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

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

iS: SerialDevice: done...

erver: I'm the child...forking


Su: SerialDevice: done...

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

Supervisor:: SerialDevice: done...

:createTask() - bluefinBattDriver: Gps: initializing


: SerialDevice: done...

Su: SerialDevice: done...

perv: SerialDevice: done...

iso: SerialDevice: done...

r:: Gps: done initializing...

:cr: Crossbow.cc: Setting polled mode
: **** EventTriggers::add() - attaching proxy
eateTask(: Crossbow.cc: Setting polled mode
) - d: Crossbow.cc: In getSerialNumber()
vlSe: Crossbow.cc: _device->read failed with error
rve: SerialDevice: done...

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

e: seabirdDriver RUNNING...

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

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

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


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

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

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

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

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


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

pWeightServer
Supervisor::createT: SerialDevice: done...

ask() - : SerialDevice: done...

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

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

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

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

: ahrs if is Ahrs

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

: SerialDevice: done...

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

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
:  ting counters to default

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

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: SerialDevice: done...

: 3 Modules found
: 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

: AshtechGps::processRecord() - $GPGGA,225848.00,3636.72355,N,12152.56506,W,1,12,0.7,-2.87,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225848.00,3636.72355,N,12152.56506,W,1,12,0.7,-2.87,M,-33.22,M,,*75


: successfully parse sentence at 22:58:48

: AshtechGPS::processRecord -sample time is 1143759527
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138900
: Parosci.cc -- Parosci initial temp period = 5.842294
: CR1
[Parameters set to FACTORY defaults]
>
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,225849.00,3636.72362,N,12152.56505,W,1,12,0.7,-3.04,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,225849.00,3636.72362,N,12152.56505,W,1,12,0.7,-3.04,M,-33.22,M,,*79


: successfully parse sentence at 22:58:49

: AshtechGPS::processRecord -sample time is 1143759528
: Sonardyne - POS response: 
POS V4,1 R276.87,X-114.97,Y-1.70,Z-251.87

: Sonardyne - parsing R276.87,X-114.97,Y-1.70,Z-251.87

: Sonardyne - read R = 276.870000 from 276.87,X-114.97,Y-1.70,Z-251.87

: Sonardyne - got all data, Vehicle coordinates,
    r=276.870000, x=251.870000, y=-114.970000, z=1.700000 tat = 850
: Sonardyne - POSD response: 
POSD S123.2,N21.3,D-126,U6,Q0.005849

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225850.00,3636.72376,N,12152.56506,W,1,12,0.7,-3.19,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,225850.00,3636.72376,N,12152.56506,W,1,12,0.7,-3.19,M,-33.22,M,,*7B


: successfully parse sentence at 22:58:50

: AshtechGPS::processRecord -sample time is 1143759529
: Sonardyne - POS response: 
POS V4,1 R276.97,X-124.55,Y10.05,Z-247.18

: Sonardyne - parsing R276.97,X-124.55,Y10.05,Z-247.18

: Sonardyne - read R = 276.970000 from 276.97,X-124.55,Y10.05,Z-247.18

: Sonardyne - got all data, Vehicle coordinates,
    r=276.970000, x=247.180000, y=-124.550000, z=-10.050000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225851.00,3636.72384,N,12152.56506,W,1,12,0.7,-2.98,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225851.00,3636.72384,N,12152.56506,W,1,12,0.7,-2.98,M,-33.22,M,,*7F


: successfully parse sentence at 22:58:51

: AshtechGPS::processRecord -sample time is 1143759530
: Sonardyne - POS response: 
POS V4,1 R277.13,X-128.51,Y15.31,Z-245.06

: Sonardyne - parsing R277.13,X-128.51,Y15.31,Z-245.06

: Sonardyne - read R = 277.130000 from 277.13,X-128.51,Y15.31,Z-245.06

: Sonardyne - got all data, Vehicle coordinates,
    r=277.130000, x=245.060000, y=-128.510000, z=-15.310000 tat = 850
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225852.00,3636.72383,N,12152.56494,W,1,12,0.7,-2.77,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225852.00,3636.72383,N,12152.56494,W,1,12,0.7,-2.77,M,-33.22,M,,*70


: successfully parse sentence at 22:58:52

: AshtechGPS::processRecord -sample time is 1143759531
: Sonardyne - POS response: 
POS V4,1 R277.51,X-131.34,Y6.82,Z-244.37

: Sonardyne - parsing R277.51,X-131.34,Y6.82,Z-244.37

: Sonardyne - read R = 277.510000 from 277.51,X-131.34,Y6.82,Z-244.37

: Sonardyne - got all data, Vehicle coordinates,
    r=277.510000, x=244.370000, y=-131.340000, z=-6.820000 tat = 850
: 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,225853.00,3636.72385,N,12152.56495,W,1,12,0.7,-2.94,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,225853.00,3636.72385,N,12152.56495,W,1,12,0.7,-2.94,M,-33.22,M,,*7B


: successfully parse sentence at 22:58:53

: AshtechGPS::processRecord -sample time is 1143759532
: Sonardyne - POS response: 
POS V4,1 R277.08,X-133.04,Y-30.47,Z-241.14

: Sonardyne - parsing R277.08,X-133.04,Y-30.47,Z-241.14

: Sonardyne - read R = 277.080000 from 277.08,X-133.04,Y-30.47,Z-241.14

: Sonardyne - got all data, Vehicle coordinates,
    r=277.080000, x=241.140000, y=-133.040000, z=30.470000 tat = 850
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225854.00,3636.72389,N,12152.56480,W,1,12,0.7,-3.00,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,225854.00,3636.72389,N,12152.56480,W,1,12,0.7,-3.00,M,-33.22,M,,*78


: successfully parse sentence at 22:58:54

: AshtechGPS::processRecord -sample time is 1143759533
: Sonardyne - POS response: 
POS V4,1 R280.33

: Sonardyne - parsing R280.33

: Sonardyne - read R = 280.330000 from 280.33

: Sonardyne - got range only (280.330000), tat = 820
: Sonardyne - POSD response: 
POSD S121.0,N24.1,D98,U2,Q0.003848

: Sonardyne - POSD response: 
POSD S121.0,N24.1,D98,U2,Q0.003848

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

: AshtechGps::processRecord() - $GPGGA,225855.00,3636.72396,N,12152.56481,W,1,12,0.7,-2.90,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225855.00,3636.72396,N,12152.56481,W,1,12,0.7,-2.90,M,-33.22,M,,*7E


: successfully parse sentence at 22:58:55

: AshtechGPS::processRecord -sample time is 1143759534
: Sonardyne - POS response: 
POS V4,1 R277.35

: Sonardyne - parsing R277.35

: Sonardyne - read R = 277.350000 from 277.35

: Sonardyne - got range only (277.350000), tat = 820
: Sonardyne - POSD response: 
POSD S124.5,N29.0,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.5,N29.0,D-31,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,225856.00,3636.72397,N,12152.56468,W,1,12,0.7,-2.75,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225856.00,3636.72397,N,12152.56468,W,1,12,0.7,-2.75,M,-33.22,M,,*70


: successfully parse sentence at 22:58:56

: AshtechGPS::processRecord -sample time is 1143759535
: Sonardyne - POS response: 
POS V4,1 R277.83,X-146.51,Y5.49,Z-235.99

: Sonardyne - parsing R277.83,X-146.51,Y5.49,Z-235.99

: Sonardyne - read R = 277.830000 from 277.83,X-146.51,Y5.49,Z-235.99

: Sonardyne - got all data, Vehicle coordinates,
    r=277.830000, x=235.990000, y=-146.510000, z=-5.490000 tat = 850
: Seabird/ctdDriver: sending configure commands...(2315)

