,,,,,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,222624.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222624.00,,,,,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,222625.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222625.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,222626.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222626.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222627.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222627.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.53 11.45 16.60 3.94 3.96 0  1278.66 06:23:48 m

: AshtechGps::processRecord() - $GPGGA,222628.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222628.00,,,,,0,00,,,M,,M,,*46


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

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,222629.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222629.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222630.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222630.00,,,,,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,222631.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222631.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222632.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222632.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222633.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222633.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222634.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222634.00,,,,,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,222635.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222635.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,222636.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222636.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N13.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222637.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222637.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 31.57  9.60 16.60 3.94 3.96 0  1277.94 06:23:58 m

: AshtechGps::processRecord() - $GPGGA,222638.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222638.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R382.47

: Sonardyne - parsing R382.47

: Sonardyne - read R = 382.470000 from 382.47

: Sonardyne - got range only (382.470000), tat = 960
: Sonardyne - POSD response: 
POSD S113.9,N15.7,D-98,U1,Q0.005888

: Sonardyne - POSD response: 
POSD S113.9,N15.7,D-98,U1,Q0.005888

:  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 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,222639.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222639.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R380.68

: Sonardyne - parsing R380.68

: Sonardyne - read R = 380.680000 from 380.68

: Sonardyne - got range only (380.680000), tat = 960
: Sonardyne - POSD response: 
POSD S121.7,N28.6,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N28.6,D-39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222640.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222640.00,,,,,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,222641.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222641.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R379.32

: Sonardyne - parsing R379.32

: Sonardyne - read R = 379.320000 from 379.32

: Sonardyne - got range only (379.320000), tat = 960
: Sonardyne - POSD response: 
POSD S123.6,N30.9,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.6,N30.9,D14,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,222642.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222642.00,,,,,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 R377.21,X-235.57,Y35.48,Z-292.47

: Sonardyne - parsing R377.21,X-235.57,Y35.48,Z-292.47

: Sonardyne - read R = 377.210000 from 377.21,X-235.57,Y35.48,Z-292.47

: Sonardyne - got all data, Vehicle coordinates,
    r=377.210000, x=292.470000, y=-235.570000, z=-35.480000 tat = 990
: AshtechGps::processRecord() - $GPGGA,222643.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222643.00,,,,,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 R376.27,X-224.86,Y34.16,Z-299.74

: Sonardyne - parsing R376.27,X-224.86,Y34.16,Z-299.74

: Sonardyne - read R = 376.270000 from 376.27,X-224.86,Y34.16,Z-299.74

: Sonardyne - got all data, Vehicle coordinates,
    r=376.270000, x=299.740000, y=-224.860000, z=-34.160000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222644.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222644.00,,,,,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 R374.93,X-215.38,Y28.33,Z-305.59

: Sonardyne - parsing R374.93,X-215.38,Y28.33,Z-305.59

: Sonardyne - read R = 374.930000 from 374.93,X-215.38,Y28.33,Z-305.59

: Sonardyne - got all data, Vehicle coordinates,
    r=374.930000, x=305.590000, y=-215.380000, z=-28.330000 tat = 990
: AshtechGps::processRecord() - $GPGGA,222645.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222645.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R372.95,X-206.59,Y26.01,Z-309.41

: Sonardyne - parsing R372.95,X-206.59,Y26.01,Z-309.41

: Sonardyne - read R = 372.950000 from 372.95,X-206.59,Y26.01,Z-309.41

: Sonardyne - got all data, Vehicle coordinates,
    r=372.950000, x=309.410000, y=-206.590000, z=-26.010000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222646.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222646.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R371.58,X-201.14,Y23.86,Z-311.52

: Sonardyne - parsing R371.58,X-201.14,Y23.86,Z-311.52

: Sonardyne - read R = 371.580000 from 371.58,X-201.14,Y23.86,Z-311.52

: Sonardyne - got all data, Vehicle coordinates,
    r=371.580000, x=311.520000, y=-201.140000, z=-23.860000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222647.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222647.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 31.57  9.30 16.60 3.93 3.96 0  1276.98 06:24:08 m

: Sonardyne - POS response: 
POS V4,1 R370.07,X-198.36,Y24.42,Z-311.46

: Sonardyne - parsing R370.07,X-198.36,Y24.42,Z-311.46

: Sonardyne - read R = 370.070000 from 370.07,X-198.36,Y24.42,Z-311.46

: Sonardyne - got all data, Vehicle coordinates,
    r=370.070000, x=311.460000, y=-198.360000, z=-24.420000 tat = 980
: AshtechGps::processRecord() - $GPGGA,222648.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222648.00,,,,,0,00,,,M,,M,,*40


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

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POS response: 
POS V4,1 R368.44,X-195.80,Y25.66,Z-311.05

: Sonardyne - parsing R368.44,X-195.80,Y25.66,Z-311.05

: Sonardyne - read R = 368.440000 from 368.44,X-195.80,Y25.66,Z-311.05

: Sonardyne - got all data, Vehicle coordinates,
    r=368.440000, x=311.050000, y=-195.800000, z=-25.660000 tat = 970
: AshtechGps::processRecord() - $GPGGA,222649.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222649.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R366.73,X-192.38,Y35.89,Z-310.15

: Sonardyne - parsing R366.73,X-192.38,Y35.89,Z-310.15

: Sonardyne - read R = 366.730000 from 366.73,X-192.38,Y35.89,Z-310.15

: Sonardyne - got all data, Vehicle coordinates,
    r=366.730000, x=310.150000, y=-192.380000, z=-35.890000 tat = 970
: AshtechGps::processRecord() - $GPGGA,222650.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222650.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R365.11,X-192.48,Y34.44,Z-308.34

: Sonardyne - parsing R365.11,X-192.48,Y34.44,Z-308.34

: Sonardyne - read R = 365.110000 from 365.11,X-192.48,Y34.44,Z-308.34

: Sonardyne - got all data, Vehicle coordinates,
    r=365.110000, x=308.340000, y=-192.480000, z=-34.440000 tat = 970
: AshtechGps::processRecord() - $GPGGA,222651.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222651.00,,,,,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 R363.41,X-190.58,Y41.20,Z-306.68

: Sonardyne - parsing R363.41,X-190.58,Y41.20,Z-306.68

: Sonardyne - read R = 363.410000 from 363.41,X-190.58,Y41.20,Z-306.68

: Sonardyne - got all data, Vehicle coordinates,
    r=363.410000, x=306.680000, y=-190.580000, z=-41.200000 tat = 970
: AshtechGps::processRecord() - $GPGGA,222652.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222652.00,,,,,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 R362.03,X-190.30,Y41.13,Z-305.22

: Sonardyne - parsing R362.03,X-190.30,Y41.13,Z-305.22

: Sonardyne - read R = 362.030000 from 362.03,X-190.30,Y41.13,Z-305.22

: Sonardyne - got all data, Vehicle coordinates,
    r=362.030000, x=305.220000, y=-190.300000, z=-41.130000 tat = 960
: AshtechGps::processRecord() - $GPGGA,222653.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222653.00,,,,,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 R360.53,X-190.53,Y26.38,Z-304.93

: Sonardyne - parsing R360.53,X-190.53,Y26.38,Z-304.93

: Sonardyne - read R = 360.530000 from 360.53,X-190.53,Y26.38,Z-304.93

: Sonardyne - got all data, Vehicle coordinates,
    r=360.530000, x=304.930000, y=-190.530000, z=-26.380000 tat = 959
: AshtechGps::processRecord() - $GPGGA,222654.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222654.00,,,,,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 R358.90,X-191.76,Y21.82,Z-302.60

: Sonardyne - parsing R358.90,X-191.76,Y21.82,Z-302.60

: Sonardyne - read R = 358.900000 from 358.90,X-191.76,Y21.82,Z-302.60

: Sonardyne - got all data, Vehicle coordinates,
    r=358.900000, x=302.600000, y=-191.760000, z=-21.820000 tat = 960
: AshtechGps::processRecord() - $GPGGA,222655.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222655.00,,,,,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,222656.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222656.00,,,,,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,222657.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222657.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.49  9.60 16.60 3.93 3.96 0  1276.32 06:24:18 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-33.7,N18.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-33.7,N18.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222658.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222658.00,,,,,0,00,,,M,,M,,*41


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

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: AshtechGps::processRecord() - $GPGGA,222659.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222659.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R351.57,X-186.88,Y23.38,Z-296.87

: Sonardyne - parsing R351.57,X-186.88,Y23.38,Z-296.87

: Sonardyne - read R = 351.570000 from 351.57,X-186.88,Y23.38,Z-296.87

: Sonardyne - got all data, Vehicle coordinates,
    r=351.570000, x=296.870000, y=-186.880000, z=-23.380000 tat = 950
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222700.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222700.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R350.00,X-186.07,Y13.97,Z-296.12

: Sonardyne - parsing R350.00,X-186.07,Y13.97,Z-296.12

: Sonardyne - read R = 350.000000 from 350.00,X-186.07,Y13.97,Z-296.12

: Sonardyne - got all data, Vehicle coordinates,
    r=350.000000, x=296.120000, y=-186.070000, z=-13.970000 tat = 940
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222701.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222701.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,222702.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222702.00,,,,,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,222703.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222703.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222704.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222704.00,,,,,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 R343.68,X-185.15,Y14.35,Z-289.18

: Sonardyne - parsing R343.68,X-185.15,Y14.35,Z-289.18

: Sonardyne - read R = 343.680000 from 343.68,X-185.15,Y14.35,Z-289.18

: Sonardyne - got all data, Vehicle coordinates,
    r=343.680000, x=289.180000, y=-185.150000, z=-14.350000 tat = 940
: AshtechGps::processRecord() - $GPGGA,222705.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222705.00,,,,,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 R342.09,X-185.24,Y23.81,Z-286.60

: Sonardyne - parsing R342.09,X-185.24,Y23.81,Z-286.60

: Sonardyne - read R = 342.090000 from 342.09,X-185.24,Y23.81,Z-286.60

: Sonardyne - got all data, Vehicle coordinates,
    r=342.090000, x=286.600000, y=-185.240000, z=-23.810000 tat = 940
: AshtechGps::processRecord() - $GPGGA,222706.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222706.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R340.28,X-185.06,Y25.96,Z-284.37

: Sonardyne - parsing R340.28,X-185.06,Y25.96,Z-284.37

: Sonardyne - read R = 340.280000 from 340.28,X-185.06,Y25.96,Z-284.37

: Sonardyne - got all data, Vehicle coordinates,
    r=340.280000, x=284.370000, y=-185.060000, z=-25.960000 tat = 940
: AshtechGps::processRecord() - $GPGGA,222707.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222707.00,,,,,0,00,,,M,,M,,*4A


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

: BluefinBatt Reply: $aaq0 d- 31.53  9.43 16.60 3.93 3.96 0  1275.34 06:24:28 m

: Sonardyne - POS response: 
POS V4,1 R338.32,X-186.00,Y44.08,Z-279.15

: Sonardyne - parsing R338.32,X-186.00,Y44.08,Z-279.15

: Sonardyne - read R = 338.320000 from 338.32,X-186.00,Y44.08,Z-279.15

: Sonardyne - got all data, Vehicle coordinates,
    r=338.320000, x=279.150000, y=-186.000000, z=-44.080000 tat = 929
: AshtechGps::processRecord() - $GPGGA,222708.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222708.00,,,,,0,00,,,M,,M,,*45


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

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POS response: 
POS V4,1 R336.78,X-185.73,Y21.69,Z-280.10

: Sonardyne - parsing R336.78,X-185.73,Y21.69,Z-280.10

: Sonardyne - read R = 336.780000 from 336.78,X-185.73,Y21.69,Z-280.10

: Sonardyne - got all data, Vehicle coordinates,
    r=336.780000, x=280.100000, y=-185.730000, z=-21.690000 tat = 930
: AshtechGps::processRecord() - $GPGGA,222709.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222709.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R335.27,X-184.04,Y11.50,Z-280.00

: Sonardyne - parsing R335.27,X-184.04,Y11.50,Z-280.00

: Sonardyne - read R = 335.270000 from 335.27,X-184.04,Y11.50,Z-280.00

: Sonardyne - got all data, Vehicle coordinates,
    r=335.270000, x=280.000000, y=-184.040000, z=-11.500000 tat = 930
: AshtechGps::processRecord() - $GPGGA,222710.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222710.00,,,,,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 R334.06

: Sonardyne - parsing R334.06

: Sonardyne - read R = 334.060000 from 334.06

: Sonardyne - got range only (334.060000), tat = 900
: Sonardyne - POSD response: 
POSD S121.2,N25.5,D-83,U5,Q0.008189

: Sonardyne - POSD response: 
POSD S121.2,N25.5,D-83,U5,Q0.008189

: AshtechGps::processRecord() - $GPGGA,222711.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222711.00,,,,,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,222712.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222712.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R331.84,X-182.29,Y31.72,Z-275.47

: Sonardyne - parsing R331.84,X-182.29,Y31.72,Z-275.47

: Sonardyne - read R = 331.840000 from 331.84,X-182.29,Y31.72,Z-275.47

: Sonardyne - got all data, Vehicle coordinates,
    r=331.840000, x=275.470000, y=-182.290000, z=-31.720000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222713.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222713.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,222714.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222714.00,,,,,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,222715.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222715.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,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,222716.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222716.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R325.55,X-181.64,Y16.85,Z-269.64

: Sonardyne - parsing R325.55,X-181.64,Y16.85,Z-269.64

: Sonardyne - read R = 325.550000 from 325.55,X-181.64,Y16.85,Z-269.64

: Sonardyne - got all data, Vehicle coordinates,
    r=325.550000, x=269.640000, y=-181.640000, z=-16.850000 tat = 910
: AshtechGps::processRecord() - $GPGGA,222717.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222717.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.53  9.63 16.60 3.93 3.96 0  1274.66 06:24:38 m

: Sonardyne - POS response: 
POS V4,1 R323.84,X-183.41,Y17.75,Z-266.31

: Sonardyne - parsing R323.84,X-183.41,Y17.75,Z-266.31

: Sonardyne - read R = 323.840000 from 323.84,X-183.41,Y17.75,Z-266.31

: Sonardyne - got all data, Vehicle coordinates,
    r=323.840000, x=266.310000, y=-183.410000, z=-17.750000 tat = 920
: AshtechGps::processRecord() - $GPGGA,222718.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222718.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R321.46

: Sonardyne - parsing R321.46

: Sonardyne - read R = 321.460000 from 321.46

: Sonardyne - got range only (321.460000), tat = 880
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S122.4,N22.0,D-42,U1,Q0.008539

: Sonardyne - POSD response: 
POSD S122.4,N22.0,D-42,U1,Q0.008539

: AshtechGps::processRecord() - $GPGGA,222719.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222719.00,,,,,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,222720.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222720.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R319.77,X-183.05,Y-13.81,Z-261.82

: Sonardyne - parsing R319.77,X-183.05,Y-13.81,Z-261.82

: Sonardyne - read R = 319.770000 from 319.77,X-183.05,Y-13.81,Z-261.82

: Sonardyne - got all data, Vehicle coordinates,
    r=319.770000, x=261.820000, y=-183.050000, z=13.810000 tat = 910
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222721.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222721.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,222722.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222722.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222723.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222723.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-38.8,N16.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-38.8,N16.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222724.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222724.00,,,,,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 R313.29,X-181.71,Y3.99,Z-255.18

: Sonardyne - parsing R313.29,X-181.71,Y3.99,Z-255.18

: Sonardyne - read R = 313.290000 from 313.29,X-181.71,Y3.99,Z-255.18

: Sonardyne - got all data, Vehicle coordinates,
    r=313.290000, x=255.180000, y=-181.710000, z=-3.990000 tat = 900
: AshtechGps::processRecord() - $GPGGA,222725.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222725.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R311.59

: Sonardyne - parsing R311.59

: Sonardyne - read R = 311.590000 from 311.59

: Sonardyne - got range only (311.590000), tat = 870
: Sonardyne - POSD response: 
POSD S120.5,N19.6,D-122,U1,Q0.015155

: Sonardyne - POSD response: 
POSD S120.5,N19.6,D-122,U1,Q0.015155

: AshtechGps::processRecord() - $GPGGA,222726.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222726.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R310.53,X-184.66,Y10.58,Z-249.44

: Sonardyne - parsing R310.53,X-184.66,Y10.58,Z-249.44

: Sonardyne - read R = 310.530000 from 310.53,X-184.66,Y10.58,Z-249.44

: Sonardyne - got all data, Vehicle coordinates,
    r=310.530000, x=249.440000, y=-184.660000, z=-10.580000 tat = 890
: AshtechGps::processRecord() - $GPGGA,222727.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222727.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R309.12

: Sonardyne - parsing R309.12

: Sonardyne - read R = 309.120000 from 309.12

: Sonardyne - got range only (309.120000), tat = 870
: BluefinBatt Reply: $aaq0 d- 31.53  9.77 16.60 3.93 3.96 0  1273.68 06:24:48 m

: Sonardyne - POSD response: 
POSD S127.5,N28.0,D50,U3,Q0.016486

: Sonardyne - POSD response: 
POSD S127.5,N28.0,D50,U3,Q0.016486

: AshtechGps::processRecord() - $GPGGA,222728.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222728.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R310.75

: Sonardyne - parsing R310.75

: Sonardyne - read R = 310.750000 from 310.75

: Sonardyne - got range only (310.750000), tat = 870
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S116.8,N19.2,D28,U1,Q0.017895

: Sonardyne - POSD response: 
POSD S116.8,N19.2,D28,U1,Q0.017895

: AshtechGps::processRecord() - $GPGGA,222729.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222729.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R305.62

: Sonardyne - parsing R305.62

: Sonardyne - read R = 305.620000 from 305.62

: Sonardyne - got range only (305.620000), tat = 860
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.8,N18.6,D-45,U4,Q0.010483

: Sonardyne - POSD response: 
POSD S123.8,N18.6,D-45,U4,Q0.010483

: AshtechGps::processRecord() - $GPGGA,222730.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222730.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R304.15

: Sonardyne - parsing R304.15

: Sonardyne - read R = 304.150000 from 304.15

: Sonardyne - got range only (304.150000), tat = 860
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.9,N24.6,D-31,U1,Q0.007356

: Sonardyne - POSD response: 
POSD S126.9,N24.6,D-31,U1,Q0.007356

: AshtechGps::processRecord() - $GPGGA,222731.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222731.00,,,,,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 R302.61,X-184.35,Y31.05,Z-237.95

: Sonardyne - parsing R302.61,X-184.35,Y31.05,Z-237.95

: Sonardyne - read R = 302.610000 from 302.61,X-184.35,Y31.05,Z-237.95

: Sonardyne - got all data, Vehicle coordinates,
    r=302.610000, x=237.950000, y=-184.350000, z=-31.050000 tat = 880
: AshtechGps::processRecord() - $GPGGA,222732.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222732.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R301.02,X-185.21,Y32.76,Z-235.02

: Sonardyne - parsing R301.02,X-185.21,Y32.76,Z-235.02

: Sonardyne - read R = 301.020000 from 301.02,X-185.21,Y32.76,Z-235.02

: Sonardyne - got all data, Vehicle coordinates,
    r=301.020000, x=235.020000, y=-185.210000, z=-32.760000 tat = 880
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222733.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222733.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.67

: Sonardyne - parsing R299.67

: Sonardyne - read R = 299.670000 from 299.67

: Sonardyne - got range only (299.670000), tat = 850
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S130.0,N29.5,D-23,U1,Q0.010669

: Sonardyne - POSD response: 
POSD S130.0,N29.5,D-23,U1,Q0.010669

: AshtechGps::processRecord() - $GPGGA,222734.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222734.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.37

: Sonardyne - parsing R298.37

: Sonardyne - read R = 298.370000 from 298.37

: Sonardyne - got range only (298.370000), tat = 850
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S131.8,N28.9,D-42,U4,Q0.010967

: Sonardyne - POSD response: 
POSD S131.8,N28.9,D-42,U4,Q0.010967

: AshtechGps::processRecord() - $GPGGA,222735.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222735.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.12

: Sonardyne - parsing R297.12

: Sonardyne - read R = 297.120000 from 297.12

: Sonardyne - got range only (297.120000), tat = 850
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S131.9,N26.8,D-26,U1,Q0.010759

: Sonardyne - POSD response: 
POSD S131.9,N26.8,D-26,U1,Q0.010759

: AshtechGps::processRecord() - $GPGGA,222736.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222736.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R295.91

: Sonardyne - parsing R295.91

: Sonardyne - read R = 295.910000 from 295.91

: Sonardyne - got range only (295.910000), tat = 850
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S131.3,N27.1,D-56,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.3,N27.1,D-56,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222737.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222737.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R294.82

: Sonardyne - parsing R294.82

: Sonardyne - read R = 294.820000 from 294.82

: Sonardyne - got range only (294.820000), tat = 850
: BluefinBatt Reply: $aaq0 d- 31.57  8.66 16.60 3.93 3.96 0  1273.04 06:24:58 m

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

: Sonardyne - POSD response: 
POSD S132.7,N31.1,D-25,U1,Q0.011843

: Sonardyne - POSD response: 
POSD S132.7,N31.1,D-25,U1,Q0.011843

: AshtechGps::processRecord() - $GPGGA,222738.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222738.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R293.35

: Sonardyne - parsing R293.35

: Sonardyne - read R = 293.350000 from 293.35

: Sonardyne - got range only (293.350000), tat = 840
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S131.8,N30.1,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S131.8,N30.1,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222739.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222739.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.02

: Sonardyne - parsing R292.02

: Sonardyne - read R = 292.020000 from 292.02

: Sonardyne - got range only (292.020000), tat = 840
: Sonardyne - POSD response: 
POSD S132.9,N25.1,D-46,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 S132.9,N25.1,D-46,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222740.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222740.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R290.45

: Sonardyne - parsing R290.45

: Sonardyne - read R = 290.450000 from 290.45

: Sonardyne - got range only (290.450000), tat = 840
: Sonardyne - POSD response: 
POSD S132.3,N25.2,D-53,U2,Q0.010214

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

: Sonardyne - POSD response: 
POSD S132.3,N25.2,D-53,U2,Q0.010214

: AshtechGps::processRecord() - $GPGGA,222741.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222741.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R289.04,X-181.71,Y22.41,Z-223.66

: Sonardyne - parsing R289.04,X-181.71,Y22.41,Z-223.66

: Sonardyne - read R = 289.040000 from 289.04,X-181.71,Y22.41,Z-223.66

: Sonardyne - got all data, Vehicle coordinates,
    r=289.040000, x=223.660000, y=-181.710000, z=-22.410000 tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222742.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222742.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R287.85,X-181.61,Y24.84,Z-221.95

: Sonardyne - parsing R287.85,X-181.61,Y24.84,Z-221.95

: Sonardyne - read R = 287.850000 from 287.85,X-181.61,Y24.84,Z-221.95

: Sonardyne - got all data, Vehicle coordinates,
    r=287.850000, x=221.950000, y=-181.610000, z=-24.840000 tat = 860
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222743.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222743.00,,,,,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,222744.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222744.00,,,,,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,222745.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222745.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222746.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222746.00,,,,,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,222747.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222747.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R282.24

: Sonardyne - parsing R282.24

: Sonardyne - read R = 282.240000 from 282.24

: Sonardyne - got range only (282.240000), tat = 830
: Sonardyne - POSD response: 
POSD S125.8,N23.5,D112,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N23.5,D112,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.49  9.83 16.60 3.93 3.96 0  1272.07 06:25:08 m

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

: AshtechGps::processRecord() - $GPGGA,222748.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222748.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

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

: AshtechGps::processRecord() - $GPGGA,222749.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222749.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,222750.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222750.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,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,222751.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222751.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.17

: Sonardyne - parsing R279.17

: Sonardyne - read R = 279.170000 from 279.17

: Sonardyne - got range only (279.170000), tat = 829
: Sonardyne - POSD response: 
POSD S120.1,N25.4,D-63,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.1,N25.4,D-63,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,222752.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222752.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R274.64

: Sonardyne - parsing R274.64

: Sonardyne - read R = 274.640000 from 274.64

: Sonardyne - got range only (274.640000), tat = 820
: Sonardyne - POSD response: 
POSD S128.3,N25.3,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.3,N25.3,D-31,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,222753.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222753.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R273.22

: Sonardyne - parsing R273.22

: Sonardyne - read R = 273.220000 from 273.22

: Sonardyne - got range only (273.220000), tat = 820
: Sonardyne - POSD response: 
POSD S129.0,N30.7,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.0,N30.7,D-6,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,222754.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,222754.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R271.83

: Sonardyne - parsing R271.83

: Sonardyne - read R = 271.830000 from 271.83

: Sonardyne - got range only (271.830000), tat = 820
: Sonardyne - POSD response: 
POSD S124.6,N29.1,D49,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.6,N29.1,D49,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,222755.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,222755.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R270.40

: Sonardyne - parsing R270.40

: Sonardyne - read R = 270.400000 from 270.40

: Sonardyne - got range only (270.400000), tat = 820
: Sonardyne - POSD response: 
POSD S120.5,N23.8,D-58,U4,Q0.007133

: Sonardyne - POSD response: 
POSD S120.5,N23.8,D-58,U4,Q0.007133

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

: AshtechGps::processRecord() - $GPGGA,222756.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222756.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R269.19

: Sonardyne - parsing R269.19

: Sonardyne - read R = 269.190000 from 269.19

: Sonardyne - got range only (269.190000), tat = 810
: Sonardyne - POSD response: 
POSD S125.8,N24.7,D-65,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N24.7,D-65,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,222757.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222757.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R268.16

: Sonardyne - parsing R268.16

: Sonardyne - read R = 268.160000 from 268.16

: Sonardyne - got range only (268.160000), tat = 810
: Sonardyne - POSD response: 
POSD S128.4,N29.5,D40,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.49  9.36 16.60 3.93 3.96 0  1271.45 06:25:18 m

: Sonardyne - POSD response: 
POSD S128.4,N29.5,D40,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,222758.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222758.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R267.27

: Sonardyne - parsing R267.27

: Sonardyne - read R = 267.270000 from 267.27

: Sonardyne - got range only (267.270000), tat = 810
: Sonardyne - POSD response: 
POSD S125.7,N28.4,D-15,U1,Q0.008397

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S125.7,N28.4,D-15,U1,Q0.008397

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

: AshtechGps::processRecord() - $GPGGA,222759.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222759.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R265.46

: Sonardyne - parsing R265.46

: Sonardyne - read R = 265.460000 from 265.46

: Sonardyne - got range only (265.460000), tat = 810
: Sonardyne - POSD response: 
POSD S125.8,N30.4,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N30.4,D3,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,222800.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222800.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R264.07

: Sonardyne - parsing R264.07

: Sonardyne - read R = 264.070000 from 264.07

: Sonardyne - got range only (264.070000), tat = 810
: Sonardyne - POSD response: 
POSD S126.6,N28.8,D51,U3,Q0.008755

: Sonardyne - POSD response: 
POSD S126.6,N28.8,D51,U3,Q0.008755

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

: AshtechGps::processRecord() - $GPGGA,222801.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222801.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R262.84

: Sonardyne - parsing R262.84

: Sonardyne - read R = 262.840000 from 262.84

: Sonardyne - got range only (262.840000), tat = 810
: Sonardyne - POSD response: 
POSD S128.9,N29.5,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.9,N29.5,D7,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,222802.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222802.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.62

: Sonardyne - parsing R261.62

: Sonardyne - read R = 261.620000 from 261.62

: Sonardyne - got range only (261.620000), tat = 800
: Sonardyne - POSD response: 
POSD S127.4,N31.3,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.4,N31.3,D19,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,222803.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222803.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R260.50