: 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,225857.00,3636.72394,N,12152.56457,W,1,12,0.7,-2.81,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225857.00,3636.72394,N,12152.56457,W,1,12,0.7,-2.81,M,-33.22,M,,*75


: successfully parse sentence at 22:58:57

: AshtechGPS::processRecord -sample time is 1143759536
: Sonardyne - POS response: 
POS V4,1 R277.59,X-153.25,Y-0.89,Z-231.46

: Sonardyne - parsing R277.59,X-153.25,Y-0.89,Z-231.46

: Sonardyne - read R = 277.590000 from 277.59,X-153.25,Y-0.89,Z-231.46

: Sonardyne - got all data, Vehicle coordinates,
    r=277.590000, x=231.460000, y=-153.250000, z=0.890000 tat = 850
: BluefinBatt::init() - battery watchdog state is $aawf 1
 
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: AshtechGps::processRecord() - $GPGGA,225858.00,3636.72395,N,12152.56446,W,1,12,0.7,-2.70,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225858.00,3636.72395,N,12152.56446,W,1,12,0.7,-2.70,M,-33.22,M,,*75


: successfully parse sentence at 22:58:58

: AshtechGPS::processRecord -sample time is 1143759537
: Sonardyne - POS response: 
POS V4,1 R278.05

: Sonardyne - parsing R278.05

: Sonardyne - read R = 278.050000 from 278.05

: Sonardyne - got range only (278.050000), tat = 820
: Sonardyne - POSD response: 
POSD S121.4,N30.2,D31,U4,Q0.010281

: Sonardyne - POSD response: 
POSD S121.4,N30.2,D31,U4,Q0.010281

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

: AshtechGps::processRecord() - $GPGGA,225859.00,3636.72393,N,12152.56439,W,1,12,0.7,-2.97,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,225859.00,3636.72393,N,12152.56439,W,1,12,0.7,-2.97,M,-33.22,M,,*73


: successfully parse sentence at 22:58:59

: AshtechGPS::processRecord -sample time is 1143759538
: Sonardyne - POS response: 
POS V4,1 R277.66,X-160.55,Y-1.50,Z-226.54

: Sonardyne - parsing R277.66,X-160.55,Y-1.50,Z-226.54

: Sonardyne - read R = 277.660000 from 277.66,X-160.55,Y-1.50,Z-226.54

: Sonardyne - got all data, Vehicle coordinates,
    r=277.660000, x=226.540000, y=-160.550000, z=1.500000 tat = 850
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225900.00,3636.72397,N,12152.56433,W,1,12,0.7,-2.90,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,225900.00,3636.72397,N,12152.56433,W,1,12,0.7,-2.90,M,-33.22,M,,*77


: successfully parse sentence at 22:59:0

: AshtechGPS::processRecord -sample time is 1143759539
: Sonardyne - POS response: 
POS V4,1 R277.67,X-166.06,Y1.94,Z-222.54

: Sonardyne - parsing R277.67,X-166.06,Y1.94,Z-222.54

: Sonardyne - read R = 277.670000 from 277.67,X-166.06,Y1.94,Z-222.54

: Sonardyne - got all data, Vehicle coordinates,
    r=277.670000, x=222.540000, y=-166.060000, z=-1.940000 tat = 850
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: 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,225901.00,3636.72403,N,12152.56431,W,1,12,0.7,-3.08,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225901.00,3636.72403,N,12152.56431,W,1,12,0.7,-3.08,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:1

: AshtechGPS::processRecord -sample time is 1143759540
: Sonardyne - POS response: 
POS V4,1 R277.73,X-176.66,Y-1.33,Z-214.30

: Sonardyne - parsing R277.73,X-176.66,Y-1.33,Z-214.30

: Sonardyne - read R = 277.730000 from 277.73,X-176.66,Y-1.33,Z-214.30

: Sonardyne - got all data, Vehicle coordinates,
    r=277.730000, x=214.300000, y=-176.660000, z=1.330000 tat = 850
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225902.00,3636.72414,N,12152.56430,W,1,12,0.7,-3.18,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,225902.00,3636.72414,N,12152.56430,W,1,12,0.7,-3.18,M,-33.22,M,,*7B


: successfully parse sentence at 22:59:2

: AshtechGPS::processRecord -sample time is 1143759541
: Sonardyne - POS response: 
POS V4,1 R280.90

: Sonardyne - parsing R280.90

: Sonardyne - read R = 280.900000 from 280.90

: Sonardyne - got range only (280.900000), tat = 830
: Sonardyne - POSD response: 
POSD S119.2,N27.6,D122,U2,Q0.005854

: Sonardyne - POSD response: 
POSD S119.2,N27.6,D122,U2,Q0.005854

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

: AshtechGps::processRecord() - $GPGGA,225903.00,3636.72425,N,12152.56429,W,1,12,0.7,-3.12,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,225903.00,3636.72425,N,12152.56429,W,1,12,0.7,-3.12,M,-33.22,M,,*7A


: successfully parse sentence at 22:59:3

: AshtechGPS::processRecord -sample time is 1143759542
: Sonardyne - POS response: 
POS V4,1 R278.18

: Sonardyne - parsing R278.18

: Sonardyne - read R = 278.180000 from 278.18

: Sonardyne - got range only (278.180000), tat = 820
: Sonardyne - POSD response: 
POSD S120.6,N23.9,D-92,U1,Q0.017836

: Sonardyne - POSD response: 
POSD S120.6,N23.9,D-92,U1,Q0.017836

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

: AshtechGps::processRecord() - $GPGGA,225904.00,3636.72434,N,12152.56428,W,1,12,0.7,-3.07,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,225904.00,3636.72434,N,12152.56428,W,1,12,0.7,-3.07,M,-33.22,M,,*78


: successfully parse sentence at 22:59:4

: AshtechGPS::processRecord -sample time is 1143759543
: Sonardyne - POS response: 
POS V4,1 R278.43

: Sonardyne - parsing R278.43

: Sonardyne - read R = 278.430000 from 278.43

: Sonardyne - got range only (278.430000), tat = 820
: Sonardyne - POSD response: 
POSD S117.5,N17.5,D-67,U5,Q0.003980

: Sonardyne - POSD response: 
POSD S117.5,N17.5,D-67,U5,Q0.003980

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

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

: AshtechGps::processRecord() - $GPGGA,225905.00,3636.72437,N,12152.56421,W,1,12,0.7,-2.78,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,225905.00,3636.72437,N,12152.56421,W,1,12,0.7,-2.78,M,-33.22,M,,*7A


: successfully parse sentence at 22:59:5

: AshtechGPS::processRecord -sample time is 1143759544
: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(2315)

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

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

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,225906.00,3636.72432,N,12152.56409,W,1,12,0.7,-2.73,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,225906.00,3636.72432,N,12152.56409,W,1,12,0.7,-2.73,M,-33.22,M,,*7D


: successfully parse sentence at 22:59:6

: AshtechGPS::processRecord -sample time is 1143759545
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225907.00,3636.72427,N,12152.56395,W,1,12,0.7,-2.71,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,225907.00,3636.72427,N,12152.56395,W,1,12,0.7,-2.71,M,-33.22,M,,*78


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

: successfully parse sentence at 22:59:7

: AshtechGPS::processRecord -sample time is 1143759546
: Seabird/ctdDriver: sending DS command...