: Sonardyne - parsing R260.50

: Sonardyne - read R = 260.500000 from 260.50

: Sonardyne - got range only (260.500000), tat = 810
: Sonardyne - POSD response: 
POSD S130.4,N33.1,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.4,N33.1,D-22,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,222804.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222804.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R259.30

: Sonardyne - parsing R259.30

: Sonardyne - read R = 259.300000 from 259.30

: Sonardyne - got range only (259.300000), tat = 800
: Sonardyne - POSD response: 
POSD S130.9,N30.9,D-35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.9,N30.9,D-35,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222805.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222805.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R258.04

: Sonardyne - parsing R258.04

: Sonardyne - read R = 258.040000 from 258.04

: Sonardyne - got range only (258.040000), tat = 800
: Sonardyne - POSD response: 
POSD S127.9,N28.4,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.9,N28.4,D-34,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,222806.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222806.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R256.89

: Sonardyne - parsing R256.89

: Sonardyne - read R = 256.890000 from 256.89

: Sonardyne - got range only (256.890000), tat = 799
: Sonardyne - POSD response: 
POSD S127.1,N33.1,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.1,N33.1,D19,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,222807.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222807.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R255.62

: Sonardyne - parsing R255.62

: Sonardyne - read R = 255.620000 from 255.62

: Sonardyne - got range only (255.620000), tat = 800
: Sonardyne - POSD response: 
POSD S124.9,N31.4,D-22,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.53  8.28 16.69 3.93 3.96 0  1270.50 06:25:28 m

: Sonardyne - POSD response: 
POSD S124.9,N31.4,D-22,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,222808.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222808.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R254.27

: Sonardyne - parsing R254.27

: Sonardyne - read R = 254.270000 from 254.27

: Sonardyne - got range only (254.270000), tat = 790
: Sonardyne - POSD response: 
POSD S126.8,N27.6,D-8,U0,Q0.000000

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S126.8,N27.6,D-8,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,222809.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222809.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R252.94,X-186.34,Y27.77,Z-168.78

: Sonardyne - parsing R252.94,X-186.34,Y27.77,Z-168.78

: Sonardyne - read R = 252.940000 from 252.94,X-186.34,Y27.77,Z-168.78

: Sonardyne - got all data, Vehicle coordinates,
    r=252.940000, x=168.780000, y=-186.340000, z=-27.770000 tat = 820
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222810.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222810.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R251.62

: Sonardyne - parsing R251.62

: Sonardyne - read R = 251.620000 from 251.62

: Sonardyne - got range only (251.620000), tat = 790
: Sonardyne - POSD response: 
POSD S127.9,N31.4,D-9,U2,Q0.012170

: Sonardyne - POSD response: 
POSD S127.9,N31.4,D-9,U2,Q0.012170

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

: AshtechGps::processRecord() - $GPGGA,222811.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222811.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R250.51,X-187.38,Y18.58,Z-165.22

: Sonardyne - parsing R250.51,X-187.38,Y18.58,Z-165.22

: Sonardyne - read R = 250.510000 from 250.51,X-187.38,Y18.58,Z-165.22

: Sonardyne - got all data, Vehicle coordinates,
    r=250.510000, x=165.220000, y=-187.380000, z=-18.580000 tat = 810
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222812.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222812.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.38

: Sonardyne - parsing R249.38

: Sonardyne - read R = 249.380000 from 249.38

: Sonardyne - got range only (249.380000), tat = 790
: Sonardyne - POSD response: 
POSD S120.2,N24.4,D30,U4,Q0.009025

: Sonardyne - POSD response: 
POSD S120.2,N24.4,D30,U4,Q0.009025

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

: AshtechGps::processRecord() - $GPGGA,222813.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222813.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.29

: Sonardyne - parsing R248.29

: Sonardyne - read R = 248.290000 from 248.29

: Sonardyne - got range only (248.290000), tat = 790
: Sonardyne - POSD response: 
POSD S126.6,N30.5,D12,U4,Q0.010874

: Sonardyne - POSD response: 
POSD S126.6,N30.5,D12,U4,Q0.010874

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

: AshtechGps::processRecord() - $GPGGA,222814.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222814.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.19,X-188.64,Y27.68,Z-157.34

: Sonardyne - parsing R247.19,X-188.64,Y27.68,Z-157.34

: Sonardyne - read R = 247.190000 from 247.19,X-188.64,Y27.68,Z-157.34

: Sonardyne - got all data, Vehicle coordinates,
    r=247.190000, x=157.340000, y=-188.640000, z=-27.680000 tat = 810
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222815.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222815.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R246.03

: Sonardyne - parsing R246.03

: Sonardyne - read R = 246.030000 from 246.03

: Sonardyne - got range only (246.030000), tat = 780
: Sonardyne - POSD response: 
POSD S125.7,N29.5,D49,U1,Q0.012346

: Sonardyne - POSD response: 
POSD S125.7,N29.5,D49,U1,Q0.012346

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

: AshtechGps::processRecord() - $GPGGA,222816.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222816.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.88

: Sonardyne - parsing R244.88

: Sonardyne - read R = 244.880000 from 244.88

: Sonardyne - got range only (244.880000), tat = 780
: Sonardyne - POSD response: 
POSD S123.4,N24.6,D-2,U2,Q0.010480

: Sonardyne - POSD response: 
POSD S123.4,N24.6,D-2,U2,Q0.010480

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

: AshtechGps::processRecord() - $GPGGA,222817.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222817.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.83

: Sonardyne - parsing R243.83

: Sonardyne - read R = 243.830000 from 243.83

: Sonardyne - got range only (243.830000), tat = 780
: Sonardyne - POSD response: 
POSD S129.6,N26.7,D51,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.49  9.03 16.69 3.93 3.96 0  1269.83 06:25:38 m

: Sonardyne - POSD response: 
POSD S129.6,N26.7,D51,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,222818.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222818.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.80

: Sonardyne - parsing R242.80

: Sonardyne - read R = 242.800000 from 242.80

: Sonardyne - got range only (242.800000), tat = 780
: Sonardyne - POSD response: 
POSD S130.2,N25.6,D42,U0,Q0.000000

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: Sonardyne - POSD response: 
POSD S130.2,N25.6,D42,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,222819.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222819.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R241.82

: Sonardyne - parsing R241.82

: Sonardyne - read R = 241.820000 from 241.82

: Sonardyne - got range only (241.820000), tat = 780
: Sonardyne - POSD response: 
POSD S128.0,N29.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.0,N29.9,D-11,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,222820.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222820.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.83

: Sonardyne - parsing R240.83

: Sonardyne - read R = 240.830000 from 240.83

: Sonardyne - got range only (240.830000), tat = 779
: Sonardyne - POSD response: 
POSD S126.9,N26.5,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.9,N26.5,D28,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,222821.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222821.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.75

: Sonardyne - parsing R239.75

: Sonardyne - read R = 239.750000 from 239.75

: Sonardyne - got range only (239.750000), tat = 770
: Sonardyne - POSD response: 
POSD S127.0,N28.0,D-2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.0,N28.0,D-2,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,222822.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222822.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.65

: Sonardyne - parsing R238.65

: Sonardyne - read R = 238.650000 from 238.65

: Sonardyne - got range only (238.650000), tat = 770
: Sonardyne - POSD response: 
POSD S126.3,N26.4,D62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N26.4,D62,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,222823.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222823.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.57

: Sonardyne - parsing R237.57

: Sonardyne - read R = 237.570000 from 237.57

: Sonardyne - got range only (237.570000), tat = 780
: Sonardyne - POSD response: 
POSD S127.4,N26.7,D129,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.4,N26.7,D129,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,222824.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222824.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.48

: Sonardyne - parsing R236.48

: Sonardyne - read R = 236.480000 from 236.48

: Sonardyne - got range only (236.480000), tat = 770
: Sonardyne - POSD response: 
POSD S128.5,N25.5,D69,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.5,N25.5,D69,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,222825.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222825.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.46

: Sonardyne - parsing R235.46

: Sonardyne - read R = 235.460000 from 235.46

: Sonardyne - got range only (235.460000), tat = 770
: Sonardyne - POSD response: 
POSD S126.7,N25.8,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.7,N25.8,D34,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,222826.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222826.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.49

: Sonardyne - parsing R234.49

: Sonardyne - read R = 234.490000 from 234.49

: Sonardyne - got range only (234.490000), tat = 770
: Sonardyne - POSD response: 
POSD S128.8,N28.5,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.8,N28.5,D-18,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,222827.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222827.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R233.53

: Sonardyne - parsing R233.53

: Sonardyne - read R = 233.530000 from 233.53

: Sonardyne - got range only (233.530000), tat = 770
: Sonardyne - POSD response: 
POSD S128.4,N29.4,D24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.4,N29.4,D24,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.45  9.06 16.69 3.93 3.96 0  1268.92 06:25:48 m

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

: AshtechGps::processRecord() - $GPGGA,222828.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222828.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.60

: Sonardyne - parsing R232.60

: Sonardyne - read R = 232.600000 from 232.60

: Sonardyne - got range only (232.600000), tat = 760
: Sonardyne - POSD response: 
POSD S126.8,N30.3,D-1,U1,Q0.014933

: Sonardyne - POSD response: 
POSD S126.8,N30.3,D-1,U1,Q0.014933

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

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

: AshtechGps::processRecord() - $GPGGA,222829.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222829.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R231.62

: Sonardyne - parsing R231.62

: Sonardyne - read R = 231.620000 from 231.62

: Sonardyne - got range only (231.620000), tat = 760
: Sonardyne - POSD response: 
POSD S129.6,N29.4,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.6,N29.4,D16,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,222830.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222830.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.75

: Sonardyne - parsing R230.75

: Sonardyne - read R = 230.750000 from 230.75

: Sonardyne - got range only (230.750000), tat = 760
: Sonardyne - POSD response: 
POSD S122.3,N24.7,D-72,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N24.7,D-72,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,222831.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222831.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R229.76

: Sonardyne - parsing R229.76

: Sonardyne - read R = 229.760000 from 229.76

: Sonardyne - got range only (229.760000), tat = 760
: Sonardyne - POSD response: 
POSD S127.6,N22.5,D-81,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.6,N22.5,D-81,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,222832.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222832.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R228.99

: Sonardyne - parsing R228.99

: Sonardyne - read R = 228.990000 from 228.99

: Sonardyne - got range only (228.990000), tat = 760
: Sonardyne - POSD response: 
POSD S127.9,N23.3,D-41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.9,N23.3,D-41,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,222833.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222833.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R227.65

: Sonardyne - parsing R227.65

: Sonardyne - read R = 227.650000 from 227.65

: Sonardyne - got range only (227.650000), tat = 760
: Sonardyne - POSD response: 
POSD S125.4,N21.4,D-100,U2,Q0.017227

: Sonardyne - POSD response: 
POSD S125.4,N21.4,D-100,U2,Q0.017227

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

: AshtechGps::processRecord() - $GPGGA,222834.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222834.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R226.57

: Sonardyne - parsing R226.57

: Sonardyne - read R = 226.570000 from 226.57

: Sonardyne - got range only (226.570000), tat = 760
: Sonardyne - POSD response: 
POSD S127.8,N22.1,D-90,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S127.8,N22.1,D-90,U1,Q0.013585

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

: AshtechGps::processRecord() - $GPGGA,222835.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222835.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.60,X-190.13,Y32.92,Z-116.87

: Sonardyne - parsing R225.60,X-190.13,Y32.92,Z-116.87

: Sonardyne - read R = 225.600000 from 225.60,X-190.13,Y32.92,Z-116.87

: Sonardyne - got all data, Vehicle coordinates,
    r=225.600000, x=116.870000, y=-190.130000, z=-32.920000 tat = 779
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,222836.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222836.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R228.78

: Sonardyne - parsing R228.78

: Sonardyne - read R = 228.780000 from 228.78

: Sonardyne - got range only (228.780000), tat = 760
: Sonardyne - POSD response: 
POSD S116.0,N29.2,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.0,N29.2,D5,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,222837.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222837.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R223.85

: Sonardyne - parsing R223.85

: Sonardyne - read R = 223.850000 from 223.85

: Sonardyne - got range only (223.850000), tat = 800
: Sonardyne - POSD response: 
POSD S124.2,N29.0,D-13,U3,Q0.014524

: BluefinBatt Reply: $aaq0 d- 31.49  9.33 16.69 3.93 3.96 0  1268.30 06:25:58 m

: Sonardyne - POSD response: 
POSD S124.2,N29.0,D-13,U3,Q0.014524

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

: AshtechGps::processRecord() - $GPGGA,222838.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222838.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R223.01

: Sonardyne - parsing R223.01

: Sonardyne - read R = 223.010000 from 223.01

: Sonardyne - got range only (223.010000), tat = 750
: Sonardyne - POSD response: 
POSD S125.3,N27.4,D-19,U4,Q0.015748

: Sonardyne - POSD response: 
POSD S125.3,N27.4,D-19,U4,Q0.015748

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

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

: AshtechGps::processRecord() - $GPGGA,222839.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222839.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R222.05

: Sonardyne - parsing R222.05

: Sonardyne - read R = 222.050000 from 222.05

: Sonardyne - got range only (222.050000), tat = 750
: Sonardyne - POSD response: 
POSD S124.8,N27.2,D3,U4,Q0.016724

: Sonardyne - POSD response: 
POSD S124.8,N27.2,D3,U4,Q0.016724

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

: AshtechGps::processRecord() - $GPGGA,222840.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222840.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R221.05

: Sonardyne - parsing R221.05

: Sonardyne - read R = 221.050000 from 221.05

: Sonardyne - got range only (221.050000), tat = 750
: Sonardyne - POSD response: 
POSD S124.0,N28.7,D-24,U1,Q0.015386

: Sonardyne - POSD response: 
POSD S124.0,N28.7,D-24,U1,Q0.015386

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

: AshtechGps::processRecord() - $GPGGA,222841.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222841.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R220.21

: Sonardyne - parsing R220.21

: Sonardyne - read R = 220.210000 from 220.21

: Sonardyne - got range only (220.210000), tat = 750
: Sonardyne - POSD response: 
POSD S125.3,N30.2,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.3,N30.2,D22,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,222842.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222842.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R219.39

: Sonardyne - parsing R219.39

: Sonardyne - read R = 219.390000 from 219.39

: Sonardyne - got range only (219.390000), tat = 750
: Sonardyne - POSD response: 
POSD S123.9,N30.4,D37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.9,N30.4,D37,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,222843.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222843.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R218.59

: Sonardyne - parsing R218.59

: Sonardyne - read R = 218.590000 from 218.59

: Sonardyne - got range only (218.590000), tat = 740
: Sonardyne - POSD response: 
POSD S127.2,N33.1,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.2,N33.1,D1,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,222844.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222844.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R217.79

: Sonardyne - parsing R217.79

: Sonardyne - read R = 217.790000 from 217.79

: Sonardyne - got range only (217.790000), tat = 740
: Sonardyne - POSD response: 
POSD S123.4,N27.8,D-35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.4,N27.8,D-35,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222845.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222845.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.88

: Sonardyne - parsing R216.88

: Sonardyne - read R = 216.880000 from 216.88

: Sonardyne - got range only (216.880000), tat = 740
: Sonardyne - POSD response: 
POSD S122.1,N23.6,D-59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.1,N23.6,D-59,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,222846.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222846.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.63

: Sonardyne - parsing R216.63

: Sonardyne - read R = 216.630000 from 216.63

: Sonardyne - got range only (216.630000), tat = 740
: Sonardyne - POSD response: 
POSD S125.6,N20.5,D-108,U2,Q0.003367

: Sonardyne - POSD response: 
POSD S125.6,N20.5,D-108,U2,Q0.003367

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

: AshtechGps::processRecord() - $GPGGA,222847.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222847.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.18

: Sonardyne - parsing R216.18

: Sonardyne - read R = 216.180000 from 216.18

: Sonardyne - got range only (216.180000), tat = 740
: Sonardyne - POSD response: 
POSD S114.6,N18.6,D-53,U4,Q0.003302

: Sonardyne - POSD response: 
POSD S114.6,N18.6,D-53,U4,Q0.003302

: BluefinBatt Reply: $aaq0 d- 31.49  9.23 16.69 3.92 3.95 0  1267.35 06:26:08 m

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

: AshtechGps::processRecord() - $GPGGA,222848.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222848.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R215.70

: Sonardyne - parsing R215.70

: Sonardyne - read R = 215.700000 from 215.70

: Sonardyne - got range only (215.700000), tat = 740
: Sonardyne - POSD response: 
POSD S117.2,N24.3,D149,U5,Q0.004019

: Sonardyne - POSD response: 
POSD S117.2,N24.3,D149,U5,Q0.004019

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

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

: AshtechGps::processRecord() - $GPGGA,222849.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222849.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R213.46

: Sonardyne - parsing R213.46

: Sonardyne - read R = 213.460000 from 213.46

: Sonardyne - got range only (213.460000), tat = 740
: Sonardyne - POSD response: 
POSD S128.6,N28.5,D67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.6,N28.5,D67,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222850.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222850.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R212.65

: Sonardyne - parsing R212.65

: Sonardyne - read R = 212.650000 from 212.65

: Sonardyne - got range only (212.650000), tat = 740
: Sonardyne - POSD response: 
POSD S127.6,N27.2,D104,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.6,N27.2,D104,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,222851.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222851.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.95

: Sonardyne - parsing R211.95

: Sonardyne - read R = 211.950000 from 211.95

: Sonardyne - got range only (211.950000), tat = 740
: Sonardyne - POSD response: 
POSD S122.7,N21.9,D104,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.7,N21.9,D104,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,222852.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222852.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.40

: Sonardyne - parsing R211.40

: Sonardyne - read R = 211.400000 from 211.40

: Sonardyne - got range only (211.400000), tat = 740
: Sonardyne - POSD response: 
POSD S128.8,N28.9,D25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.8,N28.9,D25,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,222853.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222853.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.29

: Sonardyne - parsing R211.29

: Sonardyne - read R = 211.290000 from 211.29

: Sonardyne - got range only (211.290000), tat = 740
: Sonardyne - POSD response: 
POSD S128.4,N30.6,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.4,N30.6,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222854.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222854.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.84

: Sonardyne - parsing R210.84

: Sonardyne - read R = 210.840000 from 210.84

: Sonardyne - got range only (210.840000), tat = 730
: Sonardyne - POSD response: 
POSD S122.8,N28.0,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.8,N28.0,D41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222855.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222855.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R209.51

: Sonardyne - parsing R209.51

: Sonardyne - read R = 209.510000 from 209.51

: Sonardyne - got range only (209.510000), tat = 730
: Sonardyne - POSD response: 
POSD S128.7,N22.7,D-63,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N22.7,D-63,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222856.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222856.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R208.81

: Sonardyne - parsing R208.81

: Sonardyne - read R = 208.810000 from 208.81

: Sonardyne - got range only (208.810000), tat = 730
: Sonardyne - POSD response: 
POSD S124.7,N30.4,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.7,N30.4,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222857.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222857.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R208.06

: Sonardyne - parsing R208.06

: Sonardyne - read R = 208.060000 from 208.06

: Sonardyne - got range only (208.060000), tat = 730
: Sonardyne - POSD response: 
POSD S124.2,N33.8,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.2,N33.8,D15,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.45 10.00 16.69 3.92 3.95 0  1266.69 06:26:18 m

: AshtechGps::processRecord() - $GPGGA,222858.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222858.00,,,,,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 R207.40

: Sonardyne - parsing R207.40

: Sonardyne - read R = 207.400000 from 207.40

: Sonardyne - got range only (207.400000), tat = 730
: Sonardyne - POSD response: 
POSD S123.3,N27.6,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.3,N27.6,D-16,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,222859.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222859.00,,,,,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 R206.92

: Sonardyne - parsing R206.92

: Sonardyne - read R = 206.920000 from 206.92

: Sonardyne - got range only (206.920000), tat = 730
: Sonardyne - POSD response: 
POSD S126.6,N31.3,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N31.3,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222900.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222900.00,,,,,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 R206.06

: Sonardyne - parsing R206.06

: Sonardyne - read R = 206.060000 from 206.06

: Sonardyne - got range only (206.060000), tat = 730
: Sonardyne - POSD response: 
POSD S121.4,N27.0,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.4,N27.0,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222901.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222901.00,,,,,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 R205.51

: Sonardyne - parsing R205.51

: Sonardyne - read R = 205.510000 from 205.51

: Sonardyne - got range only (205.510000), tat = 730
: Sonardyne - POSD response: 
POSD S128.4,N31.7,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.4,N31.7,D1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222902.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222902.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R204.91

: Sonardyne - parsing R204.91

: Sonardyne - read R = 204.910000 from 204.91

: Sonardyne - got range only (204.910000), tat = 730
: Sonardyne - POSD response: 
POSD S124.6,N23.3,D-84,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.6,N23.3,D-84,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222903.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222903.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R204.34

: Sonardyne - parsing R204.34

: Sonardyne - read R = 204.340000 from 204.34

: Sonardyne - got range only (204.340000), tat = 730
: Sonardyne - POSD response: 
POSD S120.0,N24.0,D-59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.0,N24.0,D-59,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222904.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222904.00,,,,,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 R203.88

: Sonardyne - parsing R203.88

: Sonardyne - read R = 203.880000 from 203.88

: Sonardyne - got range only (203.880000), tat = 719
: Sonardyne - POSD response: 
POSD S122.1,N30.8,D30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.1,N30.8,D30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222905.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222905.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R203.46

: Sonardyne - parsing R203.46

: Sonardyne - read R = 203.460000 from 203.46

: Sonardyne - got range only (203.460000), tat = 730
: Sonardyne - POSD response: 
POSD S121.7,N22.0,D-111,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N22.0,D-111,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222906.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222906.00,,,,,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 R203.04

: Sonardyne - parsing R203.04

: Sonardyne - read R = 203.040000 from 203.04

: Sonardyne - got range only (203.040000), tat = 720
: Sonardyne - POSD response: 
POSD S124.9,N32.7,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.9,N32.7,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222907.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222907.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R202.53

: Sonardyne - parsing R202.53

: Sonardyne - read R = 202.530000 from 202.53

: Sonardyne - got range only (202.530000), tat = 720
: Sonardyne - POSD response: 
POSD S123.3,N23.9,D32,U1,Q0.009783

: Sonardyne - POSD response: 
POSD S123.3,N23.9,D32,U1,Q0.009783

: BluefinBatt Reply: $aaq0 d- 31.49  9.40 16.69 3.93 3.95 0  1265.70 06:26:28 m

: AshtechGps::processRecord() - $GPGGA,222908.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222908.00,,,,,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 R202.01

: Sonardyne - parsing R202.01

: Sonardyne - read R = 202.010000 from 202.01

: Sonardyne - got range only (202.010000), tat = 720
: Sonardyne - POSD response: 
POSD S120.8,N26.7,D38,U3,Q0.012403

: Sonardyne - POSD response: 
POSD S120.8,N26.7,D38,U3,Q0.012403

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: AshtechGps::processRecord() - $GPGGA,222909.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222909.00,,,,,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 R201.40

: Sonardyne - parsing R201.40

: Sonardyne - read R = 201.400000 from 201.40

: Sonardyne - got range only (201.400000), tat = 720
: Sonardyne - POSD response: 
POSD S119.4,N25.8,D-49,U4,Q0.012326

: Sonardyne - POSD response: 
POSD S119.4,N25.8,D-49,U4,Q0.012326

: AshtechGps::processRecord() - $GPGGA,222910.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222910.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R200.80,X-185.73,Y41.29,Z-64.19

: Sonardyne - parsing R200.80,X-185.73,Y41.29,Z-64.19

: Sonardyne - read R = 200.800000 from 200.80,X-185.73,Y41.29,Z-64.19

: Sonardyne - got all data, Vehicle coordinates,
    r=200.800000, x=64.190000, y=-185.730000, z=-41.290000 tat = 750
: AshtechGps::processRecord() - $GPGGA,222911.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222911.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R200.31

: Sonardyne - parsing R200.31

: Sonardyne - read R = 200.310000 from 200.31

: Sonardyne - got range only (200.310000), tat = 720
: Sonardyne - POSD response: 
POSD S113.7,N17.9,D4,U5,Q0.001692

: Sonardyne - POSD response: 
POSD S113.7,N17.9,D4,U5,Q0.001692

: AshtechGps::processRecord() - $GPGGA,222912.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222912.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R199.86

: Sonardyne - parsing R199.86

: Sonardyne - read R = 199.860000 from 199.86

: Sonardyne - got range only (199.860000), tat = 720
: Sonardyne - POSD response: 
POSD S122.5,N26.2,D23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N26.2,D23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222913.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222913.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R199.38

: Sonardyne - parsing R199.38

: Sonardyne - read R = 199.380000 from 199.38

: Sonardyne - got range only (199.380000), tat = 720
: Sonardyne - POSD response: 
POSD S122.9,N29.5,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.9,N29.5,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222914.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222914.00,,,,,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 R199.12

: Sonardyne - parsing R199.12

: Sonardyne - read R = 199.120000 from 199.12

: Sonardyne - got range only (199.120000), tat = 720
: Sonardyne - POSD response: 
POSD S123.0,N29.9,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.0,N29.9,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222915.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222915.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R198.82

: Sonardyne - parsing R198.82

: Sonardyne - read R = 198.820000 from 198.82

: Sonardyne - got range only (198.820000), tat = 720
: Sonardyne - POSD response: 
POSD S121.1,N30.1,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.1,N30.1,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222916.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222916.00,,,,,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 R198.51

: Sonardyne - parsing R198.51

: Sonardyne - read R = 198.510000 from 198.51

: Sonardyne - got range only (198.510000), tat = 720
: Sonardyne - POSD response: 
POSD S118.5,N24.3,D-74,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.5,N24.3,D-74,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222917.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222917.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R198.13

: Sonardyne - parsing R198.13

: Sonardyne - read R = 198.130000 from 198.13

: Sonardyne - got range only (198.130000), tat = 720
: Sonardyne - POSD response: 
POSD S117.9,N30.5,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.9,N30.5,D-10,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.45  9.19 16.69 3.93 3.95 0  1265.03 06:26:38 m

: AshtechGps::processRecord() - $GPGGA,222918.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,222918.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R197.70

: Sonardyne - parsing R197.70

: Sonardyne - read R = 197.700000 from 197.70

: Sonardyne - got range only (197.700000), tat = 720
: Sonardyne - POSD response: 
POSD S113.7,N18.3,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.7,N18.3,D-21,U0,Q0.000000

: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 239.19                                          (wplog)

: Vehicle Position is error is (0.2, 0.0)

: LayeredControl::execute() -- (t = 239.193614) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 239.20                            (wplog)
  The current location (N,E) = 4052381.2      , 600381.6         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.2 Degrees.