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,225908.00,3636.72419,N,12152.56378,W,1,12,0.7,-2.87,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225908.00,3636.72419,N,12152.56378,W,1,12,0.7,-2.87,M,-33.22,M,,*70


: successfully parse sentence at 22:59:8

: AshtechGPS::processRecord -sample time is 1143759547
: Sonardyne - POS response: 
POS V4,1 R278.45,X-216.38,Y7.65,Z-175.09

: Sonardyne - parsing R278.45,X-216.38,Y7.65,Z-175.09

: Sonardyne - read R = 278.450000 from 278.45,X-216.38,Y7.65,Z-175.09

: Sonardyne - got all data, Vehicle coordinates,
    r=278.450000, x=175.090000, y=-216.380000, z=-7.650000 tat = 850
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225909.00,3636.72424,N,12152.56368,W,1,12,0.7,-2.93,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,225909.00,3636.72424,N,12152.56368,W,1,12,0.7,-2.93,M,-33.22,M,,*7B


: successfully parse sentence at 22:59:9

: AshtechGPS::processRecord -sample time is 1143759548
: BluefinBatt Reply: $aaq0 d- 31.57  2.39 16.60 3.94 3.96 0  1168.45 06:56:30 m

: Sonardyne - POS response: 
POS V4,1 R278.61

: Sonardyne - parsing R278.61

: Sonardyne - read R = 278.610000 from 278.61

: Sonardyne - got range only (278.610000), tat = 820
: Sonardyne - POSD response: 
POSD S116.4,N17.7,D-58,U3,Q0.007512

: Sonardyne - POSD response: 
POSD S116.4,N17.7,D-58,U3,Q0.007512

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

: AshtechGps::processRecord() - $GPGGA,225910.00,3636.72432,N,12152.56371,W,1,12,0.7,-3.07,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225910.00,3636.72432,N,12152.56371,W,1,12,0.7,-3.07,M,-33.22,M,,*70


: successfully parse sentence at 22:59:10

: AshtechGPS::processRecord -sample time is 1143759549
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: Sonardyne - POS response: 
POS V4,1 R281.39

: Sonardyne - parsing R281.39

: Sonardyne - read R = 281.390000 from 281.39

: Sonardyne - got range only (281.390000), tat = 830
: Sonardyne - POSD response: 
POSD S119.1,N31.8,D-23,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S119.1,N31.8,D-23,U1,Q0.013937

: 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 = 0.000000) Behavior missionTimer has changed to state Active

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

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

: AshtechGps::processRecord() - $GPGGA,225911.00,3636.72429,N,12152.56363,W,1,12,0.7,-2.98,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225911.00,3636.72429,N,12152.56363,W,1,12,0.7,-2.98,M,-33.22,M,,*7F


: successfully parse sentence at 22:59:11

: AshtechGPS::processRecord -sample time is 1143759550
: Seabird/ctdDriver::initialize() - starting logging...

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R278.89

: Sonardyne - parsing R278.89

: Sonardyne - read R = 278.890000 from 278.89

: Sonardyne - got range only (278.890000), tat = 820
: Sonardyne - POSD response: 
POSD S116.7,N17.5,D-26,U5,Q0.002643

: Sonardyne - POSD response: 
POSD S116.7,N17.5,D-26,U5,Q0.002643

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

: AshtechGps::processRecord() - $GPGGA,225912.00,3636.72436,N,12152.56355,W,1,12,0.7,-3.05,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,225912.00,3636.72436,N,12152.56355,W,1,12,0.7,-3.05,M,-33.22,M,,*72


: successfully parse sentence at 22:59:12

: AshtechGPS::processRecord -sample time is 1143759551
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R278.94

: Sonardyne - parsing R278.94

: Sonardyne - read R = 278.940000 from 278.94

: Sonardyne - got range only (278.940000), tat = 820
: Sonardyne - POSD response: 
POSD S117.0,N25.2,D-64,U2,Q0.018623

: Sonardyne - POSD response: 
POSD S117.0,N25.2,D-64,U2,Q0.018623

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

: AshtechGps::processRecord() - $GPGGA,225913.00,3636.72443,N,12152.56344,W,1,12,0.7,-2.99,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225913.00,3636.72443,N,12152.56344,W,1,12,0.7,-2.99,M,-33.22,M,,*75


: successfully parse sentence at 22:59:13

: AshtechGPS::processRecord -sample time is 1143759552
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R279.07

: Sonardyne - parsing R279.07

: Sonardyne - read R = 279.070000 from 279.07

: Sonardyne - got range only (279.070000), tat = 820
: Sonardyne - POSD response: 
POSD S114.0,N15.3,D-15,U4,Q0.013248

: Sonardyne - POSD response: 
POSD S114.0,N15.3,D-15,U4,Q0.013248

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

: AshtechGps::processRecord() - $GPGGA,225914.00,3636.72444,N,12152.56339,W,1,12,0.7,-2.98,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225914.00,3636.72444,N,12152.56339,W,1,12,0.7,-2.98,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:14

: AshtechGPS::processRecord -sample time is 1143759553
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R279.14

: Sonardyne - parsing R279.14

: Sonardyne - read R = 279.140000 from 279.14

: Sonardyne - got range only (279.140000), tat = 820
: Sonardyne - POSD response: 
POSD S118.4,N23.5,D-70,U4,Q0.015211

: Sonardyne - POSD response: 
POSD S118.4,N23.5,D-70,U4,Q0.015211

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

: AshtechGps::processRecord() - $GPGGA,225915.00,3636.72443,N,12152.56330,W,1,12,0.7,-2.96,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225915.00,3636.72443,N,12152.56330,W,1,12,0.7,-2.96,M,-33.22,M,,*7F


: successfully parse sentence at 22:59:15

: AshtechGPS::processRecord -sample time is 1143759554
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225916.00,3636.72448,N,12152.56323,W,1,12,0.7,-3.05,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225916.00,3636.72448,N,12152.56323,W,1,12,0.7,-3.05,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:16

: AshtechGPS::processRecord -sample time is 1143759555
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,225917.00,3636.72454,N,12152.56323,W,1,12,0.7,-3.07,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225917.00,3636.72454,N,12152.56323,W,1,12,0.7,-3.07,M,-33.22,M,,*70


: successfully parse sentence at 22:59:17

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

: AshtechGPS::processRecord -sample time is 1143759556
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,225918.00,3636.72457,N,12152.56318,W,1,12,0.7,-2.88,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,225918.00,3636.72457,N,12152.56318,W,1,12,0.7,-2.88,M,-33.22,M,,*72


: successfully parse sentence at 22:59:18

: AshtechGPS::processRecord -sample time is 1143759557
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,225919.00,3636.72459,N,12152.56309,W,1,12,0.7,-2.99,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,225919.00,3636.72459,N,12152.56309,W,1,12,0.7,-2.99,M,-33.22,M,,*7D


: successfully parse sentence at 22:59:19

: AshtechGPS::processRecord -sample time is 1143759558
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.57  3.30 16.60 3.93 3.96 0  1168.11 06:56:40 m

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

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

: AshtechGps::processRecord() - $GPGGA,225920.00,3636.72464,N,12152.56301,W,1,12,0.7,-3.02,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,225920.00,3636.72464,N,12152.56301,W,1,12,0.7,-3.02,M,-33.22,M,,*72


: successfully parse sentence at 22:59:20

: AshtechGPS::processRecord -sample time is 1143759559
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,225921.00,3636.72473,N,12152.56301,W,1,12,0.7,-3.03,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,225921.00,3636.72473,N,12152.56301,W,1,12,0.7,-3.03,M,-33.22,M,,*74


: successfully parse sentence at 22:59:21

: AshtechGPS::processRecord -sample time is 1143759560
:  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,N3.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,225922.00,3636.72476,N,12152.56298,W,1,12,0.7,-2.92,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,225922.00,3636.72476,N,12152.56298,W,1,12,0.7,-2.92,M,-33.22,M,,*7A


: successfully parse sentence at 22:59:22

: AshtechGPS::processRecord -sample time is 1143759561
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R279.75

: Sonardyne - parsing R279.75

: Sonardyne - read R = 279.750000 from 279.75

: Sonardyne - got range only (279.750000), tat = 820
: Sonardyne - POSD response: 
POSD S117.8,N29.0,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.8,N29.0,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225923.00,3636.72472,N,12152.56294,W,1,12,0.7,-2.94,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225923.00,3636.72472,N,12152.56294,W,1,12,0.7,-2.94,M,-33.22,M,,*75