: LayeredControl::execute() -- (t = 239.203613) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,222919.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,222919.00,,,,,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 R197.21

: Sonardyne - parsing R197.21

: Sonardyne - read R = 197.210000 from 197.21

: Sonardyne - got range only (197.210000), tat = 719
: Sonardyne - POSD response: 
POSD S115.3,N21.3,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.3,N21.3,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222920.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222920.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R196.60

: Sonardyne - parsing R196.60

: Sonardyne - read R = 196.600000 from 196.60

: Sonardyne - got range only (196.600000), tat = 720
: Sonardyne - POSD response: 
POSD S120.2,N28.4,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.2,N28.4,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222921.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222921.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R195.97

: Sonardyne - parsing R195.97

: Sonardyne - read R = 195.970000 from 195.97

: Sonardyne - got range only (195.970000), tat = 720
: Sonardyne - POSD response: 
POSD S126.1,N22.5,D-90,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.1,N22.5,D-90,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222922.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222922.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R195.28

: Sonardyne - parsing R195.28

: Sonardyne - read R = 195.280000 from 195.28

: Sonardyne - got range only (195.280000), tat = 710
: Sonardyne - POSD response: 
POSD S122.9,N20.3,D-144,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.9,N20.3,D-144,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222923.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222923.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R194.62

: Sonardyne - parsing R194.62

: Sonardyne - read R = 194.620000 from 194.62

: Sonardyne - got range only (194.620000), tat = 710
: Sonardyne - POSD response: 
POSD S129.0,N22.6,D-76,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.0,N22.6,D-76,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222924.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222924.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R193.78

: Sonardyne - parsing R193.78

: Sonardyne - read R = 193.780000 from 193.78

: Sonardyne - got range only (193.780000), tat = 710
: Sonardyne - POSD response: 
POSD S134.1,N32.7,D-24,U1,Q0.009402

: Sonardyne - POSD response: 
POSD S134.1,N32.7,D-24,U1,Q0.009402

: AshtechGps::processRecord() - $GPGGA,222925.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222925.00,,,,,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 R192.77

: Sonardyne - parsing R192.77

: Sonardyne - read R = 192.770000 from 192.77

: Sonardyne - got range only (192.770000), tat = 710
: Sonardyne - POSD response: 
POSD S129.6,N21.7,D-116,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.6,N21.7,D-116,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,222926.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222926.00,,,,,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 R191.65,X-111.60,Y15.18,Z-155.06

: Sonardyne - parsing R191.65,X-111.60,Y15.18,Z-155.06

: Sonardyne - read R = 191.650000 from 191.65,X-111.60,Y15.18,Z-155.06

: Sonardyne - got all data, Vehicle coordinates,
    r=191.650000, x=155.060000, y=-111.600000, z=-15.180000 tat = 740
: AshtechGps::processRecord() - $GPGGA,222927.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222927.00,,,,,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 R190.34,X-94.24,Y9.97,Z-165.07

: Sonardyne - parsing R190.34,X-94.24,Y9.97,Z-165.07

: Sonardyne - read R = 190.340000 from 190.34,X-94.24,Y9.97,Z-165.07

: Sonardyne - got all data, Vehicle coordinates,
    r=190.340000, x=165.070000, y=-94.240000, z=-9.970000 tat = 730
: BluefinBatt Reply: $aaq0 d- 31.45  9.23 16.69 3.93 3.96 0  1264.09 06:26:48 m

: AshtechGps::processRecord() - $GPGGA,222928.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222928.00,,,,,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 R188.97,X-74.08,Y6.83,Z-173.71

: Sonardyne - parsing R188.97,X-74.08,Y6.83,Z-173.71

: Sonardyne - read R = 188.970000 from 188.97,X-74.08,Y6.83,Z-173.71

: Sonardyne - got all data, Vehicle coordinates,
    r=188.970000, x=173.710000, y=-74.080000, z=-6.830000 tat = 730
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: AshtechGps::processRecord() - $GPGGA,222929.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222929.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R187.49,X-49.02,Y2.46,Z-180.96

: Sonardyne - parsing R187.49,X-49.02,Y2.46,Z-180.96

: Sonardyne - read R = 187.490000 from 187.49,X-49.02,Y2.46,Z-180.96

: Sonardyne - got all data, Vehicle coordinates,
    r=187.490000, x=180.960000, y=-49.020000, z=-2.460000 tat = 730
: AshtechGps::processRecord() - $GPGGA,222930.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222930.00,,,,,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 R185.94,X-20.90,Y0.09,Z-184.76

: Sonardyne - parsing R185.94,X-20.90,Y0.09,Z-184.76

: Sonardyne - read R = 185.940000 from 185.94,X-20.90,Y0.09,Z-184.76

: Sonardyne - got all data, Vehicle coordinates,
    r=185.940000, x=184.760000, y=-20.900000, z=-0.090000 tat = 730
: AshtechGps::processRecord() - $GPGGA,222931.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222931.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R184.38,X-0.55,Y-4.71,Z-184.32

: Sonardyne - parsing R184.38,X-0.55,Y-4.71,Z-184.32

: Sonardyne - read R = 184.380000 from 184.38,X-0.55,Y-4.71,Z-184.32

: Sonardyne - got all data, Vehicle coordinates,
    r=184.380000, x=184.320000, y=-0.550000, z=4.710000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222932.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222932.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R185.85

: Sonardyne - parsing R185.85

: Sonardyne - read R = 185.850000 from 185.85

: Sonardyne - got range only (185.850000), tat = 700
: Sonardyne - POSD response: 
POSD S126.9,N21.5,D-3,U5,Q0.001168

: Sonardyne - POSD response: 
POSD S126.9,N21.5,D-3,U5,Q0.001168

: AshtechGps::processRecord() - $GPGGA,222933.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222933.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R181.45,X27.83,Y-8.54,Z-179.10

: Sonardyne - parsing R181.45,X27.83,Y-8.54,Z-179.10

: Sonardyne - read R = 181.450000 from 181.45,X27.83,Y-8.54,Z-179.10

: Sonardyne - got all data, Vehicle coordinates,
    r=181.450000, x=179.100000, y=27.830000, z=8.540000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222934.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222934.00,,,,,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 R180.03,X37.06,Y-11.06,Z-175.83

: Sonardyne - parsing R180.03,X37.06,Y-11.06,Z-175.83

: Sonardyne - read R = 180.030000 from 180.03,X37.06,Y-11.06,Z-175.83

: Sonardyne - got all data, Vehicle coordinates,
    r=180.030000, x=175.830000, y=37.060000, z=11.060000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222935.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222935.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R178.69,X43.57,Y-6.30,Z-173.18

: Sonardyne - parsing R178.69,X43.57,Y-6.30,Z-173.18

: Sonardyne - read R = 178.690000 from 178.69,X43.57,Y-6.30,Z-173.18

: Sonardyne - got all data, Vehicle coordinates,
    r=178.690000, x=173.180000, y=43.570000, z=6.300000 tat = 720
: AshtechGps::processRecord() - $GPGGA,222936.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222936.00,,,,,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 R177.36,X46.51,Y-6.41,Z-171.04

: Sonardyne - parsing R177.36,X46.51,Y-6.41,Z-171.04

: Sonardyne - read R = 177.360000 from 177.36,X46.51,Y-6.41,Z-171.04

: Sonardyne - got all data, Vehicle coordinates,
    r=177.360000, x=171.040000, y=46.510000, z=6.410000 tat = 710
: AshtechGps::processRecord() - $GPGGA,222937.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222937.00,,,,,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 R176.01,X48.32,Y0.90,Z-169.24

: Sonardyne - parsing R176.01,X48.32,Y0.90,Z-169.24

: Sonardyne - read R = 176.010000 from 176.01,X48.32,Y0.90,Z-169.24

: Sonardyne - got all data, Vehicle coordinates,
    r=176.010000, x=169.240000, y=48.320000, z=-0.900000 tat = 710
: BluefinBatt Reply: $aaq0 d- 31.45  9.06 16.69 3.93 3.96 0  1263.46 06:26:58 m

: AshtechGps::processRecord() - $GPGGA,222938.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,222938.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R174.45,X47.90,Y2.56,Z-167.73

: Sonardyne - parsing R174.45,X47.90,Y2.56,Z-167.73

: Sonardyne - read R = 174.450000 from 174.45,X47.90,Y2.56,Z-167.73

: Sonardyne - got all data, Vehicle coordinates,
    r=174.450000, x=167.730000, y=47.900000, z=-2.560000 tat = 710
: batts online 1, min cell voltage 3.930000, mean min cell voltage 3.930000

: AshtechGps::processRecord() - $GPGGA,222939.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,222939.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R172.73,X44.53,Y4.83,Z-166.82

: Sonardyne - parsing R172.73,X44.53,Y4.83,Z-166.82

: Sonardyne - read R = 172.730000 from 172.73,X44.53,Y4.83,Z-166.82

: Sonardyne - got all data, Vehicle coordinates,
    r=172.730000, x=166.820000, y=44.530000, z=-4.830000 tat = 710
: AshtechGps::processRecord() - $GPGGA,222940.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222940.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R171.02,X40.98,Y2.00,Z-166.02

: Sonardyne - parsing R171.02,X40.98,Y2.00,Z-166.02

: Sonardyne - read R = 171.020000 from 171.02,X40.98,Y2.00,Z-166.02

: Sonardyne - got all data, Vehicle coordinates,
    r=171.020000, x=166.020000, y=40.980000, z=-2.000000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222941.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222941.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R169.29,X36.68,Y6.27,Z-165.15

: Sonardyne - parsing R169.29,X36.68,Y6.27,Z-165.15

: Sonardyne - read R = 169.290000 from 169.29,X36.68,Y6.27,Z-165.15

: Sonardyne - got all data, Vehicle coordinates,
    r=169.290000, x=165.150000, y=36.680000, z=-6.270000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222942.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222942.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R167.71,X31.04,Y4.34,Z-164.76

: Sonardyne - parsing R167.71,X31.04,Y4.34,Z-164.76

: Sonardyne - read R = 167.710000 from 167.71,X31.04,Y4.34,Z-164.76

: Sonardyne - got all data, Vehicle coordinates,
    r=167.710000, x=164.760000, y=31.040000, z=-4.340000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222943.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222943.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R166.22,X26.38,Y5.96,Z-164.01

: Sonardyne - parsing R166.22,X26.38,Y5.96,Z-164.01

: Sonardyne - read R = 166.220000 from 166.22,X26.38,Y5.96,Z-164.01

: Sonardyne - got all data, Vehicle coordinates,
    r=166.220000, x=164.010000, y=26.380000, z=-5.960000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222944.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222944.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R164.76,X21.61,Y7.62,Z-163.16

: Sonardyne - parsing R164.76,X21.61,Y7.62,Z-163.16

: Sonardyne - read R = 164.760000 from 164.76,X21.61,Y7.62,Z-163.16

: Sonardyne - got all data, Vehicle coordinates,
    r=164.760000, x=163.160000, y=21.610000, z=-7.620000 tat = 700
: AshtechGps::processRecord() - $GPGGA,222945.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222945.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R163.24,X16.64,Y6.59,Z-162.26

: Sonardyne - parsing R163.24,X16.64,Y6.59,Z-162.26

: Sonardyne - read R = 163.240000 from 163.24,X16.64,Y6.59,Z-162.26

: Sonardyne - got all data, Vehicle coordinates,
    r=163.240000, x=162.260000, y=16.640000, z=-6.590000 tat = 690
: AshtechGps::processRecord() - $GPGGA,222946.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222946.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R161.71,X11.55,Y7.38,Z-161.12

: Sonardyne - parsing R161.71,X11.55,Y7.38,Z-161.12

: Sonardyne - read R = 161.710000 from 161.71,X11.55,Y7.38,Z-161.12

: Sonardyne - got all data, Vehicle coordinates,
    r=161.710000, x=161.120000, y=11.550000, z=-7.380000 tat = 690
: AshtechGps::processRecord() - $GPGGA,222947.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222947.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R160.13,X5.72,Y10.14,Z-159.70

: Sonardyne - parsing R160.13,X5.72,Y10.14,Z-159.70

: Sonardyne - read R = 160.130000 from 160.13,X5.72,Y10.14,Z-159.70

: Sonardyne - got all data, Vehicle coordinates,
    r=160.130000, x=159.700000, y=5.720000, z=-10.140000 tat = 690
: BluefinBatt Reply: $aaq0 d- 31.42  9.70 16.79 3.92 3.95 0  1262.50 06:27:08 m

: AshtechGps::processRecord() - $GPGGA,222948.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222948.00,,,,,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 R158.40,X0.04,Y8.73,Z-158.16

: Sonardyne - parsing R158.40,X0.04,Y8.73,Z-158.16

: Sonardyne - read R = 158.400000 from 158.40,X0.04,Y8.73,Z-158.16

: Sonardyne - got all data, Vehicle coordinates,
    r=158.400000, x=158.160000, y=0.040000, z=-8.730000 tat = 689
: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,222949.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222949.00,,,,,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 R156.68,X-5.45,Y10.67,Z-156.22

: Sonardyne - parsing R156.68,X-5.45,Y10.67,Z-156.22

: Sonardyne - read R = 156.680000 from 156.68,X-5.45,Y10.67,Z-156.22

: Sonardyne - got all data, Vehicle coordinates,
    r=156.680000, x=156.220000, y=-5.450000, z=-10.670000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222950.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,222950.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R155.01,X-8.98,Y9.70,Z-154.45

: Sonardyne - parsing R155.01,X-8.98,Y9.70,Z-154.45

: Sonardyne - read R = 155.010000 from 155.01,X-8.98,Y9.70,Z-154.45

: Sonardyne - got all data, Vehicle coordinates,
    r=155.010000, x=154.450000, y=-8.980000, z=-9.700000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222951.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,222951.00,,,,,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 R153.32,X-13.45,Y7.99,Z-152.52

: Sonardyne - parsing R153.32,X-13.45,Y7.99,Z-152.52

: Sonardyne - read R = 153.320000 from 153.32,X-13.45,Y7.99,Z-152.52

: Sonardyne - got all data, Vehicle coordinates,
    r=153.320000, x=152.520000, y=-13.450000, z=-7.990000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222952.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,222952.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R151.81,X-17.74,Y7.97,Z-150.56

: Sonardyne - parsing R151.81,X-17.74,Y7.97,Z-150.56

: Sonardyne - read R = 151.810000 from 151.81,X-17.74,Y7.97,Z-150.56

: Sonardyne - got all data, Vehicle coordinates,
    r=151.810000, x=150.560000, y=-17.740000, z=-7.970000 tat = 680
: AshtechGps::processRecord() - $GPGGA,222953.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,222953.00,,,,,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 R150.18,X-22.10,Y6.47,Z-148.40

: Sonardyne - parsing R150.18,X-22.10,Y6.47,Z-148.40

: Sonardyne - read R = 150.180000 from 150.18,X-22.10,Y6.47,Z-148.40

: Sonardyne - got all data, Vehicle coordinates,
    r=150.180000, x=148.400000, y=-22.100000, z=-6.470000 tat = 670
: AshtechGps::processRecord() - $GPGGA,222954.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,222954.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R148.54,X-27.20,Y4.65,Z-145.96

: Sonardyne - parsing R148.54,X-27.20,Y4.65,Z-145.96

: Sonardyne - read R = 148.540000 from 148.54,X-27.20,Y4.65,Z-145.96

: Sonardyne - got all data, Vehicle coordinates,
    r=148.540000, x=145.960000, y=-27.200000, z=-4.650000 tat = 670
: AshtechGps::processRecord() - $GPGGA,222955.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,222955.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R146.90,X-30.86,Y1.85,Z-143.61

: Sonardyne - parsing R146.90,X-30.86,Y1.85,Z-143.61

: Sonardyne - read R = 146.900000 from 146.90,X-30.86,Y1.85,Z-143.61

: Sonardyne - got all data, Vehicle coordinates,
    r=146.900000, x=143.610000, y=-30.860000, z=-1.850000 tat = 670
: AshtechGps::processRecord() - $GPGGA,222956.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,222956.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R145.22,X-34.04,Y0.84,Z-141.17

: Sonardyne - parsing R145.22,X-34.04,Y0.84,Z-141.17

: Sonardyne - read R = 145.220000 from 145.22,X-34.04,Y0.84,Z-141.17

: Sonardyne - got all data, Vehicle coordinates,
    r=145.220000, x=141.170000, y=-34.040000, z=-0.840000 tat = 670
: AshtechGps::processRecord() - $GPGGA,222957.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,222957.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R143.63,X-36.65,Y3.27,Z-138.84

: Sonardyne - parsing R143.63,X-36.65,Y3.27,Z-138.84

: Sonardyne - read R = 143.630000 from 143.63,X-36.65,Y3.27,Z-138.84

: Sonardyne - got all data, Vehicle coordinates,
    r=143.630000, x=138.840000, y=-36.650000, z=-3.270000 tat = 670
: BluefinBatt Reply: $aaq0 d- 31.45  8.96 16.69 3.92 3.95 0  1261.87 06:27:18 m

: AshtechGps::processRecord() - $GPGGA,222958.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,222958.00,,,,,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 R142.04,X-39.73,Y6.93,Z-136.19

: Sonardyne - parsing R142.04,X-39.73,Y6.93,Z-136.19

: Sonardyne - read R = 142.040000 from 142.04,X-39.73,Y6.93,Z-136.19

: Sonardyne - got all data, Vehicle coordinates,
    r=142.040000, x=136.190000, y=-39.730000, z=-6.930000 tat = 660
: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,222959.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,222959.00,,,,,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 R140.54,X-42.05,Y5.12,Z-134.00

: Sonardyne - parsing R140.54,X-42.05,Y5.12,Z-134.00

: Sonardyne - read R = 140.540000 from 140.54,X-42.05,Y5.12,Z-134.00

: Sonardyne - got all data, Vehicle coordinates,
    r=140.540000, x=134.000000, y=-42.050000, z=-5.120000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223000.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223000.00,,,,,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 R139.02,X-44.47,Y5.58,Z-131.60

: Sonardyne - parsing R139.02,X-44.47,Y5.58,Z-131.60

: Sonardyne - read R = 139.020000 from 139.02,X-44.47,Y5.58,Z-131.60

: Sonardyne - got all data, Vehicle coordinates,
    r=139.020000, x=131.600000, y=-44.470000, z=-5.580000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223001.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223001.00,,,,,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 R137.43,X-46.88,Y6.98,Z-128.99

: Sonardyne - parsing R137.43,X-46.88,Y6.98,Z-128.99

: Sonardyne - read R = 137.430000 from 137.43,X-46.88,Y6.98,Z-128.99

: Sonardyne - got all data, Vehicle coordinates,
    r=137.430000, x=128.990000, y=-46.880000, z=-6.980000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223002.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223002.00,,,,,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 R135.86,X-47.72,Y9.01,Z-126.89

: Sonardyne - parsing R135.86,X-47.72,Y9.01,Z-126.89

: Sonardyne - read R = 135.860000 from 135.86,X-47.72,Y9.01,Z-126.89

: Sonardyne - got all data, Vehicle coordinates,
    r=135.860000, x=126.890000, y=-47.720000, z=-9.010000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223003.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223003.00,,,,,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 R134.41,X-48.61,Y15.04,Z-124.41

: Sonardyne - parsing R134.41,X-48.61,Y15.04,Z-124.41

: Sonardyne - read R = 134.410000 from 134.41,X-48.61,Y15.04,Z-124.41

: Sonardyne - got all data, Vehicle coordinates,
    r=134.410000, x=124.410000, y=-48.610000, z=-15.040000 tat = 660
: AshtechGps::processRecord() - $GPGGA,223004.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223004.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.11

: Sonardyne - parsing R133.11

: Sonardyne - read R = 133.110000 from 133.11

: Sonardyne - got range only (133.110000), tat = 630
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S140.7,N21.3,D-108,U5,Q0.000611

: Sonardyne - POSD response: 
POSD S140.7,N21.3,D-108,U5,Q0.000611

: AshtechGps::processRecord() - $GPGGA,223005.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223005.00,,,,,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 R131.68,X-49.73,Y9.13,Z-121.59

: Sonardyne - parsing R131.68,X-49.73,Y9.13,Z-121.59

: Sonardyne - read R = 131.680000 from 131.68,X-49.73,Y9.13,Z-121.59

: Sonardyne - got all data, Vehicle coordinates,
    r=131.680000, x=121.590000, y=-49.730000, z=-9.130000 tat = 650
: AshtechGps::processRecord() - $GPGGA,223006.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223006.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.23,X-49.13,Y10.30,Z-120.16

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

: Sonardyne - parsing R130.23,X-49.13,Y10.30,Z-120.16

: Sonardyne - read R = 130.230000 from 130.23,X-49.13,Y10.30,Z-120.16

: Sonardyne - got all data, Vehicle coordinates,
    r=130.230000, x=120.160000, y=-49.130000, z=-10.300000 tat = 650
: AshtechGps::processRecord() - $GPGGA,223007.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223007.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.79,X-49.90,Y10.37,Z-118.27

: Sonardyne - parsing R128.79,X-49.90,Y10.37,Z-118.27

: Sonardyne - read R = 128.790000 from 128.79,X-49.90,Y10.37,Z-118.27

: Sonardyne - got all data, Vehicle coordinates,
    r=128.790000, x=118.270000, y=-49.900000, z=-10.370000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.45  9.26 16.79 3.92 3.94 0  1260.90 06:27:28 m

: AshtechGps::processRecord() - $GPGGA,223008.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223008.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.19,X-49.38,Y4.80,Z-117.11

: Sonardyne - parsing R127.19,X-49.38,Y4.80,Z-117.11

: Sonardyne - read R = 127.190000 from 127.19,X-49.38,Y4.80,Z-117.11

: Sonardyne - got all data, Vehicle coordinates,
    r=127.190000, x=117.110000, y=-49.380000, z=-4.800000 tat = 640
:  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 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,223009.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223009.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.74

: Sonardyne - parsing R128.74

: Sonardyne - read R = 128.740000 from 128.74

: Sonardyne - got range only (128.740000), tat = 620
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.7,N26.6,D-56,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.7,N26.6,D-56,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223010.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223010.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.89,X-50.80,Y8.93,Z-112.64

: Sonardyne - parsing R123.89,X-50.80,Y8.93,Z-112.64

: Sonardyne - read R = 123.890000 from 123.89,X-50.80,Y8.93,Z-112.64

: Sonardyne - got all data, Vehicle coordinates,
    r=123.890000, x=112.640000, y=-50.800000, z=-8.930000 tat = 640
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223011.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223011.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.22,X-51.38,Y6.12,Z-110.73

: Sonardyne - parsing R122.22,X-51.38,Y6.12,Z-110.73

: Sonardyne - read R = 122.220000 from 122.22,X-51.38,Y6.12,Z-110.73

: Sonardyne - got all data, Vehicle coordinates,
    r=122.220000, x=110.730000, y=-51.380000, z=-6.120000 tat = 640
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223012.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223012.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.87

: Sonardyne - parsing R123.87

: Sonardyne - read R = 123.870000 from 123.87

: Sonardyne - got range only (123.870000), tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.5,N19.4,D55,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S123.5,N19.4,D55,U1,Q0.017183

: AshtechGps::processRecord() - $GPGGA,223013.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223013.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.47,X-51.32,Y10.24,Z-107.40

: Sonardyne - parsing R119.47,X-51.32,Y10.24,Z-107.40

: Sonardyne - read R = 119.470000 from 119.47,X-51.32,Y10.24,Z-107.40

: Sonardyne - got all data, Vehicle coordinates,
    r=119.470000, x=107.400000, y=-51.320000, z=-10.240000 tat = 640
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223014.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223014.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.08,X-52.30,Y6.12,Z-105.69

: Sonardyne - parsing R118.08,X-52.30,Y6.12,Z-105.69

: Sonardyne - read R = 118.080000 from 118.08,X-52.30,Y6.12,Z-105.69

: Sonardyne - got all data, Vehicle coordinates,
    r=118.080000, x=105.690000, y=-52.300000, z=-6.120000 tat = 630
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223015.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223015.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.63,X-51.61,Y2.52,Z-104.56

: Sonardyne - parsing R116.63,X-51.61,Y2.52,Z-104.56

: Sonardyne - read R = 116.630000 from 116.63,X-51.61,Y2.52,Z-104.56

: Sonardyne - got all data, Vehicle coordinates,
    r=116.630000, x=104.560000, y=-51.610000, z=-2.520000 tat = 630
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223016.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223016.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.24,X-52.53,Y4.54,Z-102.47

: Sonardyne - parsing R115.24,X-52.53,Y4.54,Z-102.47

: Sonardyne - read R = 115.240000 from 115.24,X-52.53,Y4.54,Z-102.47

: Sonardyne - got all data, Vehicle coordinates,
    r=115.240000, x=102.470000, y=-52.530000, z=-4.540000 tat = 630
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223017.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223017.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.46

: Sonardyne - parsing R117.46

: Sonardyne - read R = 117.460000 from 117.46

: Sonardyne - got range only (117.460000), tat = 609
: Sonardyne - POSD response: 
POSD S127.7,N24.1,D-117,U5,Q0.008152

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

: Sonardyne - POSD response: 
POSD S127.7,N24.1,D-117,U5,Q0.008152

: BluefinBatt Reply: $aaq0 d- 31.49  9.09 16.79 3.92 3.94 0  1260.25 06:27:38 m

: AshtechGps::processRecord() - $GPGGA,223018.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,223018.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.58,X-53.29,Y14.66,Z-98.08

: Sonardyne - parsing R112.58,X-53.29,Y14.66,Z-98.08

: Sonardyne - read R = 112.580000 from 112.58,X-53.29,Y14.66,Z-98.08

: Sonardyne - got all data, Vehicle coordinates,
    r=112.580000, x=98.080000, y=-53.290000, z=-14.660000 tat = 630
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,223019.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223019.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.20,X-54.72,Y8.29,Z-96.45

: Sonardyne - parsing R111.20,X-54.72,Y8.29,Z-96.45

: Sonardyne - read R = 111.200000 from 111.20,X-54.72,Y8.29,Z-96.45

: Sonardyne - got all data, Vehicle coordinates,
    r=111.200000, x=96.450000, y=-54.720000, z=-8.290000 tat = 620
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223020.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223020.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.67,X-53.19,Y10.94,Z-95.28

: Sonardyne - parsing R109.67,X-53.19,Y10.94,Z-95.28

: Sonardyne - read R = 109.670000 from 109.67,X-53.19,Y10.94,Z-95.28

: Sonardyne - got all data, Vehicle coordinates,
    r=109.670000, x=95.280000, y=-53.190000, z=-10.940000 tat = 620
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223021.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223021.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.01,X-53.55,Y5.58,Z-93.63

: Sonardyne - parsing R108.01,X-53.55,Y5.58,Z-93.63

: Sonardyne - read R = 108.010000 from 108.01,X-53.55,Y5.58,Z-93.63

: Sonardyne - got all data, Vehicle coordinates,
    r=108.010000, x=93.630000, y=-53.550000, z=-5.580000 tat = 620
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223022.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223022.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.35,X-53.26,Y4.73,Z-91.93

: Sonardyne - parsing R106.35,X-53.26,Y4.73,Z-91.93

: Sonardyne - read R = 106.350000 from 106.35,X-53.26,Y4.73,Z-91.93

: Sonardyne - got all data, Vehicle coordinates,
    r=106.350000, x=91.930000, y=-53.260000, z=-4.730000 tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223023.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223023.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.84,X-52.61,Y2.79,Z-90.65

: Sonardyne - parsing R104.84,X-52.61,Y2.79,Z-90.65

: Sonardyne - read R = 104.840000 from 104.84,X-52.61,Y2.79,Z-90.65

: Sonardyne - got all data, Vehicle coordinates,
    r=104.840000, x=90.650000, y=-52.610000, z=-2.790000 tat = 610
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223024.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223024.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.53,X-52.45,Y5.71,Z-89.08

: Sonardyne - parsing R103.53,X-52.45,Y5.71,Z-89.08

: Sonardyne - read R = 103.530000 from 103.53,X-52.45,Y5.71,Z-89.08

: Sonardyne - got all data, Vehicle coordinates,
    r=103.530000, x=89.080000, y=-52.450000, z=-5.710000 tat = 620
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223025.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223025.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.12,X-51.96,Y8.09,Z-87.54

: Sonardyne - parsing R102.12,X-51.96,Y8.09,Z-87.54

: Sonardyne - read R = 102.120000 from 102.12,X-51.96,Y8.09,Z-87.54

: Sonardyne - got all data, Vehicle coordinates,
    r=102.120000, x=87.540000, y=-51.960000, z=-8.090000 tat = 610
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 306.40                                          (wplog)

: Vehicle Position is error is (-0.1, -0.4)

: LayeredControl::execute() -- (t = 306.399010) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 306.40                            (wplog)
  The current location (N,E) = 4052292.3      , 600427.1         (wplog)
  The next waypoint          = 4052143.0      , 600600.9         (wplog)
  The bearing to the next w.p. is 130.6 Degrees.

: WaypointHoming: The Usbl has aquired the transponder
  at t = 306.41          Seconds.
:   The vehicle position is is (4052292.3, 600427.1)

: LayeredControl::execute() -- (t = 306.409009) Behavior waypoint_homing has changed to state Active

: AshtechGps::processRecord() - $GPGGA,223026.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223026.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R100.85,X-52.11,Y5.68,Z-86.16

: Sonardyne - parsing R100.85,X-52.11,Y5.68,Z-86.16

: Sonardyne - read R = 100.850000 from 100.85,X-52.11,Y5.68,Z-86.16

: Sonardyne - got all data, Vehicle coordinates,
    r=100.850000, x=86.160000, y=-52.110000, z=-5.680000 tat = 610
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223027.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223027.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R99.47,X-51.67,Y7.92,Z-84.63

: Sonardyne - parsing R99.47,X-51.67,Y7.92,Z-84.63

: Sonardyne - read R = 99.470000 from 99.47,X-51.67,Y7.92,Z-84.63

: Sonardyne - got all data, Vehicle coordinates,
    r=99.470000, x=84.630000, y=-51.670000, z=-7.920000 tat = 610
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.45  9.57 16.79 3.92 3.95 0  1259.25 06:27:48 m

: AshtechGps::processRecord() - $GPGGA,223028.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223028.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.14,X-45.80,Y6.44,Z-86.55

: Sonardyne - parsing R98.14,X-45.80,Y6.44,Z-86.55

: Sonardyne - read R = 98.140000 from 98.14,X-45.80,Y6.44,Z-86.55

: Sonardyne - got all data, Vehicle coordinates,
    r=98.140000, x=86.550000, y=-45.800000, z=-6.440000 tat = 600
:  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 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,223029.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223029.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.84,X-36.20,Y6.54,Z-89.58

: Sonardyne - parsing R96.84,X-36.20,Y6.54,Z-89.58

: Sonardyne - read R = 96.840000 from 96.84,X-36.20,Y6.54,Z-89.58

: Sonardyne - got all data, Vehicle coordinates,
    r=96.840000, x=89.580000, y=-36.200000, z=-6.540000 tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223030.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223030.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R95.35,X-21.51,Y2.14,Z-92.86

: Sonardyne - parsing R95.35,X-21.51,Y2.14,Z-92.86

: Sonardyne - read R = 95.350000 from 95.35,X-21.51,Y2.14,Z-92.86

: Sonardyne - got all data, Vehicle coordinates,
    r=95.350000, x=92.860000, y=-21.510000, z=-2.140000 tat = 600
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223031.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223031.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.93,X-6.45,Y-1.50,Z-93.70

: Sonardyne - parsing R93.93,X-6.45,Y-1.50,Z-93.70

: Sonardyne - read R = 93.930000 from 93.93,X-6.45,Y-1.50,Z-93.70

: Sonardyne - got all data, Vehicle coordinates,
    r=93.930000, x=93.700000, y=-6.450000, z=1.500000 tat = 600
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223032.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223032.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.59,X7.77,Y-3.27,Z-92.20

: Sonardyne - parsing R92.59,X7.77,Y-3.27,Z-92.20

: Sonardyne - read R = 92.590000 from 92.59,X7.77,Y-3.27,Z-92.20

: Sonardyne - got all data, Vehicle coordinates,
    r=92.590000, x=92.200000, y=7.770000, z=3.270000 tat = 599
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223033.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223033.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R91.31,X25.18,Y-7.48,Z-87.46

: Sonardyne - parsing R91.31,X25.18,Y-7.48,Z-87.46

: Sonardyne - read R = 91.310000 from 91.31,X25.18,Y-7.48,Z-87.46

: Sonardyne - got all data, Vehicle coordinates,
    r=91.310000, x=87.460000, y=25.180000, z=7.480000 tat = 600
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223034.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223034.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.18,X40.27,Y-10.88,Z-79.96

: Sonardyne - parsing R90.18,X40.27,Y-10.88,Z-79.96

: Sonardyne - read R = 90.180000 from 90.18,X40.27,Y-10.88,Z-79.96

: Sonardyne - got all data, Vehicle coordinates,
    r=90.180000, x=79.960000, y=40.270000, z=10.880000 tat = 600
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223035.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223035.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.25

: Sonardyne - parsing R89.25

: Sonardyne - read R = 89.250000 from 89.25

: Sonardyne - got range only (89.250000), tat = 570
: Sonardyne - POSD response: 
POSD S137.6,N23.5,D-89,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.6,N23.5,D-89,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 316.00          Seconds.
:   The vehicle position is is (4052280.9, 600435.9)

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

: AshtechGps::processRecord() - $GPGGA,223036.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223036.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.57,X-82.13,Y33.15,Z0.00

: Sonardyne - parsing R88.57,X-82.13,Y33.15,Z0.00

: Sonardyne - read R = 88.570000 from 88.57,X-82.13,Y33.15,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=88.570000, x=0.000000, y=-82.130000, z=-33.150000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 317.00          Seconds.
:   The vehicle position is is (4052280.5, 600436.8)

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

: AshtechGps::processRecord() - $GPGGA,223037.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223037.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.10

: Sonardyne - parsing R88.10

: Sonardyne - read R = 88.100000 from 88.10

: Sonardyne - got range only (88.100000), tat = 570
: Sonardyne - POSD response: 
POSD S134.1,N18.8,D-138,U2,Q0.007916

: Sonardyne - POSD response: 
POSD S134.1,N18.8,D-138,U2,Q0.007916

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 318.00          Seconds.
:   The vehicle position is is (4052280.2, 600437.7)

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

: BluefinBatt Reply: $aaq0 d- 31.60  4.88 16.79 3.92 3.95 0  1258.89 06:27:58 m

: AshtechGps::processRecord() - $GPGGA,223038.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223038.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.83

: Sonardyne - parsing R87.83

: Sonardyne - read R = 87.830000 from 87.83

: Sonardyne - got range only (87.830000), tat = 570
: Sonardyne - POSD response: 
POSD S138.9,N31.5,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.9,N31.5,D-30,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223039.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223039.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.71

: Sonardyne - parsing R87.71

: Sonardyne - read R = 87.710000 from 87.71

: Sonardyne - got range only (87.710000), tat = 570
: Sonardyne - POSD response: 
POSD S135.8,N27.8,D54,U2,Q0.005984

: Sonardyne - POSD response: 
POSD S135.8,N27.8,D54,U2,Q0.005984

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

: AshtechGps::processRecord() - $GPGGA,223040.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223040.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.59

: Sonardyne - parsing R87.59

: Sonardyne - read R = 87.590000 from 87.59

: Sonardyne - got range only (87.590000), tat = 570
: Sonardyne - POSD response: 
POSD S125.8,N18.5,D-86,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.8,N18.5,D-86,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,223041.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223041.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.45

: Sonardyne - parsing R87.45

: Sonardyne - read R = 87.450000 from 87.45

: Sonardyne - got range only (87.450000), tat = 570
: Sonardyne - POSD response: 
POSD S128.9,N23.5,D-99,U4,Q0.006113

: Sonardyne - POSD response: 
POSD S128.9,N23.5,D-99,U4,Q0.006113

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

: AshtechGps::processRecord() - $GPGGA,223042.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223042.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.21,X84.04,Y-13.47,Z-18.99

: Sonardyne - parsing R87.21,X84.04,Y-13.47,Z-18.99

: Sonardyne - read R = 87.210000 from 87.21,X84.04,Y-13.47,Z-18.99

: Sonardyne - got all data, Vehicle coordinates,
    r=87.210000, x=18.990000, y=84.040000, z=13.470000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 323.00          Seconds.
:   The vehicle position is is (4052280.0, 600441.5)

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

: AshtechGps::processRecord() - $GPGGA,223043.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223043.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.18

: Sonardyne - parsing R87.18

: Sonardyne - read R = 87.180000 from 87.18

: Sonardyne - got range only (87.180000), tat = 570
: Sonardyne - POSD response: 
POSD S128.0,N31.1,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.0,N31.1,D-29,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 324.00          Seconds.
:   The vehicle position is is (4052280.2, 600442.2)

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

: AshtechGps::processRecord() - $GPGGA,223044.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223044.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.15

: Sonardyne - parsing R87.15

: Sonardyne - read R = 87.150000 from 87.15

: Sonardyne - got range only (87.150000), tat = 570
: Sonardyne - POSD response: 
POSD S117.4,N28.2,D25,U2,Q0.013321

: Sonardyne - POSD response: 
POSD S117.4,N28.2,D25,U2,Q0.013321

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

: AshtechGps::processRecord() - $GPGGA,223045.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223045.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.44

: Sonardyne - parsing R87.44

: Sonardyne - read R = 87.440000 from 87.44

: Sonardyne - got range only (87.440000), tat = 570
: Sonardyne - POSD response: 
POSD S115.9,N17.1,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.9,N17.1,D14,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,223046.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223046.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.32

: Sonardyne - parsing R88.32

: Sonardyne - read R = 88.320000 from 88.32

: Sonardyne - got range only (88.320000), tat = 570
: Sonardyne - POSD response: 
POSD S122.7,N27.0,D-68,U1,Q0.000843

: Sonardyne - POSD response: 
POSD S122.7,N27.0,D-68,U1,Q0.000843

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

: AshtechGps::processRecord() - $GPGGA,223047.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223047.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.16

: Sonardyne - parsing R88.16

: Sonardyne - read R = 88.160000 from 88.16

: Sonardyne - got range only (88.160000), tat = 620
: Sonardyne - POSD response: 
POSD S119.5,N21.6,D121,U1,Q0.012946

: Sonardyne - POSD response: 
POSD S119.5,N21.6,D121,U1,Q0.012946

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

: BluefinBatt Reply: $aaq0 d- 31.60  5.05 16.79 3.94 3.96 0  1258.27 06:28:08 m

: AshtechGps::processRecord() - $GPGGA,223048.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223048.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.47

: Sonardyne - parsing R88.47

: Sonardyne - read R = 88.470000 from 88.47

: Sonardyne - got range only (88.470000), tat = 570
: Sonardyne - POSD response: 
POSD S118.5,N16.1,D-57,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.5,N16.1,D-57,U0,Q0.000000

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

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: AshtechGps::processRecord() - $GPGGA,223049.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223049.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.02

: Sonardyne - parsing R89.02

: Sonardyne - read R = 89.020000 from 89.02

: Sonardyne - got range only (89.020000), tat = 570
: Sonardyne - POSD response: 
POSD S118.3,N24.4,D87,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.3,N24.4,D87,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,223050.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223050.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.70,X34.94,Y66.78,Z-46.77

: Sonardyne - parsing R88.70,X34.94,Y66.78,Z-46.77

: Sonardyne - read R = 88.700000 from 88.70,X34.94,Y66.78,Z-46.77

: Sonardyne - got all data, Vehicle coordinates,
    r=88.700000, x=46.770000, y=34.940000, z=-66.780000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 331.00          Seconds.
:   The vehicle position is is (4052284.1, 600445.4)

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

: AshtechGps::processRecord() - $GPGGA,223051.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223051.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.72

: Sonardyne - parsing R88.72

: Sonardyne - read R = 88.720000 from 88.72

: Sonardyne - got range only (88.720000), tat = 570
: Sonardyne - POSD response: 
POSD S124.3,N27.4,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.3,N27.4,D34,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 332.00          Seconds.
:   The vehicle position is is (4052284.6, 600445.9)

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

: AshtechGps::processRecord() - $GPGGA,223052.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223052.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.68

: Sonardyne - parsing R88.68

: Sonardyne - read R = 88.680000 from 88.68

: Sonardyne - got range only (88.680000), tat = 570
: Sonardyne - POSD response: 
POSD S118.8,N21.6,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.8,N21.6,D2,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,223053.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223053.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.70

: Sonardyne - parsing R88.70

: Sonardyne - read R = 88.700000 from 88.70

: Sonardyne - got range only (88.700000), tat = 570
: Sonardyne - POSD response: 
POSD S122.9,N20.2,D135,U1,Q0.012799

: Sonardyne - POSD response: 
POSD S122.9,N20.2,D135,U1,Q0.012799

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

: AshtechGps::processRecord() - $GPGGA,223054.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223054.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.76

: Sonardyne - parsing R88.76

: Sonardyne - read R = 88.760000 from 88.76

: Sonardyne - got range only (88.760000), tat = 570
: Sonardyne - POSD response: 
POSD S128.2,N24.0,D-17,U1,Q0.007271

: Sonardyne - POSD response: 
POSD S128.2,N24.0,D-17,U1,Q0.007271

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

: AshtechGps::processRecord() - $GPGGA,223055.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223055.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.87

: Sonardyne - parsing R88.87

: Sonardyne - read R = 88.870000 from 88.87

: Sonardyne - got range only (88.870000), tat = 570
: Sonardyne - POSD response: 
POSD S132.8,N28.1,D-25,U1,Q0.007459

: Sonardyne - POSD response: 
POSD S132.8,N28.1,D-25,U1,Q0.007459

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

: AshtechGps::processRecord() - $GPGGA,223056.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223056.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.89

: Sonardyne - parsing R88.89

: Sonardyne - read R = 88.890000 from 88.89

: Sonardyne - got range only (88.890000), tat = 570
: Sonardyne - POSD response: 
POSD S126.1,N20.2,D139,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.1,N20.2,D139,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,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 - POS response: 
POS V4,1 R88.88

: Sonardyne - parsing R88.88

: Sonardyne - read R = 88.880000 from 88.88

: Sonardyne - got range only (88.880000), tat = 570
: Sonardyne - POSD response: 
POSD S123.8,N24.2,D-68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.8,N24.2,D-68,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.57  5.72 16.69 3.94 3.96 0  1257.88 06:28:18 m

:  wdt = 00899,  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 R88.92

: Sonardyne - parsing R88.92

: Sonardyne - read R = 88.920000 from 88.92

: Sonardyne - got range only (88.920000), tat = 570
: Sonardyne - POSD response: 
POSD S131.6,N29.0,D-23,U4,Q0.006280

: Sonardyne - POSD response: 
POSD S131.6,N29.0,D-23,U4,Q0.006280

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: 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 R89.05,X86.39,Y-15.52,Z-15.04

: Sonardyne - parsing R89.05,X86.39,Y-15.52,Z-15.04

: Sonardyne - read R = 89.050000 from 89.05,X86.39,Y-15.52,Z-15.04

: Sonardyne - got all data, Vehicle coordinates,
    r=89.050000, x=15.040000, y=86.390000, z=15.520000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 340.00          Seconds.
:   The vehicle position is is (4052288.1, 600451.4)

:  wdt = 00897,  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 R89.13

: Sonardyne - parsing R89.13

: Sonardyne - read R = 89.130000 from 89.13

: Sonardyne - got range only (89.130000), tat = 570
: Sonardyne - POSD response: 
POSD S126.4,N26.8,D64,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.4,N26.8,D64,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 341.00          Seconds.
:   The vehicle position is is (4052288.4, 600452.2)

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

: 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 R89.35,X-10.16,Y-88.77,Z0.00

: Sonardyne - parsing R89.35,X-10.16,Y-88.77,Z0.00

: Sonardyne - read R = 89.350000 from 89.35,X-10.16,Y-88.77,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=89.350000, x=0.000000, y=-10.160000, z=88.770000 tat = 589
: WaypointHoming: The Usbl has aquired the transponder
  at t = 342.00          Seconds.
:   The vehicle position is is (4052288.8, 600453.0)

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

: 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 R89.61

: Sonardyne - parsing R89.61

: Sonardyne - read R = 89.610000 from 89.61

: Sonardyne - got range only (89.610000), tat = 570
: Sonardyne - POSD response: 
POSD S118.7,N21.2,D30,U4,Q0.000443

: Sonardyne - POSD response: 
POSD S118.7,N21.2,D30,U4,Q0.000443

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 343.00          Seconds.
:   The vehicle position is is (4052289.4, 600453.7)

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

: 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 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 S114.2,N15.5,D52,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.2,N15.5,D52,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,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 R93.68

: Sonardyne - parsing R93.68

: Sonardyne - read R = 93.680000 from 93.68

: Sonardyne - got range only (93.680000), tat = 580
: Sonardyne - POSD response: 
POSD S115.2,N21.1,D20,U2,Q0.006768

: Sonardyne - POSD response: 
POSD S115.2,N21.1,D20,U2,Q0.006768

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

: 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 R90.42

: Sonardyne - parsing R90.42

: Sonardyne - read R = 90.420000 from 90.42

: Sonardyne - got range only (90.420000), tat = 570
: Sonardyne - POSD response: 
POSD S120.5,N20.3,D-11,U2,Q0.007864

: Sonardyne - POSD response: 
POSD S120.5,N20.3,D-11,U2,Q0.007864

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R90.66

: Sonardyne - parsing R90.66

: Sonardyne - read R = 90.660000 from 90.66

: Sonardyne - got range only (90.660000), tat = 570
: Sonardyne - POSD response: 
POSD S124.1,N27.1,D63,U1,Q0.013417

: Sonardyne - POSD response: 
POSD S124.1,N27.1,D63,U1,Q0.013417

:  wdt = 00890,  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: ,
: Sonardyne - POS response: 
POS V4,1 R90.67

: Sonardyne - parsing R90.67

: Sonardyne - read R = 90.670000 from 90.67

: Sonardyne - got range only (90.670000), tat = 570
: Sonardyne - POSD response: 
POSD S122.5,N26.1,D31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N26.1,D31,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.57  5.86 16.69 3.94 3.96 0  1257.30 06:28:28 m

:  wdt = 00899,  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: ,
: Sonardyne - POS response: 
POS V4,1 R90.60

: Sonardyne - parsing R90.60

: Sonardyne - read R = 90.600000 from 90.60

: Sonardyne - got range only (90.600000), tat = 570
: Sonardyne - POSD response: 
POSD S123.1,N29.7,D129,U3,Q0.010911

: Sonardyne - POSD response: 
POSD S123.1,N29.7,D129,U3,Q0.010911

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R90.74

: Sonardyne - parsing R90.74

: Sonardyne - read R = 90.740000 from 90.74

: Sonardyne - got range only (90.740000), tat = 620
: Sonardyne - POSD response: 
POSD S127.9,N28.1,D-3,U2,Q0.012550

: Sonardyne - POSD response: 
POSD S127.9,N28.1,D-3,U2,Q0.012550

:  wdt = 00897,  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: ,
: Sonardyne - POS response: 
POS V4,1 R90.58

: Sonardyne - parsing R90.58

: Sonardyne - read R = 90.580000 from 90.58

: Sonardyne - got range only (90.580000), tat = 570
: Sonardyne - POSD response: 
POSD S127.7,N25.6,D62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.7,N25.6,D62,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,223111.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223111.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.40

: Sonardyne - parsing R90.40

: Sonardyne - read R = 90.400000 from 90.40

: Sonardyne - got range only (90.400000), tat = 620
: Sonardyne - POSD response: 
POSD S131.4,N29.9,D36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.4,N29.9,D36,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,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 - POS response: 
POS V4,1 R90.29

: Sonardyne - parsing R90.29

: Sonardyne - read R = 90.290000 from 90.29

: Sonardyne - got range only (90.290000), tat = 570
: Sonardyne - POSD response: 
POSD S134.2,N27.5,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.2,N27.5,D-48,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,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 R90.16

: Sonardyne - parsing R90.16

: Sonardyne - read R = 90.160000 from 90.16

: Sonardyne - got range only (90.160000), tat = 570
: Sonardyne - POSD response: 
POSD S136.1,N28.2,D55,U1,Q0.009926

: Sonardyne - POSD response: 
POSD S136.1,N28.2,D55,U1,Q0.009926

:  wdt = 00893,  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: ,
: Sonardyne - POS response: 
POS V4,1 R89.92

: Sonardyne - parsing R89.92

: Sonardyne - read R = 89.920000 from 89.92

: Sonardyne - got range only (89.920000), tat = 570
: Sonardyne - POSD response: 
POSD S133.9,N27.8,D32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.9,N27.8,D32,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,223115.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223115.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.49

: Sonardyne - parsing R89.49

: Sonardyne - read R = 89.490000 from 89.49

: Sonardyne - got range only (89.490000), tat = 570
: Sonardyne - POSD response: 
POSD S139.0,N29.1,D-37,U5,Q0.005755

: Sonardyne - POSD response: 
POSD S139.0,N29.1,D-37,U5,Q0.005755

:  wdt = 00891,  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: ,
: Sonardyne - POS response: 
POS V4,1 R88.96

: Sonardyne - parsing R88.96

: Sonardyne - read R = 88.960000 from 88.96

: Sonardyne - got range only (88.960000), tat = 570
: Sonardyne - POSD response: 
POSD S142.4,N31.6,D25,U2,Q0.015738

: Sonardyne - POSD response: 
POSD S142.4,N31.6,D25,U2,Q0.015738

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R88.17

: Sonardyne - parsing R88.17

: Sonardyne - read R = 88.170000 from 88.17

: Sonardyne - got range only (88.170000), tat = 570
: Sonardyne - POSD response: 
POSD S136.3,N33.1,D-6,U5,Q0.009865

: Sonardyne - POSD response: 
POSD S136.3,N33.1,D-6,U5,Q0.009865

: BluefinBatt Reply: $aaq0 d- 31.60  4.81 16.79 3.94 3.96 0  1256.91 06:28:38 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R87.36,X49.01,Y-0.82,Z-72.32

: Sonardyne - parsing R87.36,X49.01,Y-0.82,Z-72.32

: Sonardyne - read R = 87.360000 from 87.36,X49.01,Y-0.82,Z-72.32

: Sonardyne - got all data, Vehicle coordinates,
    r=87.360000, x=72.320000, y=49.010000, z=0.820000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 359.00          Seconds.
:   The vehicle position is is (4052295.2, 600465.6)

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

:  wdt = 00898,  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: ,
: Sonardyne - POS response: 
POS V4,1 R86.46,X41.25,Y0.93,Z-75.98

: Sonardyne - parsing R86.46,X41.25,Y0.93,Z-75.98

: Sonardyne - read R = 86.460000 from 86.46,X41.25,Y0.93,Z-75.98

: Sonardyne - got all data, Vehicle coordinates,
    r=86.460000, x=75.980000, y=41.250000, z=-0.930000 tat = 590
:  wdt = 00897,  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: ,
: Sonardyne - POS response: 
POS V4,1 R85.63,X32.02,Y0.53,Z-79.41

: Sonardyne - parsing R85.63,X32.02,Y0.53,Z-79.41

: Sonardyne - read R = 85.630000 from 85.63,X32.02,Y0.53,Z-79.41

: Sonardyne - got all data, Vehicle coordinates,
    r=85.630000, x=79.410000, y=32.020000, z=-0.530000 tat = 590
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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 - POS response: 
POS V4,1 R84.89,X21.30,Y0.98,Z-82.17

: Sonardyne - parsing R84.89,X21.30,Y0.98,Z-82.17

: Sonardyne - read R = 84.890000 from 84.89,X21.30,Y0.98,Z-82.17

: Sonardyne - got all data, Vehicle coordinates,
    r=84.890000, x=82.170000, y=21.300000, z=-0.980000 tat = 590
:  wdt = 00895,  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: ,
: Sonardyne - POS response: 
POS V4,1 R84.14,X11.11,Y0.60,Z-83.40

: Sonardyne - parsing R84.14,X11.11,Y0.60,Z-83.40

: Sonardyne - read R = 84.140000 from 84.14,X11.11,Y0.60,Z-83.40

: Sonardyne - got all data, Vehicle coordinates,
    r=84.140000, x=83.400000, y=11.110000, z=-0.600000 tat = 590
:  wdt = 00894,  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: ,
: Sonardyne - POS response: 
POS V4,1 R83.52,X2.56,Y-1.59,Z-83.46

: Sonardyne - parsing R83.52,X2.56,Y-1.59,Z-83.46

: Sonardyne - read R = 83.520000 from 83.52,X2.56,Y-1.59,Z-83.46

: Sonardyne - got all data, Vehicle coordinates,
    r=83.520000, x=83.460000, y=2.560000, z=1.590000 tat = 580
:  wdt = 00893,  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: ,
: Sonardyne - POS response: 
POS V4,1 R82.91,X-3.80,Y-1.31,Z-82.81

: Sonardyne - parsing R82.91,X-3.80,Y-1.31,Z-82.81

: Sonardyne - read R = 82.910000 from 82.91,X-3.80,Y-1.31,Z-82.81

: Sonardyne - got all data, Vehicle coordinates,
    r=82.910000, x=82.810000, y=-3.800000, z=1.310000 tat = 590
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R82.21,X-8.62,Y-0.55,Z-81.75

: Sonardyne - parsing R82.21,X-8.62,Y-0.55,Z-81.75

: Sonardyne - read R = 82.210000 from 82.21,X-8.62,Y-0.55,Z-81.75

: Sonardyne - got all data, Vehicle coordinates,
    r=82.210000, x=81.750000, y=-8.620000, z=0.550000 tat = 580
:  wdt = 00891,  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: ,
: Sonardyne - POS response: 
POS V4,1 R81.54

: Sonardyne - parsing R81.54

: Sonardyne - read R = 81.540000 from 81.54

: Sonardyne - got range only (81.540000), tat = 560
: Sonardyne - POSD response: 
POSD S147.1,N20.8,D-130,U5,Q0.000446

: Sonardyne - POSD response: 
POSD S147.1,N20.8,D-130,U5,Q0.000446

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 366.99          Seconds.
:   The vehicle position is is (4052292.0, 600470.9)

:  wdt = 00890,  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: ,
: Sonardyne - POS response: 
POS V4,1 R80.71,X-15.78,Y3.05,Z-79.10

: Sonardyne - parsing R80.71,X-15.78,Y3.05,Z-79.10

: Sonardyne - read R = 80.710000 from 80.71,X-15.78,Y3.05,Z-79.10

: Sonardyne - got all data, Vehicle coordinates,
    r=80.710000, x=79.100000, y=-15.780000, z=-3.050000 tat = 580
: WaypointHoming: The Usbl has aquired the transponder
  at t = 367.79          Seconds.
:   The vehicle position is is (4052291.5, 600471.2)

: BluefinBatt Reply: $aaq0 d- 31.53  6.53 16.79 3.94 3.96 0  1256.30 06:28:48 m

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

: 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 - POS response: 
POS V4,1 R79.87,X-17.19,Y6.17,Z-77.75

: Sonardyne - parsing R79.87,X-17.19,Y6.17,Z-77.75

: Sonardyne - read R = 79.870000 from 79.87,X-17.19,Y6.17,Z-77.75

: Sonardyne - got all data, Vehicle coordinates,
    r=79.870000, x=77.750000, y=-17.190000, z=-6.170000 tat = 580
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

:  wdt = 00898,  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: ,
: Sonardyne - POS response: 
POS V4,1 R78.85,X-16.59,Y4.10,Z-76.98

: Sonardyne - parsing R78.85,X-16.59,Y4.10,Z-76.98

: Sonardyne - read R = 78.850000 from 78.85,X-16.59,Y4.10,Z-76.98

: Sonardyne - got all data, Vehicle coordinates,
    r=78.850000, x=76.980000, y=-16.590000, z=-4.100000 tat = 580
:  wdt = 00897,  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: ,
: Sonardyne - POS response: 
POS V4,1 R77.85,X-15.36,Y5.96,Z-76.09

: Sonardyne - parsing R77.85,X-15.36,Y5.96,Z-76.09

: Sonardyne - read R = 77.850000 from 77.85,X-15.36,Y5.96,Z-76.09

: Sonardyne - got all data, Vehicle coordinates,
    r=77.850000, x=76.090000, y=-15.360000, z=-5.960000 tat = 579
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R76.84,X-14.46,Y7.71,Z-75.08