: successfully parse sentence at 22:59:23

: AshtechGPS::processRecord -sample time is 1143759562
:  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 R282.14

: Sonardyne - parsing R282.14

: Sonardyne - read R = 282.140000 from 282.14

: Sonardyne - got range only (282.140000), tat = 830
: Sonardyne - POSD response: 
POSD S115.2,N14.1,D22,U1,Q0.000894

: Sonardyne - POSD response: 
POSD S115.2,N14.1,D22,U1,Q0.000894

: AshtechGps::processRecord() - $GPGGA,225924.00,3636.72475,N,12152.56301,W,1,12,0.7,-2.94,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,225924.00,3636.72475,N,12152.56301,W,1,12,0.7,-2.94,M,-33.22,M,,*78


: successfully parse sentence at 22:59:24

: AshtechGPS::processRecord -sample time is 1143759563
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R281.89

: Sonardyne - parsing R281.89

: Sonardyne - read R = 281.890000 from 281.89

: Sonardyne - got range only (281.890000), tat = 830
: Sonardyne - POSD response: 
POSD S112.8,N14.3,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.8,N14.3,D10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225925.00,3636.72471,N,12152.56313,W,1,12,0.7,-3.01,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,225925.00,3636.72471,N,12152.56313,W,1,12,0.7,-3.01,M,-33.22,M,,*73


: successfully parse sentence at 22:59:25

: AshtechGPS::processRecord -sample time is 1143759564
:  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 R280.41

: Sonardyne - parsing R280.41

: Sonardyne - read R = 280.410000 from 280.41

: Sonardyne - got range only (280.410000), tat = 820
: Sonardyne - POSD response: 
POSD S116.2,N18.1,D-34,U4,Q0.007081

: Sonardyne - POSD response: 
POSD S116.2,N18.1,D-34,U4,Q0.007081

: AshtechGps::processRecord() - $GPGGA,225926.00,3636.72471,N,12152.56333,W,1,12,0.7,-3.03,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225926.00,3636.72471,N,12152.56333,W,1,12,0.7,-3.03,M,-33.22,M,,*70


: successfully parse sentence at 22:59:26

: AshtechGPS::processRecord -sample time is 1143759565
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R282.14

: Sonardyne - parsing R282.14

: Sonardyne - read R = 282.140000 from 282.14

: Sonardyne - got range only (282.140000), tat = 840
: Sonardyne - POSD response: 
POSD S117.1,N18.1,D21,U4,Q0.000312

: Sonardyne - POSD response: 
POSD S117.1,N18.1,D21,U4,Q0.000312

: AshtechGps::processRecord() - $GPGGA,225927.00,3636.72465,N,12152.56357,W,1,12,0.7,-3.00,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225927.00,3636.72465,N,12152.56357,W,1,12,0.7,-3.00,M,-33.22,M,,*75


: successfully parse sentence at 22:59:27

: AshtechGPS::processRecord -sample time is 1143759566
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R281.70

: Sonardyne - parsing R281.70

: Sonardyne - read R = 281.700000 from 281.70

: Sonardyne - got range only (281.700000), tat = 830
: Sonardyne - POSD response: 
POSD S120.1,N28.2,D8,U1,Q0.011726

: Sonardyne - POSD response: 
POSD S120.1,N28.2,D8,U1,Q0.011726

: AshtechGps::processRecord() - $GPGGA,225928.00,3636.72453,N,12152.56381,W,1,12,0.7,-2.94,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,225928.00,3636.72453,N,12152.56381,W,1,12,0.7,-2.94,M,-33.22,M,,*78


: successfully parse sentence at 22:59:28

: AshtechGPS::processRecord -sample time is 1143759567
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R278.89

: Sonardyne - parsing R278.89

: Sonardyne - read R = 278.890000 from 278.89

: Sonardyne - got range only (278.890000), tat = 820
: Sonardyne - POSD response: 
POSD S112.4,N15.2,D-34,U3,Q0.013235

: Sonardyne - POSD response: 
POSD S112.4,N15.2,D-34,U3,Q0.013235

: AshtechGps::processRecord() - $GPGGA,225929.00,3636.72436,N,12152.56408,W,1,12,0.7,-2.87,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225929.00,3636.72436,N,12152.56408,W,1,12,0.7,-2.87,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:29

: AshtechGPS::processRecord -sample time is 1143759568
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.30  9.26 16.60 3.93 3.96 0  1167.51 06:56:50 m

: Sonardyne - POS response: 
POS V4,1 R278.47

: Sonardyne - parsing R278.47

: Sonardyne - read R = 278.470000 from 278.47

: Sonardyne - got range only (278.470000), tat = 820
: Sonardyne - POSD response: 
POSD S119.6,N26.7,D26,U4,Q0.006536

: Sonardyne - POSD response: 
POSD S119.6,N26.7,D26,U4,Q0.006536

: AshtechGps::processRecord() - $GPGGA,225930.00,3636.72410,N,12152.56433,W,1,12,0.7,-2.82,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225930.00,3636.72410,N,12152.56433,W,1,12,0.7,-2.82,M,-33.22,M,,*7F


: successfully parse sentence at 22:59:30

: AshtechGPS::processRecord -sample time is 1143759569
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - POS response: 
POS V4,1 R277.87,X-121.12,Y-6.04,Z-250.01

: Sonardyne - parsing R277.87,X-121.12,Y-6.04,Z-250.01

: Sonardyne - read R = 277.870000 from 277.87,X-121.12,Y-6.04,Z-250.01

: Sonardyne - got all data, Vehicle coordinates,
    r=277.870000, x=250.010000, y=-121.120000, z=6.040000 tat = 850
: AshtechGps::processRecord() - $GPGGA,225931.00,3636.72376,N,12152.56455,W,1,12,0.7,-2.81,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,225931.00,3636.72376,N,12152.56455,W,1,12,0.7,-2.81,M,-33.22,M,,*7A


: successfully parse sentence at 22:59:31

: AshtechGPS::processRecord -sample time is 1143759570
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R277.45,X-88.54,Y2.23,Z-262.93

: Sonardyne - parsing R277.45,X-88.54,Y2.23,Z-262.93

: Sonardyne - read R = 277.450000 from 277.45,X-88.54,Y2.23,Z-262.93

: Sonardyne - got all data, Vehicle coordinates,
    r=277.450000, x=262.930000, y=-88.540000, z=-2.230000 tat = 849
: AshtechGps::processRecord() - $GPGGA,225932.00,3636.72339,N,12152.56481,W,1,12,0.7,-3.02,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,225932.00,3636.72339,N,12152.56481,W,1,12,0.7,-3.02,M,-33.22,M,,*71


: successfully parse sentence at 22:59:32

: AshtechGPS::processRecord -sample time is 1143759571
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R276.05,X-49.08,Y5.19,Z-271.60

: Sonardyne - parsing R276.05,X-49.08,Y5.19,Z-271.60

: Sonardyne - read R = 276.050000 from 276.05,X-49.08,Y5.19,Z-271.60

: Sonardyne - got all data, Vehicle coordinates,
    r=276.050000, x=271.600000, y=-49.080000, z=-5.190000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225933.00,3636.72299,N,12152.56491,W,1,12,0.7,-3.13,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,225933.00,3636.72299,N,12152.56491,W,1,12,0.7,-3.13,M,-33.22,M,,*7A


: successfully parse sentence at 22:59:33

: AshtechGPS::processRecord -sample time is 1143759572
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R275.21,X-13.56,Y-3.06,Z-274.86