: Sonardyne - parsing R76.84,X-14.46,Y7.71,Z-75.08

: Sonardyne - read R = 76.840000 from 76.84,X-14.46,Y7.71,Z-75.08

: Sonardyne - got all data, Vehicle coordinates,
    r=76.840000, x=75.080000, y=-14.460000, z=-7.710000 tat = 580
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R75.86,X-14.40,Y7.12,Z-74.14

: Sonardyne - parsing R75.86,X-14.40,Y7.12,Z-74.14

: Sonardyne - read R = 75.860000 from 75.86,X-14.40,Y7.12,Z-74.14

: Sonardyne - got all data, Vehicle coordinates,
    r=75.860000, x=74.140000, y=-14.400000, z=-7.120000 tat = 570
:  wdt = 00894,  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: ,
: Sonardyne - POS response: 
POS V4,1 R74.85,X-14.29,Y6.47,Z-73.19

: Sonardyne - parsing R74.85,X-14.29,Y6.47,Z-73.19

: Sonardyne - read R = 74.850000 from 74.85,X-14.29,Y6.47,Z-73.19

: Sonardyne - got all data, Vehicle coordinates,
    r=74.850000, x=73.190000, y=-14.290000, z=-6.470000 tat = 580
:  wdt = 00893,  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: ,
: Sonardyne - POS response: 
POS V4,1 R73.98,X-14.54,Y6.20,Z-72.27

: Sonardyne - parsing R73.98,X-14.54,Y6.20,Z-72.27

: Sonardyne - read R = 73.980000 from 73.98,X-14.54,Y6.20,Z-72.27

: Sonardyne - got all data, Vehicle coordinates,
    r=73.980000, x=72.270000, y=-14.540000, z=-6.200000 tat = 570
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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 - POS response: 
POS V4,1 R73.12,X-15.44,Y6.78,Z-71.15

: Sonardyne - parsing R73.12,X-15.44,Y6.78,Z-71.15

: Sonardyne - read R = 73.120000 from 73.12,X-15.44,Y6.78,Z-71.15

: Sonardyne - got all data, Vehicle coordinates,
    r=73.120000, x=71.150000, y=-15.440000, z=-6.780000 tat = 570
:  wdt = 00891,  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: ,
: Sonardyne - POS response: 
POS V4,1 R72.35,X-16.39,Y9.14,Z-69.88

: Sonardyne - parsing R72.35,X-16.39,Y9.14,Z-69.88

: Sonardyne - read R = 72.350000 from 72.35,X-16.39,Y9.14,Z-69.88

: Sonardyne - got all data, Vehicle coordinates,
    r=72.350000, x=69.880000, y=-16.390000, z=-9.140000 tat = 570
:  wdt = 00890,  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: ,
: Sonardyne - POS response: 
POS V4,1 R71.61,X-16.08,Y6.85,Z-69.44

: Sonardyne - parsing R71.61,X-16.08,Y6.85,Z-69.44

: Sonardyne - read R = 71.610000 from 71.61,X-16.08,Y6.85,Z-69.44

: Sonardyne - got all data, Vehicle coordinates,
    r=71.610000, x=69.440000, y=-16.080000, z=-6.850000 tat = 570
: BluefinBatt Reply: $aaq0 d- 31.57  6.77 16.79 3.94 3.96 0  1255.84 06:28:58 m

:  wdt = 00899,  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 R70.75,X-15.20,Y3.37,Z-69.01

: Sonardyne - parsing R70.75,X-15.20,Y3.37,Z-69.01

: Sonardyne - read R = 70.750000 from 70.75,X-15.20,Y3.37,Z-69.01

: Sonardyne - got all data, Vehicle coordinates,
    r=70.750000, x=69.010000, y=-15.200000, z=-3.370000 tat = 570
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R69.79,X-13.81,Y2.77,Z-68.36

: Sonardyne - parsing R69.79,X-13.81,Y2.77,Z-68.36

: Sonardyne - read R = 69.790000 from 69.79,X-13.81,Y2.77,Z-68.36

: Sonardyne - got all data, Vehicle coordinates,
    r=69.790000, x=68.360000, y=-13.810000, z=-2.770000 tat = 570
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R68.75,X-12.03,Y3.99,Z-67.57

: Sonardyne - parsing R68.75,X-12.03,Y3.99,Z-67.57

: Sonardyne - read R = 68.750000 from 68.75,X-12.03,Y3.99,Z-67.57

: Sonardyne - got all data, Vehicle coordinates,
    r=68.750000, x=67.570000, y=-12.030000, z=-3.990000 tat = 570
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R67.70,X-10.52,Y4.87,Z-66.70

: Sonardyne - parsing R67.70,X-10.52,Y4.87,Z-66.70

: Sonardyne - read R = 67.700000 from 67.70,X-10.52,Y4.87,Z-66.70

: Sonardyne - got all data, Vehicle coordinates,
    r=67.700000, x=66.700000, y=-10.520000, z=-4.870000 tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R66.52,X-9.27,Y4.80,Z-65.70

: Sonardyne - parsing R66.52,X-9.27,Y4.80,Z-65.70

: Sonardyne - read R = 66.520000 from 66.52,X-9.27,Y4.80,Z-65.70

: Sonardyne - got all data, Vehicle coordinates,
    r=66.520000, x=65.700000, y=-9.270000, z=-4.800000 tat = 560
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R65.46,X-7.72,Y2.87,Z-64.94

: Sonardyne - parsing R65.46,X-7.72,Y2.87,Z-64.94

: Sonardyne - read R = 65.460000 from 65.46,X-7.72,Y2.87,Z-64.94

: Sonardyne - got all data, Vehicle coordinates,
    r=65.460000, x=64.940000, y=-7.720000, z=-2.870000 tat = 560
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R64.37,X-6.01,Y2.22,Z-64.05

: Sonardyne - parsing R64.37,X-6.01,Y2.22,Z-64.05

: Sonardyne - read R = 64.370000 from 64.37,X-6.01,Y2.22,Z-64.05

: Sonardyne - got all data, Vehicle coordinates,
    r=64.370000, x=64.050000, y=-6.010000, z=-2.220000 tat = 560
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R63.52,X-4.40,Y2.77,Z-63.31

: Sonardyne - parsing R63.52,X-4.40,Y2.77,Z-63.31

: Sonardyne - read R = 63.520000 from 63.52,X-4.40,Y2.77,Z-63.31

: Sonardyne - got all data, Vehicle coordinates,
    r=63.520000, x=63.310000, y=-4.400000, z=-2.770000 tat = 559
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R62.53,X-2.81,Y2.67,Z-62.41

: Sonardyne - parsing R62.53,X-2.81,Y2.67,Z-62.41

: Sonardyne - read R = 62.530000 from 62.53,X-2.81,Y2.67,Z-62.41

: Sonardyne - got all data, Vehicle coordinates,
    r=62.530000, x=62.410000, y=-2.810000, z=-2.670000 tat = 560
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R61.57,X-1.18,Y1.49,Z-61.54

: Sonardyne - parsing R61.57,X-1.18,Y1.49,Z-61.54

: Sonardyne - read R = 61.570000 from 61.57,X-1.18,Y1.49,Z-61.54

: Sonardyne - got all data, Vehicle coordinates,
    r=61.570000, x=61.540000, y=-1.180000, z=-1.490000 tat = 560
: BluefinBatt Reply: $aaq0 d- 31.57  6.09 16.79 3.94 3.96 0  1255.19 06:29:08 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R60.58,X0.16,Y0.89,Z-60.58

: Sonardyne - parsing R60.58,X0.16,Y0.89,Z-60.58

: Sonardyne - read R = 60.580000 from 60.58,X0.16,Y0.89,Z-60.58

: Sonardyne - got all data, Vehicle coordinates,
    r=60.580000, x=60.580000, y=0.160000, z=-0.890000 tat = 550
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R59.63,X1.61,Y1.30,Z-59.59

: Sonardyne - parsing R59.63,X1.61,Y1.30,Z-59.59

: Sonardyne - read R = 59.630000 from 59.63,X1.61,Y1.30,Z-59.59

: Sonardyne - got all data, Vehicle coordinates,
    r=59.630000, x=59.590000, y=1.610000, z=-1.300000 tat = 550
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R58.68,X2.90,Y1.11,Z-58.60

: Sonardyne - parsing R58.68,X2.90,Y1.11,Z-58.60

: Sonardyne - read R = 58.680000 from 58.68,X2.90,Y1.11,Z-58.60

: Sonardyne - got all data, Vehicle coordinates,
    r=58.680000, x=58.600000, y=2.900000, z=-1.110000 tat = 550
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R57.71,X3.70,Y0.99,Z-57.59

: Sonardyne - parsing R57.71,X3.70,Y0.99,Z-57.59

: Sonardyne - read R = 57.710000 from 57.71,X3.70,Y0.99,Z-57.59

: Sonardyne - got all data, Vehicle coordinates,
    r=57.710000, x=57.590000, y=3.700000, z=-0.990000 tat = 550
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R56.66,X4.42,Y1.03,Z-56.48

: Sonardyne - parsing R56.66,X4.42,Y1.03,Z-56.48

: Sonardyne - read R = 56.660000 from 56.66,X4.42,Y1.03,Z-56.48

: Sonardyne - got all data, Vehicle coordinates,
    r=56.660000, x=56.480000, y=4.420000, z=-1.030000 tat = 550
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R55.64,X4.87,Y0.75,Z-55.42

: Sonardyne - parsing R55.64,X4.87,Y0.75,Z-55.42

: Sonardyne - read R = 55.640000 from 55.64,X4.87,Y0.75,Z-55.42

: Sonardyne - got all data, Vehicle coordinates,
    r=55.640000, x=55.420000, y=4.870000, z=-0.750000 tat = 550
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R54.48,X5.16,Y0.57,Z-54.23

: Sonardyne - parsing R54.48,X5.16,Y0.57,Z-54.23

: Sonardyne - read R = 54.480000 from 54.48,X5.16,Y0.57,Z-54.23

: Sonardyne - got all data, Vehicle coordinates,
    r=54.480000, x=54.230000, y=5.160000, z=-0.570000 tat = 540
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R53.42,X5.41,Y0.80,Z-53.14

: Sonardyne - parsing R53.42,X5.41,Y0.80,Z-53.14

: Sonardyne - read R = 53.420000 from 53.42,X5.41,Y0.80,Z-53.14

: Sonardyne - got all data, Vehicle coordinates,
    r=53.420000, x=53.140000, y=5.410000, z=-0.800000 tat = 540
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R52.43,X5.61,Y0.59,Z-52.12

: Sonardyne - parsing R52.43,X5.61,Y0.59,Z-52.12

: Sonardyne - read R = 52.430000 from 52.43,X5.61,Y0.59,Z-52.12

: Sonardyne - got all data, Vehicle coordinates,
    r=52.430000, x=52.120000, y=5.610000, z=-0.590000 tat = 540
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R51.50,X5.53,Y1.10,Z-51.19

: Sonardyne - parsing R51.50,X5.53,Y1.10,Z-51.19

: Sonardyne - read R = 51.500000 from 51.50,X5.53,Y1.10,Z-51.19

: Sonardyne - got all data, Vehicle coordinates,
    r=51.500000, x=51.190000, y=5.530000, z=-1.100000 tat = 540
: BluefinBatt Reply: $aaq0 d- 31.53  6.46 16.79 3.94 3.96 0  1254.74 06:29:18 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R50.56,X5.06,Y0.88,Z-50.30

: Sonardyne - parsing R50.56,X5.06,Y0.88,Z-50.30

: Sonardyne - read R = 50.560000 from 50.56,X5.06,Y0.88,Z-50.30

: Sonardyne - got all data, Vehicle coordinates,
    r=50.560000, x=50.300000, y=5.060000, z=-0.880000 tat = 540
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R49.52,X4.41,Y0.83,Z-49.32

: Sonardyne - parsing R49.52,X4.41,Y0.83,Z-49.32

: Sonardyne - read R = 49.520000 from 49.52,X4.41,Y0.83,Z-49.32

: Sonardyne - got all data, Vehicle coordinates,
    r=49.520000, x=49.320000, y=4.410000, z=-0.830000 tat = 540
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R48.42,X4.12,Y0.65,Z-48.24

: Sonardyne - parsing R48.42,X4.12,Y0.65,Z-48.24

: Sonardyne - read R = 48.420000 from 48.42,X4.12,Y0.65,Z-48.24

: Sonardyne - got all data, Vehicle coordinates,
    r=48.420000, x=48.240000, y=4.120000, z=-0.650000 tat = 540
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R47.32,X3.92,Y1.06,Z-47.15

: Sonardyne - parsing R47.32,X3.92,Y1.06,Z-47.15

: Sonardyne - read R = 47.320000 from 47.32,X3.92,Y1.06,Z-47.15

: Sonardyne - got all data, Vehicle coordinates,
    r=47.320000, x=47.150000, y=3.920000, z=-1.060000 tat = 530
:  wdt = 00895,  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: ,
: Sonardyne - POS response: 
POS V4,1 R46.21,X3.67,Y0.50,Z-46.06

: Sonardyne - parsing R46.21,X3.67,Y0.50,Z-46.06

: Sonardyne - read R = 46.210000 from 46.21,X3.67,Y0.50,Z-46.06

: Sonardyne - got all data, Vehicle coordinates,
    r=46.210000, x=46.060000, y=3.670000, z=-0.500000 tat = 530
:  wdt = 00894,  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: ,
: Sonardyne - POS response: 
POS V4,1 R45.22,X3.62,Y0.86,Z-45.07

: Sonardyne - parsing R45.22,X3.62,Y0.86,Z-45.07

: Sonardyne - read R = 45.220000 from 45.22,X3.62,Y0.86,Z-45.07

: Sonardyne - got all data, Vehicle coordinates,
    r=45.220000, x=45.070000, y=3.620000, z=-0.860000 tat = 530
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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 - POS response: 
POS V4,1 R44.27,X3.46,Y0.84,Z-44.12

: Sonardyne - parsing R44.27,X3.46,Y0.84,Z-44.12

: Sonardyne - read R = 44.270000 from 44.27,X3.46,Y0.84,Z-44.12

: Sonardyne - got all data, Vehicle coordinates,
    r=44.270000, x=44.120000, y=3.460000, z=-0.840000 tat = 530
:  wdt = 00892,  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 R43.40,X3.29,Y0.89,Z-43.27

: Sonardyne - parsing R43.40,X3.29,Y0.89,Z-43.27

: Sonardyne - read R = 43.400000 from 43.40,X3.29,Y0.89,Z-43.27

: Sonardyne - got all data, Vehicle coordinates,
    r=43.400000, x=43.270000, y=3.290000, z=-0.890000 tat = 530
:  wdt = 00891,  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 R42.45,X3.17,Y0.50,Z-42.33

: Sonardyne - parsing R42.45,X3.17,Y0.50,Z-42.33

: Sonardyne - read R = 42.450000 from 42.45,X3.17,Y0.50,Z-42.33

: Sonardyne - got all data, Vehicle coordinates,
    r=42.450000, x=42.330000, y=3.170000, z=-0.500000 tat = 530
:  wdt = 00890,  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 R41.40,X2.91,Y0.66,Z-41.29

: Sonardyne - parsing R41.40,X2.91,Y0.66,Z-41.29

: Sonardyne - read R = 41.400000 from 41.40,X2.91,Y0.66,Z-41.29

: Sonardyne - got all data, Vehicle coordinates,
    r=41.400000, x=41.290000, y=2.910000, z=-0.660000 tat = 530
: BluefinBatt Reply: $aaq0 d- 31.53  6.30 16.79 3.94 3.96 0  1254.09 06:29:28 m

:  wdt = 00899,  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 R40.16,X2.80,Y0.31,Z-40.06

: Sonardyne - parsing R40.16,X2.80,Y0.31,Z-40.06

: Sonardyne - read R = 40.160000 from 40.16,X2.80,Y0.31,Z-40.06

: Sonardyne - got all data, Vehicle coordinates,
    r=40.160000, x=40.060000, y=2.800000, z=-0.310000 tat = 520
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

:  wdt = 00898,  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 R38.87,X2.70,Y0.06,Z-38.78

: Sonardyne - parsing R38.87,X2.70,Y0.06,Z-38.78

: Sonardyne - read R = 38.870000 from 38.87,X2.70,Y0.06,Z-38.78

: Sonardyne - got all data, Vehicle coordinates,
    r=38.870000, x=38.780000, y=2.700000, z=-0.060000 tat = 520
:  wdt = 00897,  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: ,
: Sonardyne - POS response: 
POS V4,1 R37.74,X2.70,Y-0.09,Z-37.64

: Sonardyne - parsing R37.74,X2.70,Y-0.09,Z-37.64

: Sonardyne - read R = 37.740000 from 37.74,X2.70,Y-0.09,Z-37.64

: Sonardyne - got all data, Vehicle coordinates,
    r=37.740000, x=37.640000, y=2.700000, z=0.090000 tat = 520
:  wdt = 00896,  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: ,
: Sonardyne - POS response: 
POS V4,1 R36.77,X2.66,Y-0.31,Z-36.67

: Sonardyne - parsing R36.77,X2.66,Y-0.31,Z-36.67

: Sonardyne - read R = 36.770000 from 36.77,X2.66,Y-0.31,Z-36.67

: Sonardyne - got all data, Vehicle coordinates,
    r=36.770000, x=36.670000, y=2.660000, z=0.310000 tat = 520
:  wdt = 00895,  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 R35.89,X2.55,Y-0.30,Z-35.79

: Sonardyne - parsing R35.89,X2.55,Y-0.30,Z-35.79

: Sonardyne - read R = 35.890000 from 35.89,X2.55,Y-0.30,Z-35.79

: Sonardyne - got all data, Vehicle coordinates,
    r=35.890000, x=35.790000, y=2.550000, z=0.300000 tat = 520
:  wdt = 00894,  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: ,
: Sonardyne - POS response: 
POS V4,1 R35.04,X2.38,Y-0.20,Z-34.96

: Sonardyne - parsing R35.04,X2.38,Y-0.20,Z-34.96

: Sonardyne - read R = 35.040000 from 35.04,X2.38,Y-0.20,Z-34.96

: Sonardyne - got all data, Vehicle coordinates,
    r=35.040000, x=34.960000, y=2.380000, z=0.200000 tat = 520
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R34.10,X2.32,Y-0.20,Z-34.03

: Sonardyne - parsing R34.10,X2.32,Y-0.20,Z-34.03

: Sonardyne - read R = 34.100000 from 34.10,X2.32,Y-0.20,Z-34.03

: Sonardyne - got all data, Vehicle coordinates,
    r=34.100000, x=34.030000, y=2.320000, z=0.200000 tat = 519
: AshtechGps::processRecord() - $GPGGA,223215.00,,,,,0,00,,,M,,M,,*4D

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

: GpsUtils::parseFix() - $GPGGA,223215.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R32.98,X2.27,Y-0.31,Z-32.90

: Sonardyne - parsing R32.98,X2.27,Y-0.31,Z-32.90

: Sonardyne - read R = 32.980000 from 32.98,X2.27,Y-0.31,Z-32.90

: Sonardyne - got all data, Vehicle coordinates,
    r=32.980000, x=32.900000, y=2.270000, z=0.310000 tat = 510
: 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 R31.81,X2.17,Y-0.38,Z-31.74

: Sonardyne - parsing R31.81,X2.17,Y-0.38,Z-31.74

: Sonardyne - read R = 31.810000 from 31.81,X2.17,Y-0.38,Z-31.74

: Sonardyne - got all data, Vehicle coordinates,
    r=31.810000, x=31.740000, y=2.170000, z=0.380000 tat = 510
: 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 R30.66,X2.06,Y-0.34,Z-30.59

: Sonardyne - parsing R30.66,X2.06,Y-0.34,Z-30.59

: Sonardyne - read R = 30.660000 from 30.66,X2.06,Y-0.34,Z-30.59

: Sonardyne - got all data, Vehicle coordinates,
    r=30.660000, x=30.590000, y=2.060000, z=0.340000 tat = 510
: BluefinBatt Reply: $aaq0 d- 31.57  6.26 16.79 3.94 3.96 0  1253.67 06:29:38 m

: 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: ,
:  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 R29.60,X1.97,Y-0.36,Z-29.54

: Sonardyne - parsing R29.60,X1.97,Y-0.36,Z-29.54

: Sonardyne - read R = 29.600000 from 29.60,X1.97,Y-0.36,Z-29.54

: Sonardyne - got all data, Vehicle coordinates,
    r=29.600000, x=29.540000, y=1.970000, z=0.360000 tat = 510
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: 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: ,
:  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 R28.61,X1.96,Y-0.38,Z-28.54

: Sonardyne - parsing R28.61,X1.96,Y-0.38,Z-28.54

: Sonardyne - read R = 28.610000 from 28.61,X1.96,Y-0.38,Z-28.54

: Sonardyne - got all data, Vehicle coordinates,
    r=28.610000, x=28.540000, y=1.960000, z=0.380000 tat = 510
: 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: ,
:  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 R27.62,X1.89,Y-0.49,Z-27.55

: Sonardyne - parsing R27.62,X1.89,Y-0.49,Z-27.55

: Sonardyne - read R = 27.620000 from 27.62,X1.89,Y-0.49,Z-27.55

: Sonardyne - got all data, Vehicle coordinates,
    r=27.620000, x=27.550000, y=1.890000, z=0.490000 tat = 510
: 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: ,
:  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 R26.55,X1.80,Y-0.64,Z-26.48

: Sonardyne - parsing R26.55,X1.80,Y-0.64,Z-26.48

: Sonardyne - read R = 26.550000 from 26.55,X1.80,Y-0.64,Z-26.48

: Sonardyne - got all data, Vehicle coordinates,
    r=26.550000, x=26.480000, y=1.800000, z=0.640000 tat = 500
: 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: ,
:  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 R25.46,X1.69,Y-0.87,Z-25.38

: Sonardyne - parsing R25.46,X1.69,Y-0.87,Z-25.38

: Sonardyne - read R = 25.460000 from 25.46,X1.69,Y-0.87,Z-25.38

: Sonardyne - got all data, Vehicle coordinates,
    r=25.460000, x=25.380000, y=1.690000, z=0.870000 tat = 500
: 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: ,
:  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 R24.37,X1.62,Y-1.01,Z-24.30

: Sonardyne - parsing R24.37,X1.62,Y-1.01,Z-24.30

: Sonardyne - read R = 24.370000 from 24.37,X1.62,Y-1.01,Z-24.30

: Sonardyne - got all data, Vehicle coordinates,
    r=24.370000, x=24.300000, y=1.620000, z=1.010000 tat = 500
: 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: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R23.32,X1.53,Y-1.08,Z-23.25

: Sonardyne - parsing R23.32,X1.53,Y-1.08,Z-23.25

: Sonardyne - read R = 23.320000 from 23.32,X1.53,Y-1.08,Z-23.25

: Sonardyne - got all data, Vehicle coordinates,
    r=23.320000, x=23.250000, y=1.530000, z=1.080000 tat = 500
: 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: ,
:  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 R22.31,X1.43,Y-1.03,Z-22.24

: Sonardyne - parsing R22.31,X1.43,Y-1.03,Z-22.24

: Sonardyne - read R = 22.310000 from 22.31,X1.43,Y-1.03,Z-22.24

: Sonardyne - got all data, Vehicle coordinates,
    r=22.310000, x=22.240000, y=1.430000, z=1.030000 tat = 500
: 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 R21.30,X1.38,Y-1.00,Z-21.23

: Sonardyne - parsing R21.30,X1.38,Y-1.00,Z-21.23

: Sonardyne - read R = 21.300000 from 21.30,X1.38,Y-1.00,Z-21.23

: Sonardyne - got all data, Vehicle coordinates,
    r=21.300000, x=21.230000, y=1.380000, z=1.000000 tat = 500
: 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

: Sonardyne - POS response: 
POS V4,1 R20.23,X1.28,Y-1.02,Z-20.17

: Sonardyne - parsing R20.23,X1.28,Y-1.02,Z-20.17

: Sonardyne - read R = 20.230000 from 20.23,X1.28,Y-1.02,Z-20.17

: Sonardyne - got all data, Vehicle coordinates,
    r=20.230000, x=20.170000, y=1.280000, z=1.020000 tat = 500
: BluefinBatt Reply: $aaq0 d- 31.53  5.96 16.79 3.94 3.96 0  1253.06 06:29:48 m

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

: Sonardyne - POS response: 
POS V4,1 R19.09,X1.19,Y-1.11,Z-19.02

: Sonardyne - parsing R19.09,X1.19,Y-1.11,Z-19.02

: Sonardyne - read R = 19.090000 from 19.09,X1.19,Y-1.11,Z-19.02

: Sonardyne - got all data, Vehicle coordinates,
    r=19.090000, x=19.020000, y=1.190000, z=1.110000 tat = 490
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: 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: ,
:  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 R17.97,X1.03,Y-1.19,Z-17.90

: Sonardyne - parsing R17.97,X1.03,Y-1.19,Z-17.90

: Sonardyne - read R = 17.970000 from 17.97,X1.03,Y-1.19,Z-17.90

: Sonardyne - got all data, Vehicle coordinates,
    r=17.970000, x=17.900000, y=1.030000, z=1.190000 tat = 490
: 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: ,
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R16.93,X0.83,Y-1.19,Z-16.86

: Sonardyne - parsing R16.93,X0.83,Y-1.19,Z-16.86

: Sonardyne - read R = 16.930000 from 16.93,X0.83,Y-1.19,Z-16.86

: Sonardyne - got all data, Vehicle coordinates,
    r=16.930000, x=16.860000, y=0.830000, z=1.190000 tat = 490
: 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: ,
:  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 R15.97,X0.70,Y-1.13,Z-15.91

: Sonardyne - parsing R15.97,X0.70,Y-1.13,Z-15.91

: Sonardyne - read R = 15.970000 from 15.97,X0.70,Y-1.13,Z-15.91

: Sonardyne - got all data, Vehicle coordinates,
    r=15.970000, x=15.910000, y=0.700000, z=1.130000 tat = 490
: 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: ,
:  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 R15.01,X0.68,Y-1.10,Z-14.96

: Sonardyne - parsing R15.01,X0.68,Y-1.10,Z-14.96

: Sonardyne - read R = 15.010000 from 15.01,X0.68,Y-1.10,Z-14.96

: Sonardyne - got all data, Vehicle coordinates,
    r=15.010000, x=14.960000, y=0.680000, z=1.100000 tat = 490
: 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: ,
:  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 R14.00,X0.69,Y-1.17,Z-13.93

: Sonardyne - parsing R14.00,X0.69,Y-1.17,Z-13.93

: Sonardyne - read R = 14.000000 from 14.00,X0.69,Y-1.17,Z-13.93

: Sonardyne - got all data, Vehicle coordinates,
    r=14.000000, x=13.930000, y=0.690000, z=1.170000 tat = 490
: 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: ,
:  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 R12.87,X0.62,Y-1.27,Z-12.79

: Sonardyne - parsing R12.87,X0.62,Y-1.27,Z-12.79

: Sonardyne - read R = 12.870000 from 12.87,X0.62,Y-1.27,Z-12.79

: Sonardyne - got all data, Vehicle coordinates,
    r=12.870000, x=12.790000, y=0.620000, z=1.270000 tat = 490
: 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: ,
:  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: ,
:  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: ,
:  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,N4.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 438.00          Seconds.
:   The vehicle position is is (4052236.1, 600517.7)

: BluefinBatt Reply: $aaq0 d- 31.57  6.53 16.79 3.94 3.96 0  1252.61 06:29:58 m

: 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: ,
:  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 R8.72,X0.20,Y-1.60,Z-8.57

: Sonardyne - parsing R8.72,X0.20,Y-1.60,Z-8.57

: Sonardyne - read R = 8.720000 from 8.72,X0.20,Y-1.60,Z-8.57

: Sonardyne - got all data, Vehicle coordinates,
    r=8.720000, x=8.570000, y=0.200000, z=1.600000 tat = 480
: WaypointHoming: The Usbl has aquired the transponder
  at t = 438.80          Seconds.
:   The vehicle position is is (4052235.6, 600518.3)

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: 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: ,
:  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: ,
:  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: ,
:  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,N1.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 442.00          Seconds.
:   The vehicle position is is (4052233.3, 600520.7)

: 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: ,
:  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 R4.77

: Sonardyne - parsing R4.77

: Sonardyne - read R = 4.770000 from 4.77

: Sonardyne - got range only (4.770000), tat = 460
: Sonardyne - POSD response: 
POSD S+154.9,N29.2,D-37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+154.9,N29.2,D-37,U0,Q0.000000

: 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: ,
:  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 R3.92

: Sonardyne - parsing R3.92

: Sonardyne - read R = 3.920000 from 3.92

: Sonardyne - got range only (3.920000), tat = 450
: Sonardyne - POSD response: 
POSD S+154.9,N30.6,D-38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+154.9,N30.6,D-38,U0,Q0.000000

: 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: ,
:  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 R3.12

: Sonardyne - parsing R3.12

: Sonardyne - read R = 3.120000 from 3.12

: Sonardyne - got range only (3.120000), tat = 450
: Sonardyne - POSD response: 
POSD S+154.7,N42.8,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+154.7,N42.8,D-15,U0,Q0.000000

: 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: ,
:  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 R2.55

: Sonardyne - parsing R2.55

: Sonardyne - read R = 2.550000 from 2.55

: Sonardyne - got range only (2.550000), tat = 450
: Sonardyne - POSD response: 
POSD S+154.8,N47.5,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+154.8,N47.5,D-15,U0,Q0.000000

: 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

: Sonardyne - POS response: 
POS V4,1 R2.36

: Sonardyne - parsing R2.36

: Sonardyne - read R = 2.360000 from 2.36

: Sonardyne - got range only (2.360000), tat = 450
: Sonardyne - POSD response: 
POSD S+153.7,N31.8,D0,U2,Q0.011607

: Sonardyne - POSD response: 
POSD S+153.7,N31.8,D0,U2,Q0.011607

:  WaypointHoming has set the state to finished.