: Sonardyne - parsing R275.21,X-13.56,Y-3.06,Z-274.86

: Sonardyne - read R = 275.210000 from 275.21,X-13.56,Y-3.06,Z-274.86

: Sonardyne - got all data, Vehicle coordinates,
    r=275.210000, x=274.860000, y=-13.560000, z=3.060000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225934.00,3636.72258,N,12152.56509,W,1,12,0.7,-2.96,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,225934.00,3636.72258,N,12152.56509,W,1,12,0.7,-2.96,M,-33.22,M,,*7C


: successfully parse sentence at 22:59:34

: AshtechGPS::processRecord -sample time is 1143759573
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R274.32,X15.28,Y-10.16,Z-273.71

: Sonardyne - parsing R274.32,X15.28,Y-10.16,Z-273.71

: Sonardyne - read R = 274.320000 from 274.32,X15.28,Y-10.16,Z-273.71

: Sonardyne - got all data, Vehicle coordinates,
    r=274.320000, x=273.710000, y=15.280000, z=10.160000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225935.00,3636.72207,N,12152.56521,W,1,12,0.7,-3.05,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,225935.00,3636.72207,N,12152.56521,W,1,12,0.7,-3.05,M,-33.22,M,,*76


: successfully parse sentence at 22:59:35

: AshtechGPS::processRecord -sample time is 1143759574
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R274.07,X51.28,Y-4.44,Z-269.19

: Sonardyne - parsing R274.07,X51.28,Y-4.44,Z-269.19

: Sonardyne - read R = 274.070000 from 274.07,X51.28,Y-4.44,Z-269.19

: Sonardyne - got all data, Vehicle coordinates,
    r=274.070000, x=269.190000, y=51.280000, z=4.440000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225936.00,3636.72153,N,12152.56519,W,1,12,0.7,-3.05,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,225936.00,3636.72153,N,12152.56519,W,1,12,0.7,-3.05,M,-33.22,M,,*7C


: successfully parse sentence at 22:59:36

: AshtechGPS::processRecord -sample time is 1143759575
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R272.63,X88.12,Y-11.77,Z-257.72

: Sonardyne - parsing R272.63,X88.12,Y-11.77,Z-257.72

: Sonardyne - read R = 272.630000 from 272.63,X88.12,Y-11.77,Z-257.72

: Sonardyne - got all data, Vehicle coordinates,
    r=272.630000, x=257.720000, y=88.120000, z=11.770000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225937.00,3636.72098,N,12152.56497,W,1,12,0.7,-3.11,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,225937.00,3636.72098,N,12152.56497,W,1,12,0.7,-3.11,M,-33.22,M,,*79


: successfully parse sentence at 22:59:37

: AshtechGPS::processRecord -sample time is 1143759576
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R271.82,X122.58,Y6.79,Z-242.52

: Sonardyne - parsing R271.82,X122.58,Y6.79,Z-242.52

: Sonardyne - read R = 271.820000 from 271.82,X122.58,Y6.79,Z-242.52

: Sonardyne - got all data, Vehicle coordinates,
    r=271.820000, x=242.520000, y=122.580000, z=-6.790000 tat = 840
: AshtechGps::processRecord() - $GPGGA,225938.00,3636.72046,N,12152.56461,W,1,12,0.7,-2.91,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,225938.00,3636.72046,N,12152.56461,W,1,12,0.7,-2.91,M,-33.22,M,,*75


: successfully parse sentence at 22:59:38

: AshtechGPS::processRecord -sample time is 1143759577
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R271.45

: Sonardyne - parsing R271.45

: Sonardyne - read R = 271.450000 from 271.45

: Sonardyne - got range only (271.450000), tat = 810
: Sonardyne - POSD response: 
POSD S122.2,N26.0,D-66,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.2,N26.0,D-66,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225939.00,3636.71976,N,12152.56433,W,1,12,0.7,-2.84,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225939.00,3636.71976,N,12152.56433,W,1,12,0.7,-2.84,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:39

: AshtechGPS::processRecord -sample time is 1143759578
: BluefinBatt Reply: $aaq0 d- 31.23 11.76 16.60 3.89 3.92 0  1166.49 06:57:00 m

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

: Sonardyne - POS response: 
POS V4,1 R270.45,X-255.37,Y89.06,Z0.00

: Sonardyne - parsing R270.45,X-255.37,Y89.06,Z0.00

: Sonardyne - read R = 270.450000 from 270.45,X-255.37,Y89.06,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=270.450000, x=0.000000, y=-255.370000, z=-89.060000 tat = 830
: AshtechGps::processRecord() - $GPGGA,225940.00,3636.71923,N,12152.56376,W,1,12,0.7,-3.05,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225940.00,3636.71923,N,12152.56376,W,1,12,0.7,-3.05,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:40

: AshtechGPS::processRecord -sample time is 1143759579
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R271.97

: Sonardyne - parsing R271.97

: Sonardyne - read R = 271.970000 from 271.97

: Sonardyne - got range only (271.970000), tat = 810
: Sonardyne - POSD response: 
POSD S118.1,N29.6,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.1,N29.6,D-23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225941.00,3636.71876,N,12152.56320,W,1,12,0.7,-3.06,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225941.00,3636.71876,N,12152.56320,W,1,12,0.7,-3.06,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:41

: AshtechGPS::processRecord -sample time is 1143759580
:  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 R269.15

: Sonardyne - parsing R269.15

: Sonardyne - read R = 269.150000 from 269.15

: Sonardyne - got range only (269.150000), tat = 810
: Sonardyne - POSD response: 
POSD S117.6,N21.7,D-52,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.6,N21.7,D-52,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225942.00,3636.71849,N,12152.56253,W,1,12,0.7,-3.32,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,225942.00,3636.71849,N,12152.56253,W,1,12,0.7,-3.32,M,-33.22,M,,*73


: successfully parse sentence at 22:59:42

: AshtechGPS::processRecord -sample time is 1143759581
:  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 R270.75

: Sonardyne - parsing R270.75

: Sonardyne - read R = 270.750000 from 270.75

: Sonardyne - got range only (270.750000), tat = 810
: Sonardyne - POSD response: 
POSD S116.2,N22.3,D15,U4,Q0.000187

: Sonardyne - POSD response: 
POSD S116.2,N22.3,D15,U4,Q0.000187

: AshtechGps::processRecord() - $GPGGA,225943.00,3636.71827,N,12152.56180,W,1,12,0.7,-3.11,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,225943.00,3636.71827,N,12152.56180,W,1,12,0.7,-3.11,M,-33.22,M,,*76


: successfully parse sentence at 22:59:43

: AshtechGPS::processRecord -sample time is 1143759582
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225944.00,3636.71813,N,12152.56107,W,1,12,0.7,-3.16,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,225944.00,3636.71813,N,12152.56107,W,1,12,0.7,-3.16,M,-33.22,M,,*7E


: successfully parse sentence at 22:59:44

: AshtechGPS::processRecord -sample time is 1143759583
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225945.00,3636.71796,N,12152.56024,W,1,12,0.7,-3.05,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225945.00,3636.71796,N,12152.56024,W,1,12,0.7,-3.05,M,-33.22,M,,*7F


: successfully parse sentence at 22:59:45

: AshtechGPS::processRecord -sample time is 1143759584
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225946.00,3636.71797,N,12152.55936,W,1,12,0.7,-2.88,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,225946.00,3636.71797,N,12152.55936,W,1,12,0.7,-2.88,M,-33.22,M,,*70


: successfully parse sentence at 22:59:46

: AshtechGPS::processRecord -sample time is 1143759585
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225947.00,3636.71800,N,12152.55844,W,1,12,0.7,-2.94,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,225947.00,3636.71800,N,12152.55844,W,1,12,0.7,-2.94,M,-33.22,M,,*79