: WaypointHoming (4052230.2, 600525.0), 
  reached at t = 447.00                                          (wplog)

: Vehicle Position error is (0.6, 0.4)

: LayeredControl::execute() -- (t = 446.999378) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 447.01                            (wplog)
  The current location (N,E) = 4052229.6      , 600524.6         (wplog)
  The next waypoint          = 4052143.0      , 600600.9         (wplog)
  The bearing to the next w.p. is 138.6 Degrees.

: LayeredControl::execute() -- (t = 447.009378) Behavior waypoint has changed to state Active

: 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: ,
:  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 R2.67

: Sonardyne - parsing R2.67

: Sonardyne - read R = 2.670000 from 2.67

: Sonardyne - got range only (2.670000), tat = 450
: Sonardyne - POSD response: 
POSD S+150.6,N30.4,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+150.6,N30.4,D21,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.57  6.43 16.79 3.94 3.96 0  1251.96 06:30:08 m

: 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 R3.37

: Sonardyne - parsing R3.37

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

: Sonardyne - read R = 3.370000 from 3.37

: Sonardyne - got range only (3.370000), tat = 450
: Sonardyne - POSD response: 
POSD S145.2,N30.8,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.2,N30.8,D22,U0,Q0.000000

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R4.38

: Sonardyne - parsing R4.38

: Sonardyne - read R = 4.380000 from 4.38

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

: Sonardyne - got range only (4.380000), tat = 450
: Sonardyne - POSD response: 
POSD S138.6,N31.4,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.6,N31.4,D16,U0,Q0.000000

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R5.45

: Sonardyne - parsing R5.45

: Sonardyne - read R = 5.450000 from 5.45

: Sonardyne - got range only (5.450000), tat = 460
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.8,N29.7,D24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.8,N29.7,D24,U0,Q0.000000

: 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 R6.55

: Sonardyne - parsing R6.55

: Sonardyne - read R = 6.550000 from 6.55

: Sonardyne - got range only (6.550000), tat = 460
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.3,N29.7,D19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N29.7,D19,U0,Q0.000000

: 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 R7.88

: Sonardyne - parsing R7.88

: Sonardyne - read R = 7.880000 from 7.88

: Sonardyne - got range only (7.880000), tat = 460
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S117.7,N27.8,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.7,N27.8,D16,U0,Q0.000000

: 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 R9.23

: Sonardyne - parsing R9.23

: Sonardyne - read R = 9.230000 from 9.23

: Sonardyne - got range only (9.230000), tat = 460
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.8,N32.1,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.8,N32.1,D20,U0,Q0.000000

: 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: ,
:  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: ,
:  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: ,
:  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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223257.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223257.00,,,,,0,00,,,M,,M,,*4B


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

: BluefinBatt Reply: $aaq0 d- 31.38 10.64 16.79 3.94 3.96 0  1251.29 06:30:18 m

: Sonardyne - POS response: 
POS V4,1 R22.89

: Sonardyne - parsing R22.89

: Sonardyne - read R = 22.890000 from 22.89

: Sonardyne - got range only (22.890000), tat = 480
: Sonardyne - POSD response: 
POSD S123.7,N25.4,D-58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.7,N25.4,D-58,U0,Q0.000000

: 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: ,
:  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 3.940000, mean min cell voltage 3.940000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,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 R28.00

: Sonardyne - parsing R28.00

: Sonardyne - read R = 28.000000 from 28.00

: Sonardyne - got range only (28.000000), tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S118.8,N25.6,D43,U1,Q0.002347

: Sonardyne - POSD response: 
POSD S118.8,N25.6,D43,U1,Q0.002347

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223306.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223306.00,,,,,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 R35.30

: Sonardyne - parsing R35.30

: Sonardyne - read R = 35.300000 from 35.30

: Sonardyne - got range only (35.300000), tat = 490
: Sonardyne - POSD response: 
POSD S123.5,N30.3,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N30.3,D-3,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.42  9.09 16.79 3.92 3.94 0  1250.33 06:30:28 m

: 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

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

: 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: ,
:  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: ,
:  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,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,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 - POS response: 
POS V4,1 R41.82

: Sonardyne - parsing R41.82

: Sonardyne - read R = 41.820000 from 41.82

: Sonardyne - got range only (41.820000), tat = 510
: Sonardyne - POSD response: 
POSD S119.0,N21.8,D56,U4,Q0.002612

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

: Sonardyne - POSD response: 
POSD S119.0,N21.8,D56,U4,Q0.002612

: 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 R47.60

: Sonardyne - parsing R47.60

: Sonardyne - read R = 47.600000 from 47.60

: Sonardyne - got range only (47.600000), tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S117.9,N18.4,D-12,U1,Q0.007861

: Sonardyne - POSD response: 
POSD S117.9,N18.4,D-12,U1,Q0.007861

: 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 R48.94

: Sonardyne - parsing R48.94

: Sonardyne - read R = 48.940000 from 48.94

: Sonardyne - got range only (48.940000), tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S114.4,N17.7,D-65,U3,Q0.004868

: Sonardyne - POSD response: 
POSD S114.4,N17.7,D-65,U3,Q0.004868

: 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 R55.40

: Sonardyne - parsing R55.40

: Sonardyne - read R = 55.400000 from 55.40

: Sonardyne - got range only (55.400000), tat = 520
: Sonardyne - POSD response: 
POSD S119.6,N18.3,D-52,U2,Q0.004837

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

: Sonardyne - POSD response: 
POSD S119.6,N18.3,D-52,U2,Q0.004837

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

: BluefinBatt Reply: $aaq0 d- 31.45  9.19 16.79 3.92 3.94 0  1249.74 06:30:38 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,N6.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223318.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,223318.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - POS response: 
POS V4,1 R54.64

: Sonardyne - parsing R54.64

: Sonardyne - read R = 54.640000 from 54.64

: Sonardyne - got range only (54.640000), tat = 520
: Sonardyne - POSD response: 
POSD S115.9,N23.2,D131,U2,Q0.000083

: Sonardyne - POSD response: 
POSD S115.9,N23.2,D131,U2,Q0.000083

: 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: ,
:  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: ,
:  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: ,
:  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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223323.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223323.00,,,,,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,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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,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 = 00891,  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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  9.60 16.89 3.92 3.95 0  1248.78 06:30:48 m

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: LayeredControl::execute() -- (t = 494.196145) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 494.20                            (wplog)
  The current location (N,E) = 4052173.8      , 600573.3         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 327.4 Degrees.

: LayeredControl::execute() -- (t = 494.196145) Behavior waypoint has changed to state Active

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.49  8.28 16.89 3.92 3.95 0  1248.17 06:30:58 m

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

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

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

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

: Sonardyne - parsing R0.00

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

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

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

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R84.72

: Sonardyne - parsing R84.72

: Sonardyne - read R = 84.720000 from 84.72

: Sonardyne - got range only (84.720000), tat = 560
: Sonardyne - POSD response: 
POSD S131.4,N31.8,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.4,N31.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223345.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223345.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R84.30

: Sonardyne - parsing R84.30

: Sonardyne - read R = 84.300000 from 84.30

: Sonardyne - got range only (84.300000), tat = 560
: Sonardyne - POSD response: 
POSD S137.2,N26.7,D-61,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.2,N26.7,D-61,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,223346.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223346.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R83.62

: Sonardyne - parsing R83.62

: Sonardyne - read R = 83.620000 from 83.62

: Sonardyne - got range only (83.620000), tat = 560
: Sonardyne - POSD response: 
POSD S137.6,N19.5,D-72,U3,Q0.011635

: Sonardyne - POSD response: 
POSD S137.6,N19.5,D-72,U3,Q0.011635

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R82.75,X-49.90,Y7.64,Z-65.56

: Sonardyne - parsing R82.75,X-49.90,Y7.64,Z-65.56

: Sonardyne - read R = 82.750000 from 82.75,X-49.90,Y7.64,Z-65.56

: Sonardyne - got all data, Vehicle coordinates,
    r=82.750000, x=65.560000, y=-49.900000, z=-7.640000 tat = 580
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  9.60 16.89 3.92 3.95 0  1247.21 06:31:08 m

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R81.62,X-37.83,Y4.87,Z-72.16

: Sonardyne - parsing R81.62,X-37.83,Y4.87,Z-72.16

: Sonardyne - read R = 81.620000 from 81.62,X-37.83,Y4.87,Z-72.16

: Sonardyne - got all data, Vehicle coordinates,
    r=81.620000, x=72.160000, y=-37.830000, z=-4.870000 tat = 580
:  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 3.920000, mean min cell voltage 3.920000

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R80.75,X-25.85,Y-0.15,Z-76.50

: Sonardyne - parsing R80.75,X-25.85,Y-0.15,Z-76.50

: Sonardyne - read R = 80.750000 from 80.75,X-25.85,Y-0.15,Z-76.50

: Sonardyne - got all data, Vehicle coordinates,
    r=80.750000, x=76.500000, y=-25.850000, z=0.150000 tat = 590
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R79.70,X-13.36,Y0.71,Z-78.57

: Sonardyne - parsing R79.70,X-13.36,Y0.71,Z-78.57

: Sonardyne - read R = 79.700000 from 79.70,X-13.36,Y0.71,Z-78.57

: Sonardyne - got all data, Vehicle coordinates,
    r=79.700000, x=78.570000, y=-13.360000, z=-0.710000 tat = 580
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R78.69,X-1.96,Y-0.80,Z-78.66

: Sonardyne - parsing R78.69,X-1.96,Y-0.80,Z-78.66

: Sonardyne - read R = 78.690000 from 78.69,X-1.96,Y-0.80,Z-78.66

: Sonardyne - got all data, Vehicle coordinates,
    r=78.690000, x=78.660000, y=-1.960000, z=0.800000 tat = 580
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R77.71,X7.09,Y-2.97,Z-77.33

: Sonardyne - parsing R77.71,X7.09,Y-2.97,Z-77.33

: Sonardyne - read R = 77.710000 from 77.71,X7.09,Y-2.97,Z-77.33

: Sonardyne - got all data, Vehicle coordinates,
    r=77.710000, x=77.330000, y=7.090000, z=2.970000 tat = 580
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R76.61,X15.54,Y-3.71,Z-74.92

: Sonardyne - parsing R76.61,X15.54,Y-3.71,Z-74.92

: Sonardyne - read R = 76.610000 from 76.61,X15.54,Y-3.71,Z-74.92

: Sonardyne - got all data, Vehicle coordinates,
    r=76.610000, x=74.920000, y=15.540000, z=3.710000 tat = 580
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R75.51,X22.17,Y-3.25,Z-72.11

: Sonardyne - parsing R75.51,X22.17,Y-3.25,Z-72.11

: Sonardyne - read R = 75.510000 from 75.51,X22.17,Y-3.25,Z-72.11

: Sonardyne - got all data, Vehicle coordinates,
    r=75.510000, x=72.110000, y=22.170000, z=3.250000 tat = 580
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R74.27,X26.37,Y-4.56,Z-69.28

: Sonardyne - parsing R74.27,X26.37,Y-4.56,Z-69.28

: Sonardyne - read R = 74.270000 from 74.27,X26.37,Y-4.56,Z-69.28

: Sonardyne - got all data, Vehicle coordinates,
    r=74.270000, x=69.280000, y=26.370000, z=4.560000 tat = 570
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R72.97,X28.72,Y-4.19,Z-66.95

: Sonardyne - parsing R72.97,X28.72,Y-4.19,Z-66.95

: Sonardyne - read R = 72.970000 from 72.97,X28.72,Y-4.19,Z-66.95

: Sonardyne - got all data, Vehicle coordinates,
    r=72.970000, x=66.950000, y=28.720000, z=4.190000 tat = 569
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R71.67,X29.69,Y-3.67,Z-65.13

: Sonardyne - parsing R71.67,X29.69,Y-3.67,Z-65.13

: Sonardyne - read R = 71.670000 from 71.67,X29.69,Y-3.67,Z-65.13

: Sonardyne - got all data, Vehicle coordinates,
    r=71.670000, x=65.130000, y=29.690000, z=3.670000 tat = 570
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34 10.27 16.89 3.92 3.95 0  1246.50 06:31:18 m

: 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: ,
: 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 = 550
: Sonardyne - POSD response: 
POSD S147.1,N24.6,D-60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S147.1,N24.6,D-60,U0,Q0.000000

:  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 3.920000, mean min cell voltage 3.920000

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R68.79,X28.58,Y-2.22,Z-62.53

: Sonardyne - parsing R68.79,X28.58,Y-2.22,Z-62.53

: Sonardyne - read R = 68.790000 from 68.79,X28.58,Y-2.22,Z-62.53

: Sonardyne - got all data, Vehicle coordinates,
    r=68.790000, x=62.530000, y=28.580000, z=2.220000 tat = 570
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R67.30,X27.22,Y-0.68,Z-61.54

: Sonardyne - parsing R67.30,X27.22,Y-0.68,Z-61.54

: Sonardyne - read R = 67.300000 from 67.30,X27.22,Y-0.68,Z-61.54

: Sonardyne - got all data, Vehicle coordinates,
    r=67.300000, x=61.540000, y=27.220000, z=0.680000 tat = 560
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R65.85,X25.09,Y0.54,Z-60.88

: Sonardyne - parsing R65.85,X25.09,Y0.54,Z-60.88

: Sonardyne - read R = 65.850000 from 65.85,X25.09,Y0.54,Z-60.88

: Sonardyne - got all data, Vehicle coordinates,
    r=65.850000, x=60.880000, y=25.090000, z=-0.540000 tat = 560
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R64.50,X22.20,Y0.25,Z-60.56

: Sonardyne - parsing R64.50,X22.20,Y0.25,Z-60.56

: Sonardyne - read R = 64.500000 from 64.50,X22.20,Y0.25,Z-60.56

: Sonardyne - got all data, Vehicle coordinates,
    r=64.500000, x=60.560000, y=22.200000, z=-0.250000 tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R63.15,X18.69,Y1.36,Z-60.31

: Sonardyne - parsing R63.15,X18.69,Y1.36,Z-60.31

: Sonardyne - read R = 63.150000 from 63.15,X18.69,Y1.36,Z-60.31

: Sonardyne - got all data, Vehicle coordinates,
    r=63.150000, x=60.310000, y=18.690000, z=-1.360000 tat = 560
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R61.68,X14.65,Y1.93,Z-59.88

: Sonardyne - parsing R61.68,X14.65,Y1.93,Z-59.88

: Sonardyne - read R = 61.680000 from 61.68,X14.65,Y1.93,Z-59.88

: Sonardyne - got all data, Vehicle coordinates,
    r=61.680000, x=59.880000, y=14.650000, z=-1.930000 tat = 560
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R60.17,X10.31,Y2.05,Z-59.24

: Sonardyne - parsing R60.17,X10.31,Y2.05,Z-59.24

: Sonardyne - read R = 60.170000 from 60.17,X10.31,Y2.05,Z-59.24

: Sonardyne - got all data, Vehicle coordinates,
    r=60.170000, x=59.240000, y=10.310000, z=-2.050000 tat = 550
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R58.55,X6.81,Y1.54,Z-58.13

: Sonardyne - parsing R58.55,X6.81,Y1.54,Z-58.13

: Sonardyne - read R = 58.550000 from 58.55,X6.81,Y1.54,Z-58.13

: Sonardyne - got all data, Vehicle coordinates,
    r=58.550000, x=58.130000, y=6.810000, z=-1.540000 tat = 550
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R56.84,X3.79,Y1.08,Z-56.70

: Sonardyne - parsing R56.84,X3.79,Y1.08,Z-56.70

: Sonardyne - read R = 56.840000 from 56.84,X3.79,Y1.08,Z-56.70

: Sonardyne - got all data, Vehicle coordinates,
    r=56.840000, x=56.700000, y=3.790000, z=-1.080000 tat = 550
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.38 10.75 16.89 3.91 3.94 0  1245.46 06:31:28 m

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R55.11,X1.08,Y-0.01,Z-55.10

: Sonardyne - parsing R55.11,X1.08,Y-0.01,Z-55.10

: Sonardyne - read R = 55.110000 from 55.11,X1.08,Y-0.01,Z-55.10

: Sonardyne - got all data, Vehicle coordinates,
    r=55.110000, x=55.100000, y=1.080000, z=0.010000 tat = 550
:  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 3.910000, mean min cell voltage 3.910000

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R53.44,X-1.40,Y0.60,Z-53.42

: Sonardyne - parsing R53.44,X-1.40,Y0.60,Z-53.42

: Sonardyne - read R = 53.440000 from 53.44,X-1.40,Y0.60,Z-53.42

: Sonardyne - got all data, Vehicle coordinates,
    r=53.440000, x=53.420000, y=-1.400000, z=-0.600000 tat = 540
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R51.78,X-3.31,Y0.21,Z-51.67

: Sonardyne - parsing R51.78,X-3.31,Y0.21,Z-51.67

: Sonardyne - read R = 51.780000 from 51.78,X-3.31,Y0.21,Z-51.67

: Sonardyne - got all data, Vehicle coordinates,
    r=51.780000, x=51.670000, y=-3.310000, z=-0.210000 tat = 540
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R50.18,X-5.15,Y0.15,Z-49.91

: Sonardyne - parsing R50.18,X-5.15,Y0.15,Z-49.91

: Sonardyne - read R = 50.180000 from 50.18,X-5.15,Y0.15,Z-49.91

: Sonardyne - got all data, Vehicle coordinates,
    r=50.180000, x=49.910000, y=-5.150000, z=-0.150000 tat = 539
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R48.51,X-6.85,Y-0.32,Z-48.02

: Sonardyne - parsing R48.51,X-6.85,Y-0.32,Z-48.02

: Sonardyne - read R = 48.510000 from 48.51,X-6.85,Y-0.32,Z-48.02

: Sonardyne - got all data, Vehicle coordinates,
    r=48.510000, x=48.020000, y=-6.850000, z=0.320000 tat = 540
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R46.85,X-8.19,Y0.15,Z-46.12

: Sonardyne - parsing R46.85,X-8.19,Y0.15,Z-46.12

: Sonardyne - read R = 46.850000 from 46.85,X-8.19,Y0.15,Z-46.12

: Sonardyne - got all data, Vehicle coordinates,
    r=46.850000, x=46.120000, y=-8.190000, z=-0.150000 tat = 530
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R45.14,X-8.92,Y0.07,Z-44.25

: Sonardyne - parsing R45.14,X-8.92,Y0.07,Z-44.25

: Sonardyne - read R = 45.140000 from 45.14,X-8.92,Y0.07,Z-44.25

: Sonardyne - got all data, Vehicle coordinates,
    r=45.140000, x=44.250000, y=-8.920000, z=-0.070000 tat = 530
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R43.35,X-9.63,Y0.12,Z-42.27

: Sonardyne - parsing R43.35,X-9.63,Y0.12,Z-42.27

: Sonardyne - read R = 43.350000 from 43.35,X-9.63,Y0.12,Z-42.27

: Sonardyne - got all data, Vehicle coordinates,
    r=43.350000, x=42.270000, y=-9.630000, z=-0.120000 tat = 530
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R41.51,X-10.22,Y0.04,Z-40.24

: Sonardyne - parsing R41.51,X-10.22,Y0.04,Z-40.24

: Sonardyne - read R = 41.510000 from 41.51,X-10.22,Y0.04,Z-40.24

: Sonardyne - got all data, Vehicle coordinates,
    r=41.510000, x=40.240000, y=-10.220000, z=-0.040000 tat = 530
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R40.03,X-10.94,Y-0.05,Z-38.51

: Sonardyne - parsing R40.03,X-10.94,Y-0.05,Z-38.51

: Sonardyne - read R = 40.030000 from 40.03,X-10.94,Y-0.05,Z-38.51

: Sonardyne - got all data, Vehicle coordinates,
    r=40.030000, x=38.510000, y=-10.940000, z=0.050000 tat = 530
: BluefinBatt Reply: $aaq0 d- 31.38  9.77 16.89 3.91 3.94 0  1244.79 06:31:38 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R38.38,X-11.44,Y-0.03,Z-36.63

: Sonardyne - parsing R38.38,X-11.44,Y-0.03,Z-36.63

: Sonardyne - read R = 38.380000 from 38.38,X-11.44,Y-0.03,Z-36.63

: Sonardyne - got all data, Vehicle coordinates,
    r=38.380000, x=36.630000, y=-11.440000, z=0.030000 tat = 530
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

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

: AshtechGps::processRecord() - $GPGGA,223419.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223419.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R36.79,X-11.66,Y0.01,Z-34.89

: Sonardyne - parsing R36.79,X-11.66,Y0.01,Z-34.89

: Sonardyne - read R = 36.790000 from 36.79,X-11.66,Y0.01,Z-34.89

: Sonardyne - got all data, Vehicle coordinates,
    r=36.790000, x=34.890000, y=-11.660000, z=-0.010000 tat = 520
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R35.07,X-11.51,Y-0.04,Z-33.13

: Sonardyne - parsing R35.07,X-11.51,Y-0.04,Z-33.13

: Sonardyne - read R = 35.070000 from 35.07,X-11.51,Y-0.04,Z-33.13

: Sonardyne - got all data, Vehicle coordinates,
    r=35.070000, x=33.130000, y=-11.510000, z=0.040000 tat = 520
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R33.27,X-11.28,Y-0.18,Z-31.30

: Sonardyne - parsing R33.27,X-11.28,Y-0.18,Z-31.30

: Sonardyne - read R = 33.270000 from 33.27,X-11.28,Y-0.18,Z-31.30

: Sonardyne - got all data, Vehicle coordinates,
    r=33.270000, x=31.300000, y=-11.280000, z=0.180000 tat = 520
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R31.45,X-11.10,Y-0.43,Z-29.42

: Sonardyne - parsing R31.45,X-11.10,Y-0.43,Z-29.42

: Sonardyne - read R = 31.450000 from 31.45,X-11.10,Y-0.43,Z-29.42

: Sonardyne - got all data, Vehicle coordinates,
    r=31.450000, x=29.420000, y=-11.100000, z=0.430000 tat = 520
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R29.77,X-11.12,Y-0.53,Z-27.61

: Sonardyne - parsing R29.77,X-11.12,Y-0.53,Z-27.61

: Sonardyne - read R = 29.770000 from 29.77,X-11.12,Y-0.53,Z-27.61

: Sonardyne - got all data, Vehicle coordinates,
    r=29.770000, x=27.610000, y=-11.120000, z=0.530000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R28.20

: Sonardyne - parsing R28.20

: Sonardyne - read R = 28.200000 from 28.20

: Sonardyne - got range only (28.200000), tat = 490
: Sonardyne - POSD response: 
POSD S+153.4,N27.6,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+153.4,N27.6,D-39,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,223425.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223425.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R26.70,X-11.29,Y-0.68,Z-24.19

: Sonardyne - parsing R26.70,X-11.29,Y-0.68,Z-24.19

: Sonardyne - read R = 26.700000 from 26.70,X-11.29,Y-0.68,Z-24.19

: Sonardyne - got all data, Vehicle coordinates,
    r=26.700000, x=24.190000, y=-11.290000, z=0.680000 tat = 510
: Sonardyne - POSD response: 
POSD S+153.3,N27.9,D-35,U8,Q0.000352

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R25.25,X-11.21,Y-0.59,Z-22.61

: Sonardyne - parsing R25.25,X-11.21,Y-0.59,Z-22.61

: Sonardyne - read R = 25.250000 from 25.25,X-11.21,Y-0.59,Z-22.61

: Sonardyne - got all data, Vehicle coordinates,
    r=25.250000, x=22.610000, y=-11.210000, z=0.590000 tat = 510
: Sonardyne - POSD response: 
POSD S+153.3,N27.7,D-36,U8,Q0.001065

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R23.76,X-10.94,Y-0.50,Z-21.08

: Sonardyne - parsing R23.76,X-10.94,Y-0.50,Z-21.08

: Sonardyne - read R = 23.760000 from 23.76,X-10.94,Y-0.50,Z-21.08

: Sonardyne - got all data, Vehicle coordinates,
    r=23.760000, x=21.080000, y=-10.940000, z=0.500000 tat = 510
: Sonardyne - POSD response: 
POSD S+153.4,N27.9,D-36,U8,Q0.001755

: BluefinBatt Reply: $aaq0 d- 31.38  9.33 16.89 3.91 3.94 0  1243.78 06:31:48 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R22.17,X-10.64,Y-0.60,Z-19.44

: Sonardyne - parsing R22.17,X-10.64,Y-0.60,Z-19.44

: Sonardyne - read R = 22.170000 from 22.17,X-10.64,Y-0.60,Z-19.44

: Sonardyne - got all data, Vehicle coordinates,
    r=22.170000, x=19.440000, y=-10.640000, z=0.600000 tat = 500
: Sonardyne - POSD response: 
POSD S+153.4,N27.9,D-38,U8,Q0.002797

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

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

: AshtechGps::processRecord() - $GPGGA,223429.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223429.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R20.49,X-10.27,Y-0.77,Z-17.71

: Sonardyne - parsing R20.49,X-10.27,Y-0.77,Z-17.71

: Sonardyne - read R = 20.490000 from 20.49,X-10.27,Y-0.77,Z-17.71

: Sonardyne - got all data, Vehicle coordinates,
    r=20.490000, x=17.710000, y=-10.270000, z=0.770000 tat = 500
: Sonardyne - POSD response: 
POSD S+153.6,N28.1,D-43,U8,Q0.004761

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R18.87,X-9.92,Y-0.91,Z-16.02

: Sonardyne - parsing R18.87,X-9.92,Y-0.91,Z-16.02

: Sonardyne - read R = 18.870000 from 18.87,X-9.92,Y-0.91,Z-16.02

: Sonardyne - got all data, Vehicle coordinates,
    r=18.870000, x=16.020000, y=-9.920000, z=0.910000 tat = 500
: Sonardyne - POSD response: 
POSD S+153.7,N28.2,D-43,U8,Q0.008938

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R17.30

: Sonardyne - parsing R17.30

: Sonardyne - read R = 17.300000 from 17.30

: Sonardyne - got range only (17.300000), tat = 470
: Sonardyne - POSD response: 
POSD S+153.7,N28.8,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+153.7,N28.8,D-39,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,223432.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223432.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.79

: Sonardyne - parsing R15.79

: Sonardyne - read R = 15.790000 from 15.79

: Sonardyne - got range only (15.790000), tat = 470
: Sonardyne - POSD response: 
POSD S+153.7,N28.9,D-37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+153.7,N28.9,D-37,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,223433.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223433.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.38,X13.23,Y5.63,Z0.00

: Sonardyne - parsing R14.38,X13.23,Y5.63,Z0.00

: Sonardyne - read R = 14.380000 from 14.38,X13.23,Y5.63,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=14.380000, x=0.000000, y=13.230000, z=-5.630000 tat = 490
: Sonardyne - POSD response: 
POSD S+153.9,N30.6,D-34,U8,Q0.005919

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R13.13,X12.04,Y5.24,Z0.00

: Sonardyne - parsing R13.13,X12.04,Y5.24,Z0.00

: Sonardyne - read R = 13.130000 from 13.13,X12.04,Y5.24,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=13.130000, x=0.000000, y=12.040000, z=-5.240000 tat = 490
: Sonardyne - POSD response: 
POSD S+154.0,N32.0,D-28,U8,Q0.004483

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R12.11,X11.08,Y4.90,Z0.00

: Sonardyne - parsing R12.11,X11.08,Y4.90,Z0.00

: Sonardyne - read R = 12.110000 from 12.11,X11.08,Y4.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=12.110000, x=0.000000, y=11.080000, z=-4.900000 tat = 490
: Sonardyne - POSD response: 
POSD S+154.0,N33.9,D-16,U8,Q0.006047

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R11.24

: Sonardyne - parsing R11.24

: Sonardyne - read R = 11.240000 from 11.24

: Sonardyne - got range only (11.240000), tat = 470
: Sonardyne - POSD response: 
POSD S+153.9,N33.5,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S+153.9,N33.5,D-15,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,223437.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223437.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R10.56,X-9.19,Y-1.46,Z-5.00

: Sonardyne - parsing R10.56,X-9.19,Y-1.46,Z-5.00

: Sonardyne - read R = 10.560000 from 10.56,X-9.19,Y-1.46,Z-5.00

: Sonardyne - got all data, Vehicle coordinates,
    r=10.560000, x=5.000000, y=-9.190000, z=1.460000 tat = 490
: Sonardyne - POSD response: 
POSD S+153.9,N33.0,D-15,U8,Q0.006957

: BluefinBatt Reply: $aaq0 d- 31.42  8.55 16.89 3.91 3.94 0  1243.16 06:31:58 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R9.93,X-9.14,Y-1.54,Z-3.55

: Sonardyne - parsing R9.93,X-9.14,Y-1.54,Z-3.55

: Sonardyne - read R = 9.930000 from 9.93,X-9.14,Y-1.54,Z-3.55

: Sonardyne - got all data, Vehicle coordinates,
    r=9.930000, x=3.550000, y=-9.140000, z=1.540000 tat = 480
: Sonardyne - POSD response: 
POSD S149.9,N30.7,D-10,U8,Q0.002228

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

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

: AshtechGps::processRecord() - $GPGGA,223439.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223439.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R9.49

: Sonardyne - parsing R9.49

: Sonardyne - read R = 9.490000 from 9.49

: Sonardyne - got range only (9.490000), tat = 460
: Sonardyne - POSD response: 
POSD S148.2,N38.0,D-7,U2,Q0.005076

: Sonardyne - POSD response: 
POSD S148.2,N38.0,D-7,U2,Q0.005076

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R9.31,X-9.16,Y-1.69,Z0.00

: Sonardyne - parsing R9.31,X-9.16,Y-1.69,Z0.00

: Sonardyne - read R = 9.310000 from 9.31,X-9.16,Y-1.69,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=9.310000, x=0.000000, y=-9.160000, z=1.690000 tat = 479
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R11.93,X-0.10,Y-10.29,Z-6.03

: Sonardyne - parsing R11.93,X-0.10,Y-10.29,Z-6.03

: Sonardyne - read R = 11.930000 from 11.93,X-0.10,Y-10.29,Z-6.03

: Sonardyne - got all data, Vehicle coordinates,
    r=11.930000, x=6.030000, y=-0.100000, z=10.290000 tat = 490
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.38  9.19 16.89 3.92 3.94 0  1242.19 06:32:08 m

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R16.94

: Sonardyne - parsing R16.94

: Sonardyne - read R = 16.940000 from 16.94

: Sonardyne - got range only (16.940000), tat = 470
: Sonardyne - POSD response: 
POSD S125.1,N28.7,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.1,N28.7,D33,U0,Q0.000000

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

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

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

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223452.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223452.00,,,,,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,223453.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223453.00,,,,,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,223454.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223454.00,,,,,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,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: 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 = 00891,  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: ,
: BluefinBatt Reply: $aaq0 d- 31.38  8.89 16.89 3.92 3.94 0  1241.57 06:32:18 m

:  wdt = 00890,  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: ,
: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,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 - POS response: 
POS V4,1 R42.88

: Sonardyne - parsing R42.88

: Sonardyne - read R = 42.880000 from 42.88

: Sonardyne - got range only (42.880000), tat = 500
: Sonardyne - POSD response: 
POSD S115.2,N20.8,D-53,U3,Q0.001664

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

: Sonardyne - POSD response: 
POSD S115.2,N20.8,D-53,U3,Q0.001664

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R43.46

: Sonardyne - parsing R43.46

: Sonardyne - read R = 43.460000 from 43.46

: Sonardyne - got range only (43.460000), tat = 500
: Sonardyne - POSD response: 
POSD S116.7,N18.8,D34,U4,Q0.012992

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

: Sonardyne - POSD response: 
POSD S116.7,N18.8,D34,U4,Q0.012992

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

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

: 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 = 00894,  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: ,
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,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 = 00892,  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: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: BluefinBatt Reply: $aaq0 d- 31.42  8.35 16.89 3.92 3.94 0  1240.64 06:32:28 m

: 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,N4.6,D0,U0,Q0.000000

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

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

:  wdt = 00899,  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: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223512.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223512.00,,,,,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,223513.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223513.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,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,N3.6,D0,U0,Q0.000000

: 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: ,
:  wdt = 00892,  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: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
: BluefinBatt Reply: $aaq0 d- 31.38 10.04 16.89 3.92 3.94 0  1240.01 06:32:38 m

:  wdt = 00890,  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 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

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

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

: 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: ,
: Sonardyne - POS response: 
POS V4,1 R75.06,X-2.50,Y19.97,Z-72.31

: Sonardyne - parsing R75.06,X-2.50,Y19.97,Z-72.31

: Sonardyne - read R = 75.060000 from 75.06,X-2.50,Y19.97,Z-72.31

: Sonardyne - got all data, Vehicle coordinates,
    r=75.060000, x=72.310000, y=-2.500000, z=-19.970000 tat = 580
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

:  wdt = 00895,  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: ,
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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: ,
:  wdt = 00893,  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: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

:  wdt = 00891,  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: ,
: BluefinBatt Reply: $aaq0 d- 31.38  9.23 16.89 3.91 3.94 0  1239.02 06:32:48 m

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

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

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

: AshtechGps::processRecord() - $GPGGA,223529.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,223529.00,,,,,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,N7.5,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,223530.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223530.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,223531.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223531.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,223532.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223532.00,,,,,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,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223534.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223534.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223535.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223535.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223537.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223537.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.38  9.26 16.89 3.91 3.94 0  1238.39 06:32:58 m

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

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

: AshtechGps::processRecord() - $GPGGA,223539.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223539.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,223540.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223540.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223541.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223541.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,223542.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223542.00,,,,,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,223543.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223543.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: 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: ,
:  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: ,
:  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: ,
:  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: ,
:  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,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.38  8.66 16.89 3.92 3.94 0  1237.46 06:33:08 m

: 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: ,
:  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 3.920000, mean min cell voltage 3.920000

: 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: ,
:  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: ,
:  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,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: 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: ,
:  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: ,
:  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: ,
:  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: ,
:  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,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.38  9.36 16.89 3.92 3.94 0  1236.82 06:33:18 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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223558.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,223558.00,,,,,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

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

: 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: ,
:  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: ,
:  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: ,
:  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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223602.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223602.00,,,,,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,223603.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223603.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,223604.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223604.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,223605.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223605.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223606.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223606.00,,,,,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,223607.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,223607.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.42  8.89 16.89 3.91 3.94 0  1235.89 06:33:28 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.2,D0,U0,Q0.000000

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

: 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: ,
:  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: ,
:  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: ,
:  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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: 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

: BluefinBatt Reply: $aaq0 d- 31.38  9.09 16.99 3.91 3.94 0  1235.26 06:33:38 m

: 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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223620.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223620.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,223621.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223621.00,,,,,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,223622.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223622.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: 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: ,
:  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,N2.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.4,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.38  8.42 16.89 3.91 3.94 0  1234.34 06:33:48 m

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

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

: AshtechGps::processRecord() - $GPGGA,223629.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,223629.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223630.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,223630.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,223631.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,223631.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,223632.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223632.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,223637.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223637.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.38  9.36 16.89 3.91 3.94 0  1233.74 06:33:58 m

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

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

: AshtechGps::processRecord() - $GPGGA,223639.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,223639.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,223640.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,223640.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,223641.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,223641.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,223642.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,223642.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.4,D0,U0,Q0.000000

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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 683.99                                          (wplog)

: Vehicle Position is error is (-0.2, 0.2)

: LayeredControl::execute() -- (t = 683.993143) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 684.003142) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,223644.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,223644.00,,,,,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,223645.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223645.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,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 = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.38  7.95 16.99 3.92 3.94 0  1232.78 06:34:08 m

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

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

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

: 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 = 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,N4.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R218.65

: Sonardyne - parsing R218.65

: Sonardyne - read R = 218.650000 from 218.65

: Sonardyne - got range only (218.650000), tat = 740
: 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: ,
: Sonardyne - POSD response: 
POSD S117.3,N21.2,D-38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.3,N21.2,D-38,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 R218.46

: Sonardyne - parsing R218.46

: Sonardyne - read R = 218.460000 from 218.46

: Sonardyne - got range only (218.460000), tat = 740
: 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: ,
: Sonardyne - POSD response: 
POSD S123.0,N21.6,D120,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.0,N21.6,D120,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 R217.99

: Sonardyne - parsing R217.99

: Sonardyne - read R = 217.990000 from 217.99

: Sonardyne - got range only (217.990000), tat = 740
: 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: ,
: Sonardyne - POSD response: 
POSD S120.6,N21.6,D-75,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.6,N21.6,D-75,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.42  7.71 16.99 3.92 3.94 0  1232.23 06:34:18 m

: Sonardyne - POS response: 
POS V4,1 R217.35

: Sonardyne - parsing R217.35

: Sonardyne - read R = 217.350000 from 217.35

: Sonardyne - got range only (217.350000), tat = 740
: AshtechGps::processRecord() - $GPGGA,223658.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,223658.00,,,,,0,00,,,M,,M,,*40


: Sonardyne - POSD response: 
POSD S131.4,N33.9,D-5,U0,Q0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.4,N33.9,D-5,U0,Q0.000000

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

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

: Sonardyne - POS response: 
POS V4,1 R220.82

: Sonardyne - parsing R220.82

: Sonardyne - read R = 220.820000 from 220.82

: Sonardyne - got range only (220.820000), tat = 740
: 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: ,
: Sonardyne - POSD response: 
POSD S117.3,N22.1,D-36,U1,Q0.002628

: Sonardyne - POSD response: 
POSD S117.3,N22.1,D-36,U1,Q0.002628

:  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 R215.87

: Sonardyne - parsing R215.87

: Sonardyne - read R = 215.870000 from 215.87

: Sonardyne - got range only (215.870000), tat = 740
: AshtechGps::processRecord() - $GPGGA,223700.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,223700.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.5,N23.8,D-100,U4,Q0.015044

: Sonardyne - POSD response: 
POSD S130.5,N23.8,D-100,U4,Q0.015044

:  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 R214.90,X91.71,Y-49.76,Z-187.87

: Sonardyne - parsing R214.90,X91.71,Y-49.76,Z-187.87

: Sonardyne - read R = 214.900000 from 214.90,X91.71,Y-49.76,Z-187.87

: Sonardyne - got all data, Vehicle coordinates,
    r=214.900000, x=187.870000, y=91.710000, z=49.760000 tat = 760
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R215.15

: Sonardyne - parsing R215.15

: Sonardyne - read R = 215.150000 from 215.15

: Sonardyne - got range only (215.150000), tat = 740
: Sonardyne - POSD response: 
POSD S132.3,N23.9,D-40,U5,Q0.000638

: 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: ,
: Sonardyne - POSD response: 
POSD S132.3,N23.9,D-40,U5,Q0.000638

:  wdt = 00896,  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: ,
: Sonardyne - POS response: 
POS V4,1 R212.81,X20.44,Y-57.91,Z-203.76

: Sonardyne - parsing R212.81,X20.44,Y-57.91,Z-203.76

: Sonardyne - read R = 212.810000 from 212.81,X20.44,Y-57.91,Z-203.76

: Sonardyne - got all data, Vehicle coordinates,
    r=212.810000, x=203.760000, y=20.440000, z=57.910000 tat = 810
:  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 R211.81,X-10.84,Y-56.45,Z-203.86

: Sonardyne - parsing R211.81,X-10.84,Y-56.45,Z-203.86

: Sonardyne - read R = 211.810000 from 211.81,X-10.84,Y-56.45,Z-203.86

: Sonardyne - got all data, Vehicle coordinates,
    r=211.810000, x=203.860000, y=-10.840000, z=56.450000 tat = 760
: 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: ,
: LayeredControl::execute() -- (t = 704.791718) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 704.791718) Behavior getgps has changed to state Active

:  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 R210.21,X-50.15,Y-60.75,Z-194.89

: Sonardyne - parsing R210.21,X-50.15,Y-60.75,Z-194.89

: Sonardyne - read R = 210.210000 from 210.21,X-50.15,Y-60.75,Z-194.89

: Sonardyne - got all data, Vehicle coordinates,
    r=210.210000, x=194.890000, y=-50.150000, z=60.750000 tat = 760
: 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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R209.35,X-77.91,Y-58.21,Z-185.39

: Sonardyne - parsing R209.35,X-77.91,Y-58.21,Z-185.39

: Sonardyne - read R = 209.350000 from 209.35,X-77.91,Y-58.21,Z-185.39

: Sonardyne - got all data, Vehicle coordinates,
    r=209.350000, x=185.390000, y=-77.910000, z=58.210000 tat = 750
: 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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R207.94,X-79.71,Y-53.50,Z-184.46

: Sonardyne - parsing R207.94,X-79.71,Y-53.50,Z-184.46

: Sonardyne - read R = 207.940000 from 207.94,X-79.71,Y-53.50,Z-184.46

: Sonardyne - got all data, Vehicle coordinates,
    r=207.940000, x=184.460000, y=-79.710000, z=53.500000 tat = 750
: 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 = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.57  3.33 16.99 3.91 3.94 0  1231.39 06:34:28 m

: Sonardyne - POS response: 
POS V4,1 R206.65,X-97.35,Y-15.05,Z-181.67

: Sonardyne - parsing R206.65,X-97.35,Y-15.05,Z-181.67

: Sonardyne - read R = 206.650000 from 206.65,X-97.35,Y-15.05,Z-181.67

: Sonardyne - got all data, Vehicle coordinates,
    r=206.650000, x=181.670000, y=-97.350000, z=15.050000 tat = 750
: 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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - POS response: 
POS V4,1 R204.66,X-103.89,Y-2.20,Z-176.32

: Sonardyne - parsing R204.66,X-103.89,Y-2.20,Z-176.32

: Sonardyne - read R = 204.660000 from 204.66,X-103.89,Y-2.20,Z-176.32

: Sonardyne - got all data, Vehicle coordinates,
    r=204.660000, x=176.320000, y=-103.890000, z=2.200000 tat = 750
: 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: ,
:  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 R203.89,X-107.59,Y13.13,Z-172.70

: Sonardyne - parsing R203.89,X-107.59,Y13.13,Z-172.70

: Sonardyne - read R = 203.890000 from 203.89,X-107.59,Y13.13,Z-172.70

: Sonardyne - got all data, Vehicle coordinates,
    r=203.890000, x=172.700000, y=-107.590000, z=-13.130000 tat = 750
: 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 = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R203.19,X-110.75,Y32.28,Z-167.27

: Sonardyne - parsing R203.19,X-110.75,Y32.28,Z-167.27

: Sonardyne - read R = 203.190000 from 203.19,X-110.75,Y32.28,Z-167.27

: Sonardyne - got all data, Vehicle coordinates,
    r=203.190000, x=167.270000, y=-110.750000, z=-32.280000 tat = 750
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R202.65,X-113.99,Y31.37,Z-164.59

: Sonardyne - parsing R202.65,X-113.99,Y31.37,Z-164.59

: Sonardyne - read R = 202.650000 from 202.65,X-113.99,Y31.37,Z-164.59

: Sonardyne - got all data, Vehicle coordinates,
    r=202.650000, x=164.590000, y=-113.990000, z=-31.370000 tat = 750
: 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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R202.16,X-108.87,Y56.59,Z-160.67

: Sonardyne - parsing R202.16,X-108.87,Y56.59,Z-160.67

: Sonardyne - read R = 202.160000 from 202.16,X-108.87,Y56.59,Z-160.67

: Sonardyne - got all data, Vehicle coordinates,
    r=202.160000, x=160.670000, y=-108.870000, z=-56.590000 tat = 750
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R201.70,X-117.31,Y47.92,Z-156.92

: Sonardyne - parsing R201.70,X-117.31,Y47.92,Z-156.92

: Sonardyne - read R = 201.700000 from 201.70,X-117.31,Y47.92,Z-156.92

: Sonardyne - got all data, Vehicle coordinates,
    r=201.700000, x=156.920000, y=-117.310000, z=-47.920000 tat = 750
: 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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R201.15,X-115.46,Y63.15,Z-152.13

: Sonardyne - parsing R201.15,X-115.46,Y63.15,Z-152.13

: Sonardyne - read R = 201.150000 from 201.15,X-115.46,Y63.15,Z-152.13

: Sonardyne - got all data, Vehicle coordinates,
    r=201.150000, x=152.130000, y=-115.460000, z=-63.150000 tat = 740
: 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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R200.55,X-118.08,Y61.50,Z-149.99

: Sonardyne - parsing R200.55,X-118.08,Y61.50,Z-149.99

: Sonardyne - read R = 200.550000 from 200.55,X-118.08,Y61.50,Z-149.99

: Sonardyne - got all data, Vehicle coordinates,
    r=200.550000, x=149.990000, y=-118.080000, z=-61.500000 tat = 740
: 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: ,
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R199.85,X-123.52,Y53.81,Z-147.60

: Sonardyne - parsing R199.85,X-123.52,Y53.81,Z-147.60

: Sonardyne - read R = 199.850000 from 199.85,X-123.52,Y53.81,Z-147.60

: Sonardyne - got all data, Vehicle coordinates,
    r=199.850000, x=147.600000, y=-123.520000, z=-53.810000 tat = 740
: 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: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.60  2.42 16.99 3.91 3.94 0  1231.20 06:34:38 m

: Sonardyne - POS response: 
POS V4,1 R199.09,X-122.29,Y62.43,Z-144.17

: Sonardyne - parsing R199.09,X-122.29,Y62.43,Z-144.17

: Sonardyne - read R = 199.090000 from 199.09,X-122.29,Y62.43,Z-144.17

: Sonardyne - got all data, Vehicle coordinates,
    r=199.090000, x=144.170000, y=-122.290000, z=-62.430000 tat = 740
: 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: ,
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,223719.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,223719.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R198.48,X-124.79,Y50.52,Z-145.83

: Sonardyne - parsing R198.48,X-124.79,Y50.52,Z-145.83

: Sonardyne - read R = 198.480000 from 198.48,X-124.79,Y50.52,Z-145.83

: Sonardyne - got all data, Vehicle coordinates,
    r=198.480000, x=145.830000, y=-124.790000, z=-50.520000 tat = 790
:  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 R198.07,X-116.61,Y65.48,Z-146.10

: Sonardyne - parsing R198.07,X-116.61,Y65.48,Z-146.10

: Sonardyne - read R = 198.070000 from 198.07,X-116.61,Y65.48,Z-146.10

: Sonardyne - got all data, Vehicle coordinates,
    r=198.070000, x=146.100000, y=-116.610000, z=-65.480000 tat = 740
: 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 = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R197.72,X-126.76,Y45.89,Z-144.63

: Sonardyne - parsing R197.72,X-126.76,Y45.89,Z-144.63

: Sonardyne - read R = 197.720000 from 197.72,X-126.76,Y45.89,Z-144.63

: Sonardyne - got all data, Vehicle coordinates,
    r=197.720000, x=144.630000, y=-126.760000, z=-45.890000 tat = 739
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R197.43,X-125.68,Y49.17,Z-144.11

: Sonardyne - parsing R197.43,X-125.68,Y49.17,Z-144.11

: Sonardyne - read R = 197.430000 from 197.43,X-125.68,Y49.17,Z-144.11

: Sonardyne - got all data, Vehicle coordinates,
    r=197.430000, x=144.110000, y=-125.680000, z=-49.170000 tat = 740
: 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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R197.16,X-125.41,Y53.70,Z-142.33

: Sonardyne - parsing R197.16,X-125.41,Y53.70,Z-142.33

: Sonardyne - read R = 197.160000 from 197.16,X-125.41,Y53.70,Z-142.33

: Sonardyne - got all data, Vehicle coordinates,
    r=197.160000, x=142.330000, y=-125.410000, z=-53.700000 tat = 740
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R196.84,X-125.58,Y36.38,Z-147.14

: Sonardyne - parsing R196.84,X-125.58,Y36.38,Z-147.14

: Sonardyne - read R = 196.840000 from 196.84,X-125.58,Y36.38,Z-147.14

: Sonardyne - got all data, Vehicle coordinates,
    r=196.840000, x=147.140000, y=-125.580000, z=-36.380000 tat = 740
: 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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R196.48,X-117.58,Y55.20,Z-147.42

: Sonardyne - parsing R196.48,X-117.58,Y55.20,Z-147.42

: Sonardyne - read R = 196.480000 from 196.48,X-117.58,Y55.20,Z-147.42

: Sonardyne - got all data, Vehicle coordinates,
    r=196.480000, x=147.420000, y=-117.580000, z=-55.200000 tat = 740
: 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: ,
:  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 R196.03,X-117.76,Y40.66,Z-151.36

: Sonardyne - parsing R196.03,X-117.76,Y40.66,Z-151.36

: Sonardyne - read R = 196.030000 from 196.03,X-117.76,Y40.66,Z-151.36

: Sonardyne - got all data, Vehicle coordinates,
    r=196.030000, x=151.360000, y=-117.760000, z=-40.660000 tat = 740
: 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: ,
:  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 R195.63,X-111.58,Y45.76,Z-154.04

: Sonardyne - parsing R195.63,X-111.58,Y45.76,Z-154.04

: Sonardyne - read R = 195.630000 from 195.63,X-111.58,Y45.76,Z-154.04

: Sonardyne - got all data, Vehicle coordinates,
    r=195.630000, x=154.040000, y=-111.580000, z=-45.760000 tat = 740
: 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 = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.60  2.72 16.89 3.94 3.96 0  1230.94 06:34:48 m

: Sonardyne - POS response: 
POS V4,1 R195.25,X-104.68,Y47.51,Z-157.82

: Sonardyne - parsing R195.25,X-104.68,Y47.51,Z-157.82

: Sonardyne - read R = 195.250000 from 195.25,X-104.68,Y47.51,Z-157.82

: Sonardyne - got all data, Vehicle coordinates,
    r=195.250000, x=157.820000, y=-104.680000, z=-47.510000 tat = 740
: 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: ,
:  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 3.940000, mean min cell voltage 3.940000

: Sonardyne - POS response: 
POS V4,1 R194.92,X-99.87,Y36.29,Z-163.40

: Sonardyne - parsing R194.92,X-99.87,Y36.29,Z-163.40

: Sonardyne - read R = 194.920000 from 194.92,X-99.87,Y36.29,Z-163.40

: Sonardyne - got all data, Vehicle coordinates,
    r=194.920000, x=163.400000, y=-99.870000, z=-36.290000 tat = 730
: 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: ,
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R194.41,X-98.91,Y44.32,Z-161.39

: Sonardyne - parsing R194.41,X-98.91,Y44.32,Z-161.39

: Sonardyne - read R = 194.410000 from 194.41,X-98.91,Y44.32,Z-161.39

: Sonardyne - got all data, Vehicle coordinates,
    r=194.410000, x=161.390000, y=-98.910000, z=-44.320000 tat = 730
: 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: ,
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R193.95,X-93.67,Y27.71,Z-167.56

: Sonardyne - parsing R193.95,X-93.67,Y27.71,Z-167.56

: Sonardyne - read R = 193.950000 from 193.95,X-93.67,Y27.71,Z-167.56

: Sonardyne - got all data, Vehicle coordinates,
    r=193.950000, x=167.560000, y=-93.670000, z=-27.710000 tat = 730
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R193.71,X-88.48,Y31.21,Z-169.47

: Sonardyne - parsing R193.71,X-88.48,Y31.21,Z-169.47

: Sonardyne - read R = 193.710000 from 193.71,X-88.48,Y31.21,Z-169.47

: Sonardyne - got all data, Vehicle coordinates,
    r=193.710000, x=169.470000, y=-88.480000, z=-31.210000 tat = 730
: 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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R193.73,X-80.23,Y32.66,Z-173.29

: Sonardyne - parsing R193.73,X-80.23,Y32.66,Z-173.29

: Sonardyne - read R = 193.730000 from 193.73,X-80.23,Y32.66,Z-173.29

: Sonardyne - got all data, Vehicle coordinates,
    r=193.730000, x=173.290000, y=-80.230000, z=-32.660000 tat = 730
: 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: ,
:  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 R193.81,X-76.70,Y42.01,Z-172.96

: Sonardyne - parsing R193.81,X-76.70,Y42.01,Z-172.96

: Sonardyne - read R = 193.810000 from 193.81,X-76.70,Y42.01,Z-172.96

: Sonardyne - got all data, Vehicle coordinates,
    r=193.810000, x=172.960000, y=-76.700000, z=-42.010000 tat = 730
: 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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R193.85,X-76.16,Y22.68,Z-176.81

: Sonardyne - parsing R193.85,X-76.16,Y22.68,Z-176.81

: Sonardyne - read R = 193.850000 from 193.85,X-76.16,Y22.68,Z-176.81

: Sonardyne - got all data, Vehicle coordinates,
    r=193.850000, x=176.810000, y=-76.160000, z=-22.680000 tat = 730
: 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: ,
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R193.55,X-69.88,Y16.67,Z-179.72