: successfully parse sentence at 22:59:47

: AshtechGPS::processRecord -sample time is 1143759586
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225948.00,3636.71819,N,12152.55753,W,1,12,0.7,-3.08,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,225948.00,3636.71819,N,12152.55753,W,1,12,0.7,-3.08,M,-33.22,M,,*73


: successfully parse sentence at 22:59:48

: AshtechGPS::processRecord -sample time is 1143759587
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225949.00,3636.71849,N,12152.55673,W,1,12,0.7,-3.10,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,225949.00,3636.71849,N,12152.55673,W,1,12,0.7,-3.10,M,-33.22,M,,*7D


: successfully parse sentence at 22:59:49

: AshtechGPS::processRecord -sample time is 1143759588
: BluefinBatt Reply: $aaq0 d- 31.26 10.54 16.60 3.89 3.92 0  1165.77 06:57:10 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: LayeredControl::execute() -- (t = 38.397370) Behavior setpoint has changed to state Finished

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

: 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,225950.00,3636.71881,N,12152.55594,W,1,12,0.7,-3.27,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,225950.00,3636.71881,N,12152.55594,W,1,12,0.7,-3.27,M,-33.22,M,,*7F


: successfully parse sentence at 22:59:50

: AshtechGPS::processRecord -sample time is 1143759589
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,225951.00,3636.71927,N,12152.55526,W,1,12,0.7,-3.47,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,225951.00,3636.71927,N,12152.55526,W,1,12,0.7,-3.47,M,-33.22,M,,*7C


: successfully parse sentence at 22:59:51

: AshtechGPS::processRecord -sample time is 1143759590
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225952.00,3636.71972,N,12152.55451,W,1,12,0.7,-3.42,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,225952.00,3636.71972,N,12152.55451,W,1,12,0.7,-3.42,M,-33.22,M,,*7B


: successfully parse sentence at 22:59:52

: AshtechGPS::processRecord -sample time is 1143759591
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,225953.00,3636.72012,N,12152.55391,W,1,11,0.7,-3.10,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,225953.00,3636.72012,N,12152.55391,W,1,11,0.7,-3.10,M,-33.22,M,,*79


: successfully parse sentence at 22:59:53

: AshtechGPS::processRecord -sample time is 1143759592
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225954.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,225954.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,225955.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,225955.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,225956.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,225956.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,225957.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,225957.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,225958.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,225958.00,,,,,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,225959.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,225959.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  9.13 16.69 3.90 3.92 0  1164.78 06:57:20 m

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230000.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230000.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,230001.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230001.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R272.11

: Sonardyne - parsing R272.11

: Sonardyne - read R = 272.110000 from 272.11

: Sonardyne - got range only (272.110000), tat = 809
: Sonardyne - POSD response: 
POSD S124.1,N21.3,D67,U1,Q0.005341

: Sonardyne - POSD response: 
POSD S124.1,N21.3,D67,U1,Q0.005341

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

: AshtechGps::processRecord() - $GPGGA,230002.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230002.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R271.32,X172.39,Y38.79,Z-205.89

: Sonardyne - parsing R271.32,X172.39,Y38.79,Z-205.89

: Sonardyne - read R = 271.320000 from 271.32,X172.39,Y38.79,Z-205.89

: Sonardyne - got all data, Vehicle coordinates,
    r=271.320000, x=205.890000, y=172.390000, z=-38.790000 tat = 840
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230003.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230003.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R270.30,X134.95,Y31.77,Z-232.04

: Sonardyne - parsing R270.30,X134.95,Y31.77,Z-232.04

: Sonardyne - read R = 270.300000 from 270.30,X134.95,Y31.77,Z-232.04

: Sonardyne - got all data, Vehicle coordinates,
    r=270.300000, x=232.040000, y=134.950000, z=-31.770000 tat = 840
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230004.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230004.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R269.09,X89.49,Y40.69,Z-250.49

: Sonardyne - parsing R269.09,X89.49,Y40.69,Z-250.49

: Sonardyne - read R = 269.090000 from 269.09,X89.49,Y40.69,Z-250.49

: Sonardyne - got all data, Vehicle coordinates,
    r=269.090000, x=250.490000, y=89.490000, z=-40.690000 tat = 830
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230005.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230005.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R267.80,X37.72,Y39.04,Z-262.24

: Sonardyne - parsing R267.80,X37.72,Y39.04,Z-262.24

: Sonardyne - read R = 267.800000 from 267.80,X37.72,Y39.04,Z-262.24

: Sonardyne - got all data, Vehicle coordinates,
    r=267.800000, x=262.240000, y=37.720000, z=-39.040000 tat = 830
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230006.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230006.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R266.36,X-8.78,Y31.88,Z-264.30

: Sonardyne - parsing R266.36,X-8.78,Y31.88,Z-264.30

: Sonardyne - read R = 266.360000 from 266.36,X-8.78,Y31.88,Z-264.30

: Sonardyne - got all data, Vehicle coordinates,
    r=266.360000, x=264.300000, y=-8.780000, z=-31.880000 tat = 830
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230007.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230007.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R264.96,X-58.00,Y25.07,Z-257.32

: Sonardyne - parsing R264.96,X-58.00,Y25.07,Z-257.32

: Sonardyne - read R = 264.960000 from 264.96,X-58.00,Y25.07,Z-257.32

: Sonardyne - got all data, Vehicle coordinates,
    r=264.960000, x=257.320000, y=-58.000000, z=-25.070000 tat = 830
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230008.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230008.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.68,X-107.21,Y16.50,Z-240.34

: Sonardyne - parsing R263.68,X-107.21,Y16.50,Z-240.34

: Sonardyne - read R = 263.680000 from 263.68,X-107.21,Y16.50,Z-240.34

: Sonardyne - got all data, Vehicle coordinates,
    r=263.680000, x=240.340000, y=-107.210000, z=-16.500000 tat = 830
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230009.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230009.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R262.70,X-142.04,Y8.56,Z-220.83

: Sonardyne - parsing R262.70,X-142.04,Y8.56,Z-220.83

: Sonardyne - read R = 262.700000 from 262.70,X-142.04,Y8.56,Z-220.83

: Sonardyne - got all data, Vehicle coordinates,
    r=262.700000, x=220.830000, y=-142.040000, z=-8.560000 tat = 830
: BluefinBatt Reply: $aaq0 d- 31.26  9.03 16.69 3.90 3.92 0  1164.13 06:57:30 m

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

: AshtechGps::processRecord() - $GPGGA,230010.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230010.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.69

: Sonardyne - parsing R261.69

: Sonardyne - read R = 261.690000 from 261.69

: Sonardyne - got range only (261.690000), tat = 800
: Sonardyne - POSD response: 
POSD S133.3,N33.6,D13,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S133.3,N33.6,D13,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,230011.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230011.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R260.54

: Sonardyne - parsing R260.54

: Sonardyne - read R = 260.540000 from 260.54

: Sonardyne - got range only (260.540000), tat = 800
: Sonardyne - POSD response: 
POSD S125.3,N25.0,D86,U1,Q0.015386

: Sonardyne - POSD response: 
POSD S125.3,N25.0,D86,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,230012.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230012.00,,,,,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,230013.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230013.00,,,,,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,230014.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230014.00,,,,,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,N2.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230015.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230015.00,,,,,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 R256.31,X-193.23,Y39.94,Z-163.59

: Sonardyne - parsing R256.31,X-193.23,Y39.94,Z-163.59

: Sonardyne - read R = 256.310000 from 256.31,X-193.23,Y39.94,Z-163.59

: Sonardyne - got all data, Vehicle coordinates,
    r=256.310000, x=163.590000, y=-193.230000, z=-39.940000 tat = 819
: AshtechGps::processRecord() - $GPGGA,230016.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230016.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R255.30