: Sonardyne - parsing R193.55,X-69.88,Y16.67,Z-179.72

: Sonardyne - read R = 193.550000 from 193.55,X-69.88,Y16.67,Z-179.72

: Sonardyne - got all data, Vehicle coordinates,
    r=193.550000, x=179.720000, y=-69.880000, z=-16.670000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223736.00,3636.67542,N,12152.57616,W,1,08,1.1,-1.82,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,223736.00,3636.67542,N,12152.57616,W,1,08,1.1,-1.82,M,-33.22,M,,*78


: successfully parse sentence at 22:37:36

: AshtechGPS::processRecord -sample time is 1143758255
: GetGPS::execute() -- Got a new GPS hit: 1 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 R193.15

: Sonardyne - parsing R193.15

: Sonardyne - read R = 193.150000 from 193.15

: Sonardyne - got range only (193.150000), tat = 710
: Sonardyne - POSD response: 
POSD S122.6,N25.6,D-64,U4,Q0.003797

: Sonardyne - POSD response: 
POSD S122.6,N25.6,D-64,U4,Q0.003797

: AshtechGps::processRecord() - $GPGGA,223737.00,3636.67567,N,12152.57598,W,1,08,1.1,-4.00,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,223737.00,3636.67567,N,12152.57598,W,1,08,1.1,-4.00,M,-33.22,M,,*74


: successfully parse sentence at 22:37:37

: AshtechGPS::processRecord -sample time is 1143758256
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: BluefinBatt Reply: $aaq0 d- 31.57  4.48 16.89 3.94 3.96 0  1230.76 06:34:58 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 R193.63,X-60.31,Y-13.06,Z-183.54

: Sonardyne - parsing R193.63,X-60.31,Y-13.06,Z-183.54

: Sonardyne - read R = 193.630000 from 193.63,X-60.31,Y-13.06,Z-183.54

: Sonardyne - got all data, Vehicle coordinates,
    r=193.630000, x=183.540000, y=-60.310000, z=13.060000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223738.00,3636.67574,N,12152.57621,W,1,08,1.1,-1.73,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,223738.00,3636.67574,N,12152.57621,W,1,08,1.1,-1.73,M,-33.22,M,,*79


: successfully parse sentence at 22:37:38

: AshtechGPS::processRecord -sample time is 1143758257
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

:  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 R192.56

: Sonardyne - parsing R192.56

: Sonardyne - read R = 192.560000 from 192.56

: Sonardyne - got range only (192.560000), tat = 710
: Sonardyne - POSD response: 
POSD S125.7,N26.4,D-60,U4,Q0.000950

: Sonardyne - POSD response: 
POSD S125.7,N26.4,D-60,U4,Q0.000950

: AshtechGps::processRecord() - $GPGGA,223739.00,3636.67579,N,12152.57569,W,1,08,1.1,-1.65,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,223739.00,3636.67579,N,12152.57569,W,1,08,1.1,-1.65,M,-33.22,M,,*7D


: successfully parse sentence at 22:37:39

: AshtechGPS::processRecord -sample time is 1143758258
: GetGPS::execute() -- Got a new GPS hit: 4 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 R192.32,X-59.11,Y7.25,Z-182.87

: Sonardyne - parsing R192.32,X-59.11,Y7.25,Z-182.87

: Sonardyne - read R = 192.320000 from 192.32,X-59.11,Y7.25,Z-182.87

: Sonardyne - got all data, Vehicle coordinates,
    r=192.320000, x=182.870000, y=-59.110000, z=-7.250000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223740.00,3636.67533,N,12152.57573,W,1,08,1.1,-1.66,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,223740.00,3636.67533,N,12152.57573,W,1,08,1.1,-1.66,M,-33.22,M,,*75


: successfully parse sentence at 22:37:40

: AshtechGPS::processRecord -sample time is 1143758259
: GetGPS::execute() -- Got a new GPS hit: 5 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 R192.85,X-58.56,Y7.28,Z-183.60

: Sonardyne - parsing R192.85,X-58.56,Y7.28,Z-183.60

: Sonardyne - read R = 192.850000 from 192.85,X-58.56,Y7.28,Z-183.60

: Sonardyne - got all data, Vehicle coordinates,
    r=192.850000, x=183.600000, y=-58.560000, z=-7.280000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223741.00,3636.67569,N,12152.57588,W,1,08,1.1,-2.14,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,223741.00,3636.67569,N,12152.57588,W,1,08,1.1,-2.14,M,-33.22,M,,*79


: successfully parse sentence at 22:37:41

: AshtechGPS::processRecord -sample time is 1143758260
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R192.55,X-61.19,Y-11.47,Z-182.21

: Sonardyne - parsing R192.55,X-61.19,Y-11.47,Z-182.21

: Sonardyne - read R = 192.550000 from 192.55,X-61.19,Y-11.47,Z-182.21

: Sonardyne - got all data, Vehicle coordinates,
    r=192.550000, x=182.210000, y=-61.190000, z=11.470000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223742.00,3636.67500,N,12152.57547,W,1,08,1.1,-2.20,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,223742.00,3636.67500,N,12152.57547,W,1,08,1.1,-2.20,M,-33.22,M,,*71


: successfully parse sentence at 22:37:42

: AshtechGPS::processRecord -sample time is 1143758261
: GetGPS::execute() -- Got a new GPS hit: 7 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 R191.37,X-53.67,Y3.26,Z-183.66

: Sonardyne - parsing R191.37,X-53.67,Y3.26,Z-183.66

: Sonardyne - read R = 191.370000 from 191.37,X-53.67,Y3.26,Z-183.66

: Sonardyne - got all data, Vehicle coordinates,
    r=191.370000, x=183.660000, y=-53.670000, z=-3.260000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223743.00,3636.67486,N,12152.57536,W,1,08,1.1,-2.28,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,223743.00,3636.67486,N,12152.57536,W,1,08,1.1,-2.28,M,-33.22,M,,*71


: successfully parse sentence at 22:37:43

: AshtechGPS::processRecord -sample time is 1143758262
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223744.00,3636.67475,N,12152.57544,W,1,08,1.1,-2.42,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223744.00,3636.67475,N,12152.57544,W,1,08,1.1,-2.42,M,-33.22,M,,*73


: successfully parse sentence at 22:37:44

: AshtechGPS::processRecord -sample time is 1143758263
: GetGPS::execute() -- Got a new GPS hit: 9 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,223745.00,3636.67462,N,12152.57539,W,1,08,1.1,-2.46,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,223745.00,3636.67462,N,12152.57539,W,1,08,1.1,-2.46,M,-33.22,M,,*7A


: successfully parse sentence at 22:37:45

: AshtechGPS::processRecord -sample time is 1143758264
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 745.598923) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 745.798909) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 745.808908) Behavior missionTimer has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,223746.00,3636.67459,N,12152.57532,W,1,08,1.1,-2.93,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,223746.00,3636.67459,N,12152.57532,W,1,08,1.1,-2.93,M,-33.22,M,,*72


: successfully parse sentence at 22:37:46

: AshtechGPS::processRecord -sample time is 1143758265
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,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,223747.00,3636.67455,N,12152.57554,W,1,08,1.1,-3.01,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,223747.00,3636.67455,N,12152.57554,W,1,08,1.1,-3.01,M,-33.22,M,,*75


: successfully parse sentence at 22:37:47

: AshtechGPS::processRecord -sample time is 1143758266
: Sonardyne - POS response: 
POS V4,1 R191.58,X-27.26,Y-15.16,Z-189.02

: Sonardyne - parsing R191.58,X-27.26,Y-15.16,Z-189.02

: Sonardyne - read R = 191.580000 from 191.58,X-27.26,Y-15.16,Z-189.02

: Sonardyne - got all data, Vehicle coordinates,
    r=191.580000, x=189.020000, y=-27.260000, z=15.160000 tat = 730
: BluefinBatt Reply: $aaq0 d- 31.60  3.06 16.89 3.94 3.96 0  1230.37 06:35:08 m

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

: AshtechGps::processRecord() - $GPGGA,223748.00,3636.67449,N,12152.57556,W,1,08,1.1,-2.69,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,223748.00,3636.67449,N,12152.57556,W,1,08,1.1,-2.69,M,-33.22,M,,*7A


: successfully parse sentence at 22:37:48

: AshtechGPS::processRecord -sample time is 1143758267
: Sonardyne - POS response: 
POS V4,1 R195.01

: Sonardyne - parsing R195.01

: Sonardyne - read R = 195.010000 from 195.01

: Sonardyne - got range only (195.010000), tat = 710
: Sonardyne - POSD response: 
POSD S118.6,N26.3,D-31,U5,Q0.010200

: Sonardyne - POSD response: 
POSD S118.6,N26.3,D-31,U5,Q0.010200

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: AshtechGps::processRecord() - $GPGGA,223749.00,3636.67439,N,12152.57561,W,1,08,1.1,-2.48,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223749.00,3636.67439,N,12152.57561,W,1,08,1.1,-2.48,M,-33.22,M,,*7B


: successfully parse sentence at 22:37:49

: AshtechGPS::processRecord -sample time is 1143758268
: Sonardyne - POS response: 
POS V4,1 R190.71,X-30.81,Y-4.86,Z-188.14

: Sonardyne - parsing R190.71,X-30.81,Y-4.86,Z-188.14

: Sonardyne - read R = 190.710000 from 190.71,X-30.81,Y-4.86,Z-188.14

: Sonardyne - got all data, Vehicle coordinates,
    r=190.710000, x=188.140000, y=-30.810000, z=4.860000 tat = 730
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223750.00,3636.67427,N,12152.57550,W,1,08,1.1,-2.46,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223750.00,3636.67427,N,12152.57550,W,1,08,1.1,-2.46,M,-33.22,M,,*70


: successfully parse sentence at 22:37:50

: AshtechGPS::processRecord -sample time is 1143758269
: Sonardyne - POS response: 
POS V4,1 R190.99,X-46.14,Y-19.48,Z-184.30

: Sonardyne - parsing R190.99,X-46.14,Y-19.48,Z-184.30

: Sonardyne - read R = 190.990000 from 190.99,X-46.14,Y-19.48,Z-184.30

: Sonardyne - got all data, Vehicle coordinates,
    r=190.990000, x=184.300000, y=-46.140000, z=19.480000 tat = 729
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223751.00,3636.67413,N,12152.57562,W,1,08,1.1,-2.39,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223751.00,3636.67413,N,12152.57562,W,1,08,1.1,-2.39,M,-33.22,M,,*7F


: successfully parse sentence at 22:37:51

: AshtechGPS::processRecord -sample time is 1143758270
: Sonardyne - POS response: 
POS V4,1 R191.43

: Sonardyne - parsing R191.43

: Sonardyne - read R = 191.430000 from 191.43

: Sonardyne - got range only (191.430000), tat = 710
: Sonardyne - POSD response: 
POSD S132.3,N31.8,D14,U5,Q0.003867

: Sonardyne - POSD response: 
POSD S132.3,N31.8,D14,U5,Q0.003867

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

: AshtechGps::processRecord() - $GPGGA,223752.00,3636.67399,N,12152.57533,W,1,08,1.1,-2.34,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223752.00,3636.67399,N,12152.57533,W,1,08,1.1,-2.34,M,-33.22,M,,*70


: successfully parse sentence at 22:37:52

: AshtechGPS::processRecord -sample time is 1143758271
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223753.00,3636.67374,N,12152.57526,W,1,08,1.1,-2.01,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223753.00,3636.67374,N,12152.57526,W,1,08,1.1,-2.01,M,-33.22,M,,*70


: successfully parse sentence at 22:37:53

: AshtechGPS::processRecord -sample time is 1143758272
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223754.00,3636.67368,N,12152.57511,W,1,09,1.0,-2.29,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,223754.00,3636.67368,N,12152.57511,W,1,09,1.0,-2.29,M,-33.22,M,,*74


: successfully parse sentence at 22:37:54

: AshtechGPS::processRecord -sample time is 1143758273
:  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,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223755.00,3636.67360,N,12152.57502,W,1,09,1.0,-2.22,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,223755.00,3636.67360,N,12152.57502,W,1,09,1.0,-2.22,M,-33.22,M,,*74


: successfully parse sentence at 22:37:55

: AshtechGPS::processRecord -sample time is 1143758274
:  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 R189.23,X-88.32,Y-10.66,Z-167.02

: Sonardyne - parsing R189.23,X-88.32,Y-10.66,Z-167.02

: Sonardyne - read R = 189.230000 from 189.23,X-88.32,Y-10.66,Z-167.02

: Sonardyne - got all data, Vehicle coordinates,
    r=189.230000, x=167.020000, y=-88.320000, z=10.660000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223756.00,3636.67338,N,12152.57492,W,1,09,1.0,-2.20,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223756.00,3636.67338,N,12152.57492,W,1,09,1.0,-2.20,M,-33.22,M,,*70


: successfully parse sentence at 22:37:56

: AshtechGPS::processRecord -sample time is 1143758275
:  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 R189.93,X-82.55,Y-41.66,Z-165.90

: Sonardyne - parsing R189.93,X-82.55,Y-41.66,Z-165.90

: Sonardyne - read R = 189.930000 from 189.93,X-82.55,Y-41.66,Z-165.90

: Sonardyne - got all data, Vehicle coordinates,
    r=189.930000, x=165.900000, y=-82.550000, z=41.660000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223757.00,3636.67335,N,12152.57494,W,1,09,1.0,-2.22,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,223757.00,3636.67335,N,12152.57494,W,1,09,1.0,-2.22,M,-33.22,M,,*78


: successfully parse sentence at 22:37:57

: AshtechGPS::processRecord -sample time is 1143758276
: BluefinBatt Reply: $aaq0 d- 31.60  2.66 16.89 3.94 3.96 0  1230.07 06:35:18 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 R189.69

: Sonardyne - parsing R189.69

: Sonardyne - read R = 189.690000 from 189.69

: Sonardyne - got range only (189.690000), tat = 700
: Sonardyne - POSD response: 
POSD S129.7,N28.1,D-24,U5,Q0.010642

: Sonardyne - POSD response: 
POSD S129.7,N28.1,D-24,U5,Q0.010642

: AshtechGps::processRecord() - $GPGGA,223758.00,3636.67323,N,12152.57492,W,1,09,1.0,-2.27,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223758.00,3636.67323,N,12152.57492,W,1,09,1.0,-2.27,M,-33.22,M,,*73


: successfully parse sentence at 22:37:58

: AshtechGPS::processRecord -sample time is 1143758277
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: Sonardyne - POS response: 
POS V4,1 R189.01,X-100.60,Y7.63,Z-159.83

: Sonardyne - parsing R189.01,X-100.60,Y7.63,Z-159.83

: Sonardyne - read R = 189.010000 from 189.01,X-100.60,Y7.63,Z-159.83

: Sonardyne - got all data, Vehicle coordinates,
    r=189.010000, x=159.830000, y=-100.600000, z=-7.630000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223759.00,3636.67325,N,12152.57493,W,1,09,1.0,-2.09,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,223759.00,3636.67325,N,12152.57493,W,1,09,1.0,-2.09,M,-33.22,M,,*79


: successfully parse sentence at 22:37:59

: AshtechGPS::processRecord -sample time is 1143758278
:  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 R188.94

: Sonardyne - parsing R188.94

: Sonardyne - read R = 188.940000 from 188.94

: Sonardyne - got range only (188.940000), tat = 700
: Sonardyne - POSD response: 
POSD S128.9,N30.2,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.9,N30.2,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223800.00,3636.67321,N,12152.57491,W,1,09,1.0,-2.12,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,223800.00,3636.67321,N,12152.57491,W,1,09,1.0,-2.12,M,-33.22,M,,*76


: successfully parse sentence at 22:38:0

: AshtechGPS::processRecord -sample time is 1143758279
:  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 R188.70

: Sonardyne - parsing R188.70

: Sonardyne - read R = 188.700000 from 188.70

: Sonardyne - got range only (188.700000), tat = 700
: Sonardyne - POSD response: 
POSD S121.6,N26.0,D104,U3,Q0.009682

: Sonardyne - POSD response: 
POSD S121.6,N26.0,D104,U3,Q0.009682

: AshtechGps::processRecord() - $GPGGA,223801.00,3636.67312,N,12152.57491,W,1,09,1.0,-1.89,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,223801.00,3636.67312,N,12152.57491,W,1,09,1.0,-1.89,M,-33.22,M,,*76


: successfully parse sentence at 22:38:1

: AshtechGPS::processRecord -sample time is 1143758280
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R189.40

: Sonardyne - parsing R189.40

: Sonardyne - read R = 189.400000 from 189.40

: Sonardyne - got range only (189.400000), tat = 700
: Sonardyne - POSD response: 
POSD S116.7,N20.1,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.7,N20.1,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223802.00,3636.67294,N,12152.57478,W,1,09,1.0,-1.85,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,223802.00,3636.67294,N,12152.57478,W,1,09,1.0,-1.85,M,-33.22,M,,*71


: successfully parse sentence at 22:38:2

: AshtechGPS::processRecord -sample time is 1143758281
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R188.25,X170.22,Y80.40,Z0.00

: Sonardyne - parsing R188.25,X170.22,Y80.40,Z0.00

: Sonardyne - read R = 188.250000 from 188.25,X170.22,Y80.40,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=188.250000, x=0.000000, y=170.220000, z=-80.400000 tat = 720
: AshtechGps::processRecord() - $GPGGA,223803.00,3636.67277,N,12152.57468,W,1,09,1.0,-2.10,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223803.00,3636.67277,N,12152.57468,W,1,09,1.0,-2.10,M,-33.22,M,,*73


: successfully parse sentence at 22:38:3

: AshtechGPS::processRecord -sample time is 1143758282
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223804.00,3636.67270,N,12152.57470,W,1,09,1.0,-2.28,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,223804.00,3636.67270,N,12152.57470,W,1,09,1.0,-2.28,M,-33.22,M,,*71


: successfully parse sentence at 22:38:4

: AshtechGPS::processRecord -sample time is 1143758283
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223805.00,3636.67266,N,12152.57490,W,1,09,1.0,-2.23,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,223805.00,3636.67266,N,12152.57490,W,1,09,1.0,-2.23,M,-33.22,M,,*72


: successfully parse sentence at 22:38:5

: AshtechGPS::processRecord -sample time is 1143758284
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223806.00,3636.67263,N,12152.57491,W,1,09,1.0,-2.07,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223806.00,3636.67263,N,12152.57491,W,1,09,1.0,-2.07,M,-33.22,M,,*73


: successfully parse sentence at 22:38:6

: AshtechGPS::processRecord -sample time is 1143758285
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-1.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-1.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,223807.00,3636.67262,N,12152.57497,W,1,09,1.0,-2.23,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223807.00,3636.67262,N,12152.57497,W,1,09,1.0,-2.23,M,-33.22,M,,*73


: successfully parse sentence at 22:38:7

: AshtechGPS::processRecord -sample time is 1143758286
: Sonardyne - POS response: 
POS V4,1 R188.72,X158.33,Y98.96,Z-27.39

: Sonardyne - parsing R188.72,X158.33,Y98.96,Z-27.39

: Sonardyne - read R = 188.720000 from 188.72,X158.33,Y98.96,Z-27.39

: Sonardyne - got all data, Vehicle coordinates,
    r=188.720000, x=27.390000, y=158.330000, z=-98.960000 tat = 730
: BluefinBatt Reply: $aaq0 d- 31.64  2.39 16.89 3.94 3.97 0  1229.81 06:35:28 m

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

: AshtechGps::processRecord() - $GPGGA,223808.00,3636.67260,N,12152.57494,W,1,09,1.0,-2.11,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,223808.00,3636.67260,N,12152.57494,W,1,09,1.0,-2.11,M,-33.22,M,,*7C


: successfully parse sentence at 22:38:8

: AshtechGPS::processRecord -sample time is 1143758287
: Sonardyne - POS response: 
POS V4,1 R188.83

: Sonardyne - parsing R188.83

: Sonardyne - read R = 188.830000 from 188.83

: Sonardyne - got range only (188.830000), tat = 700
: Sonardyne - POSD response: 
POSD S121.4,N29.4,D-16,U3,Q0.007161

: Sonardyne - POSD response: 
POSD S121.4,N29.4,D-16,U3,Q0.007161

: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: AshtechGps::processRecord() - $GPGGA,223809.00,3636.67262,N,12152.57494,W,1,09,1.0,-2.00,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,223809.00,3636.67262,N,12152.57494,W,1,09,1.0,-2.00,M,-33.22,M,,*7F


: successfully parse sentence at 22:38:9

: AshtechGPS::processRecord -sample time is 1143758288
: Sonardyne - POS response: 
POS V4,1 R189.92

: Sonardyne - parsing R189.92

: Sonardyne - read R = 189.920000 from 189.92

: Sonardyne - got range only (189.920000), tat = 710
: Sonardyne - POSD response: 
POSD S113.7,N14.8,D98,U2,Q0.004879

: Sonardyne - POSD response: 
POSD S113.7,N14.8,D98,U2,Q0.004879

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

: AshtechGps::processRecord() - $GPGGA,223810.00,3636.67258,N,12152.57495,W,1,09,1.0,-2.06,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,223810.00,3636.67258,N,12152.57495,W,1,09,1.0,-2.06,M,-33.22,M,,*79


: successfully parse sentence at 22:38:10

: AshtechGPS::processRecord -sample time is 1143758289
: Sonardyne - POS response: 
POS V4,1 R188.93

: Sonardyne - parsing R188.93

: Sonardyne - read R = 188.930000 from 188.93

: Sonardyne - got range only (188.930000), tat = 700
: Sonardyne - POSD response: 
POSD S122.1,N31.8,D12,U5,Q0.005985

: Sonardyne - POSD response: 
POSD S122.1,N31.8,D12,U5,Q0.005985

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

: AshtechGps::processRecord() - $GPGGA,223811.00,3636.67246,N,12152.57494,W,1,09,1.0,-2.09,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,223811.00,3636.67246,N,12152.57494,W,1,09,1.0,-2.09,M,-33.22,M,,*79


: successfully parse sentence at 22:38:11

: AshtechGPS::processRecord -sample time is 1143758290
: Sonardyne - POS response: 
POS V4,1 R188.95

: Sonardyne - parsing R188.95

: Sonardyne - read R = 188.950000 from 188.95

: Sonardyne - got range only (188.950000), tat = 700
: Sonardyne - POSD response: 
POSD S114.6,N14.9,D60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.6,N14.9,D60,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,223812.00,3636.67239,N,12152.57485,W,1,09,1.0,-2.01,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,223812.00,3636.67239,N,12152.57485,W,1,09,1.0,-2.01,M,-33.22,M,,*7A


: successfully parse sentence at 22:38:12

: AshtechGPS::processRecord -sample time is 1143758291
: Sonardyne - POS response: 
POS V4,1 R188.38

: Sonardyne - parsing R188.38

: Sonardyne - read R = 188.380000 from 188.38

: Sonardyne - got range only (188.380000), tat = 710
: Sonardyne - POSD response: 
POSD S122.5,N28.7,D-31,U2,Q0.006712

: Sonardyne - POSD response: 
POSD S122.5,N28.7,D-31,U2,Q0.006712

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

: AshtechGps::processRecord() - $GPGGA,223813.00,3636.67233,N,12152.57478,W,1,09,1.0,-2.17,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,223813.00,3636.67233,N,12152.57478,W,1,09,1.0,-2.17,M,-33.22,M,,*74


: successfully parse sentence at 22:38:13

: AshtechGPS::processRecord -sample time is 1143758292
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223814.00,3636.67235,N,12152.57485,W,1,09,1.0,-2.23,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223814.00,3636.67235,N,12152.57485,W,1,09,1.0,-2.23,M,-33.22,M,,*70


: successfully parse sentence at 22:38:14

: AshtechGPS::processRecord -sample time is 1143758293
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223815.00,3636.67226,N,12152.57478,W,1,09,1.0,-2.07,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,223815.00,3636.67226,N,12152.57478,W,1,09,1.0,-2.07,M,-33.22,M,,*77


: successfully parse sentence at 22:38:15

: AshtechGPS::processRecord -sample time is 1143758294
:  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,N1.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,223816.00,3636.67225,N,12152.57479,W,1,09,1.0,-2.02,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,223816.00,3636.67225,N,12152.57479,W,1,09,1.0,-2.02,M,-33.22,M,,*73


: successfully parse sentence at 22:38:16

: AshtechGPS::processRecord -sample time is 1143758295
:  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 R188.33

: Sonardyne - parsing R188.33

: Sonardyne - read R = 188.330000 from 188.33

: Sonardyne - got range only (188.330000), tat = 700
: Sonardyne - POSD response: 
POSD S123.8,N24.7,D-90,U3,Q0.011309

: Sonardyne - POSD response: 
POSD S123.8,N24.7,D-90,U3,Q0.011309

: AshtechGps::processRecord() - $GPGGA,223817.00,3636.67219,N,12152.57483,W,1,09,1.0,-2.32,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223817.00,3636.67219,N,12152.57483,W,1,09,1.0,-2.32,M,-33.22,M,,*7B


: successfully parse sentence at 22:38:17

: AshtechGPS::processRecord -sample time is 1143758296
: BluefinBatt Reply: $aaq0 d- 31.64  2.39 16.89 3.94 3.97 0  1229.63 06:35:38 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 R191.21

: Sonardyne - parsing R191.21

: Sonardyne - read R = 191.210000 from 191.21

: Sonardyne - got range only (191.210000), tat = 700
: Sonardyne - POSD response: 
POSD S123.5,N27.6,D-39,U1,Q0.005205

: Sonardyne - POSD response: 
POSD S123.5,N27.6,D-39,U1,Q0.005205

: AshtechGps::processRecord() - $GPGGA,223818.00,3636.67217,N,12152.57480,W,1,09,1.0,-2.15,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,223818.00,3636.67217,N,12152.57480,W,1,09,1.0,-2.15,M,-33.22,M,,*7C


: successfully parse sentence at 22:38:18

: AshtechGPS::processRecord -sample time is 1143758297
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: Sonardyne - POS response: 
POS V4,1 R189.48,X-165.56,Y-45.61,Z-80.09

: Sonardyne - parsing R189.48,X-165.56,Y-45.61,Z-80.09

: Sonardyne - read R = 189.480000 from 189.48,X-165.56,Y-45.61,Z-80.09

: Sonardyne - got all data, Vehicle coordinates,
    r=189.480000, x=80.090000, y=-165.560000, z=45.610000 tat = 730
: AshtechGps::processRecord() - $GPGGA,223819.00,3636.67228,N,12152.57493,W,1,09,1.0,-2.43,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,223819.00,3636.67228,N,12152.57493,W,1,09,1.0,-2.43,M,-33.22,M,,*70


: successfully parse sentence at 22:38:19

: AshtechGPS::processRecord -sample time is 1143758298
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223820.00,3636.67231,N,12152.57500,W,1,09,1.0,-2.22,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,223820.00,3636.67231,N,12152.57500,W,1,09,1.0,-2.22,M,-33.22,M,,*7E


: successfully parse sentence at 22:38:20

: AshtechGPS::processRecord -sample time is 1143758299
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223821.00,3636.67240,N,12152.57505,W,1,09,1.0,-2.07,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223821.00,3636.67240,N,12152.57505,W,1,09,1.0,-2.07,M,-33.22,M,,*7B


: successfully parse sentence at 22:38:21

: AshtechGPS::processRecord -sample time is 1143758300
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,223822.00,3636.67240,N,12152.57490,W,1,09,1.0,-1.93,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,223822.00,3636.67240,N,12152.57490,W,1,09,1.0,-1.93,M,-33.22,M,,*7B


: successfully parse sentence at 22:38:22

: AshtechGPS::processRecord -sample time is 1143758301
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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 AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task EventLogIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D38.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object crossbowCommand ****

: TaskServer::signalHandler() for task NavigationIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() - _theTaskServer doesn't exist
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