: Sonardyne - parsing R255.30

: Sonardyne - read R = 255.300000 from 255.30

: Sonardyne - got range only (255.300000), tat = 790
: Sonardyne - POSD response: 
POSD S125.7,N27.4,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.7,N27.4,D-43,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230017.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230017.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R254.18

: Sonardyne - parsing R254.18

: Sonardyne - read R = 254.180000 from 254.18

: Sonardyne - got range only (254.180000), tat = 790
: Sonardyne - POSD response: 
POSD S126.9,N29.1,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.9,N29.1,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230018.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230018.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R253.20

: Sonardyne - parsing R253.20

: Sonardyne - read R = 253.200000 from 253.20

: Sonardyne - got range only (253.200000), tat = 790
: Sonardyne - POSD response: 
POSD S130.9,N33.1,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.9,N33.1,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230019.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230019.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19 10.58 16.69 3.89 3.92 0  1163.05 06:57:40 m

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

: Sonardyne - POS response: 
POS V4,1 R251.97

: Sonardyne - parsing R251.97

: Sonardyne - read R = 251.970000 from 251.97

: Sonardyne - got range only (251.970000), tat = 790
: Sonardyne - POSD response: 
POSD S127.0,N30.6,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.0,N30.6,D29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230020.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230020.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R250.85

: Sonardyne - parsing R250.85

: Sonardyne - read R = 250.850000 from 250.85

: Sonardyne - got range only (250.850000), tat = 780
: Sonardyne - POSD response: 
POSD S128.0,N23.5,D-113,U3,Q0.011560

: Sonardyne - POSD response: 
POSD S128.0,N23.5,D-113,U3,Q0.011560

: AshtechGps::processRecord() - $GPGGA,230021.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230021.00,,,,,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 R249.77

: Sonardyne - parsing R249.77

: Sonardyne - read R = 249.770000 from 249.77

: Sonardyne - got range only (249.770000), tat = 780
: Sonardyne - POSD response: 
POSD S123.5,N21.0,D-115,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N21.0,D-115,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230022.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230022.00,,,,,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 R251.84

: Sonardyne - parsing R251.84

: Sonardyne - read R = 251.840000 from 251.84

: Sonardyne - got range only (251.840000), tat = 790
: Sonardyne - POSD response: 
POSD S118.2,N25.3,D-50,U3,Q0.014314

: Sonardyne - POSD response: 
POSD S118.2,N25.3,D-50,U3,Q0.014314

: AshtechGps::processRecord() - $GPGGA,230023.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230023.00,,,,,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 R248.00

: Sonardyne - parsing R248.00

: Sonardyne - read R = 248.000000 from 248.00

: Sonardyne - got range only (248.000000), tat = 780
: Sonardyne - POSD response: 
POSD S128.5,N28.9,D-51,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.5,N28.9,D-51,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230024.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230024.00,,,,,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 R247.18

: Sonardyne - parsing R247.18

: Sonardyne - read R = 247.180000 from 247.18

: Sonardyne - got range only (247.180000), tat = 780
: Sonardyne - POSD response: 
POSD S129.2,N31.9,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.2,N31.9,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230025.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230025.00,,,,,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 R246.20

: Sonardyne - parsing R246.20

: Sonardyne - read R = 246.200000 from 246.20

: Sonardyne - got range only (246.200000), tat = 780
: Sonardyne - POSD response: 
POSD S125.4,N26.0,D19,U2,Q0.006432

: Sonardyne - POSD response: 
POSD S125.4,N26.0,D19,U2,Q0.006432

: AshtechGps::processRecord() - $GPGGA,230026.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230026.00,,,,,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 R245.31

: Sonardyne - parsing R245.31

: Sonardyne - read R = 245.310000 from 245.31

: Sonardyne - got range only (245.310000), tat = 780
: Sonardyne - POSD response: 
POSD S125.7,N29.2,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.7,N29.2,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230027.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230027.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R244.24

: Sonardyne - parsing R244.24

: Sonardyne - read R = 244.240000 from 244.24

: Sonardyne - got range only (244.240000), tat = 780
: Sonardyne - POSD response: 
POSD S125.7,N27.1,D-54,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.7,N27.1,D-54,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230028.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230028.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R243.27

: Sonardyne - parsing R243.27

: Sonardyne - read R = 243.270000 from 243.27

: Sonardyne - got range only (243.270000), tat = 770
: Sonardyne - POSD response: 
POSD S131.3,N31.2,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.3,N31.2,D-39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230029.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230029.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  9.36 16.79 3.89 3.92 0  1162.40 06:57:50 m

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

: Sonardyne - POS response: 
POS V4,1 R242.11

: Sonardyne - parsing R242.11

: Sonardyne - read R = 242.110000 from 242.11

: Sonardyne - got range only (242.110000), tat = 770
: Sonardyne - POSD response: 
POSD S125.9,N24.7,D-62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N24.7,D-62,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230030.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230030.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R241.31

: Sonardyne - parsing R241.31

: Sonardyne - read R = 241.310000 from 241.31

: Sonardyne - got range only (241.310000), tat = 769
: Sonardyne - POSD response: 
POSD S124.1,N22.0,D-95,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N22.0,D-95,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230031.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230031.00,,,,,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 R240.06,X-201.62,Y54.59,Z-118.32

: Sonardyne - parsing R240.06,X-201.62,Y54.59,Z-118.32

: Sonardyne - read R = 240.060000 from 240.06,X-201.62,Y54.59,Z-118.32

: Sonardyne - got all data, Vehicle coordinates,
    r=240.060000, x=118.320000, y=-201.620000, z=-54.590000 tat = 800
: Descend::execute() - Descend terminating on depth 8.036000 > 8.000000 at time 80.794465

: LayeredControl::execute() -- (t = 80.794465) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 80.79                             (wplog)
  The current location (N,E) = 4052391.9      , 600511.2         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 265.4 Degrees.

: LayeredControl::execute() -- (t = 80.794465) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230032.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230032.00,,,,,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 R239.06,X-201.98,Y49.34,Z-117.98

: Sonardyne - parsing R239.06,X-201.98,Y49.34,Z-117.98

: Sonardyne - read R = 239.060000 from 239.06,X-201.98,Y49.34,Z-117.98

: Sonardyne - got all data, Vehicle coordinates,
    r=239.060000, x=117.980000, y=-201.980000, z=-49.340000 tat = 800
: AshtechGps::processRecord() - $GPGGA,230033.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230033.00,,,,,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 R238.11

: Sonardyne - parsing R238.11

: Sonardyne - read R = 238.110000 from 238.11

: Sonardyne - got range only (238.110000), tat = 770
: Sonardyne - POSD response: 
POSD S123.8,N26.6,D-48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.8,N26.6,D-48,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230034.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230034.00,,,,,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 R237.63

: Sonardyne - parsing R237.63

: Sonardyne - read R = 237.630000 from 237.63

: Sonardyne - got range only (237.630000), tat = 770
: Sonardyne - POSD response: 
POSD S123.0,N24.3,D-24,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S123.0,N24.3,D-24,U1,Q0.013937

: AshtechGps::processRecord() - $GPGGA,230035.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230035.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R238.37

: Sonardyne - parsing R238.37

: Sonardyne - read R = 238.370000 from 238.37

: Sonardyne - got range only (238.370000), tat = 770
: Sonardyne - POSD response: 
POSD S120.4,N20.4,D144,U3,Q0.000452

: Sonardyne - POSD response: 
POSD S120.4,N20.4,D144,U3,Q0.000452

: AshtechGps::processRecord() - $GPGGA,230036.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230036.00,,,,,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 R237.22

: Sonardyne - parsing R237.22

: Sonardyne - read R = 237.220000 from 237.22

: Sonardyne - got range only (237.220000), tat = 820
: Sonardyne - POSD response: 
POSD S119.2,N20.1,D-53,U5,Q0.005735

: Sonardyne - POSD response: 
POSD S119.2,N20.1,D-53,U5,Q0.005735

: AshtechGps::processRecord() - $GPGGA,230037.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230037.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R236.78

: Sonardyne - parsing R236.78

: Sonardyne - read R = 236.780000 from 236.78

: Sonardyne - got range only (236.780000), tat = 770
: Sonardyne - POSD response: 
POSD S118.9,N21.2,D-19,U4,Q0.010142

: Sonardyne - POSD response: 
POSD S118.9,N21.2,D-19,U4,Q0.010142

: AshtechGps::processRecord() - $GPGGA,230038.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230038.00,,,,,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 R236.29,X-217.97,Y11.90,Z-90.45

: Sonardyne - parsing R236.29,X-217.97,Y11.90,Z-90.45

: Sonardyne - read R = 236.290000 from 236.29,X-217.97,Y11.90,Z-90.45

: Sonardyne - got all data, Vehicle coordinates,
    r=236.290000, x=90.450000, y=-217.970000, z=-11.900000 tat = 790
: AshtechGps::processRecord() - $GPGGA,230039.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230039.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.99 16.79 3.89 3.92 0  1161.43 06:58:00 m

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

: AshtechGps::processRecord() - $GPGGA,230040.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230040.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230041.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230041.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230042.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230042.00,,,,,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,230043.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230043.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.95

: Sonardyne - parsing R236.95

: Sonardyne - read R = 236.950000 from 236.95

: Sonardyne - got range only (236.950000), tat = 770
: Sonardyne - POSD response: 
POSD S114.9,N18.7,D16,U1,Q0.013585

: Sonardyne - POSD response: 
POSD S114.9,N18.7,D16,U1,Q0.013585

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

: AshtechGps::processRecord() - $GPGGA,230044.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230044.00,,,,,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,230045.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230045.00,,,,,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,230046.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230046.00,,,,,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,N4.6,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230047.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230047.00,,,,,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 R235.79

: Sonardyne - parsing R235.79

: Sonardyne - read R = 235.790000 from 235.79

: Sonardyne - got range only (235.790000), tat = 760
: Sonardyne - POSD response: 
POSD S114.9,N15.1,D58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.9,N15.1,D58,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230048.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230048.00,,,,,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,230049.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230049.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  8.45 16.69 3.89 3.92 0  1160.78 06:58:10 m

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

: AshtechGps::processRecord() - $GPGGA,230050.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230050.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

:  wdt = 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,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230051.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230051.00,,,,,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,230052.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230052.00,,,,,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,230053.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230053.00,,,,,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,230054.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230054.00,,,,,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,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,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,230055.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230055.00,,,,,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,230056.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230056.00,,,,,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,230057.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230057.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230058.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230058.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230059.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230059.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.19

: Sonardyne - parsing R239.19

: Sonardyne - read R = 239.190000 from 239.19

: Sonardyne - got range only (239.190000), tat = 770
: Sonardyne - POSD response: 
POSD S113.7,N22.9,D72,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.7,N22.9,D72,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.26  8.52 16.79 3.89 3.92 0  1159.82 06:58:20 m

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

: AshtechGps::processRecord() - $GPGGA,230100.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230100.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230101.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230101.00,,,,,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,230102.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230102.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,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,230103.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230103.00,,,,,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,230104.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230104.00,,,,,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,230105.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230105.00,,,,,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,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,230106.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230106.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,230107.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230107.00,,,,,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,230108.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230108.00,,,,,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,230109.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230109.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  9.19 16.79 3.89 3.92 0  1159.18 06:58:30 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,N2.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,230110.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230110.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: Sonardyne - POS response: 
POS V4,1 R243.67

: Sonardyne - parsing R243.67

: Sonardyne - read R = 243.670000 from 243.67

: Sonardyne - got range only (243.670000), tat = 780
: Sonardyne - POSD response: 
POSD S115.3,N20.0,D21,U5,Q0.004914

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

: Sonardyne - POSD response: 
POSD S115.3,N20.0,D21,U5,Q0.004914

: AshtechGps::processRecord() - $GPGGA,230111.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230111.00,,,,,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,230112.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230112.00,,,,,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,230113.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230113.00,,,,,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,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230114.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230114.00,,,,,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,230115.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230115.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.39

: Sonardyne - parsing R245.39

: Sonardyne - read R = 245.390000 from 245.39

: Sonardyne - got range only (245.390000), tat = 780
: Sonardyne - POSD response: 
POSD S112.0,N14.4,D94,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.0,N14.4,D94,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,230116.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230116.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.49

: Sonardyne - parsing R243.49

: Sonardyne - read R = 243.490000 from 243.49

: Sonardyne - got range only (243.490000), tat = 780
: Sonardyne - POSD response: 
POSD S113.0,N14.8,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.0,N14.8,D-1,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,230117.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230117.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,230118.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230118.00,,,,,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,230119.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230119.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  9.67 16.79 3.89 3.92 0  1158.27 06:58:40 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,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230120.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230120.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230121.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230121.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,230122.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230122.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230123.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230123.00,,,,,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,230124.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230124.00,,,,,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,230125.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230125.00,,,,,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,230126.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230126.00,,,,,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,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230127.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230127.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,230128.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230128.00,,,,,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,230129.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230129.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.99 16.79 3.89 3.92 0  1157.65 06:58:50 m

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230130.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230130.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230131.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230131.00,,,,,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,230132.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230132.00,,,,,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,230133.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230133.00,,,,,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,N5.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.0,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,230134.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230134.00,,,,,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,230135.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230135.00,,,,,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,230136.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230136.00,,,,,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,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230137.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230137.00,,,,,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,230138.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230138.00,,,,,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,230139.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230139.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.23  8.86 16.79 3.89 3.92 0  1156.73 06:59:00 m

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

: AshtechGps::processRecord() - $GPGGA,230140.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230140.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: 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

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

: AshtechGps::processRecord() - $GPGGA,230141.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230141.00,,,,,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,230142.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230142.00,,,,,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,230143.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230143.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 153.00                                          (wplog)

: Vehicle Position is error is (0.1, 0.1)

: AshtechGps::processRecord() - $GPGGA,230144.00,,,,,0,00,,,M,,M,,*48

: LayeredControl::execute() -- (t = 152.999519) Behavior waypoint has changed to state Finished

: GpsUtils::parseFix() - $GPGGA,230144.00,,,,,0,00,,,M,,M,,*48


: Waypoint Initialization: 
  Begin waypoint control at t= 153.01                            (wplog)
  The current location (N,E) = 4052381.3      , 600381.6         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.2 Degrees.

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 153.009518) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,230145.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230145.00,,,,,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,230146.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230146.00,,,,,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,230147.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230147.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230148.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230148.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230149.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230149.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  8.25 16.79 3.89 3.92 0  1156.07 06:59:10 m

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

: AshtechGps::processRecord() - $GPGGA,230150.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230150.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230151.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230151.00,,,,,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,230152.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230152.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R253.23,X-191.57,Y25.10,Z-163.70

: Sonardyne - parsing R253.23,X-191.57,Y25.10,Z-163.70

: Sonardyne - read R = 253.230000 from 253.23,X-191.57,Y25.10,Z-163.70

: Sonardyne - got all data, Vehicle coordinates,
    r=253.230000, x=163.700000, y=-191.570000, z=-25.100000 tat = 810
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230153.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230153.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R252.15

: Sonardyne - parsing R252.15

: Sonardyne - read R = 252.150000 from 252.15

: Sonardyne - got range only (252.150000), tat = 790
: Sonardyne - POSD response: 
POSD S124.3,N22.3,D-121,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.3,N22.3,D-121,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,230154.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230154.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R250.88,X-141.42,Y9.41,Z-207.00

: Sonardyne - parsing R250.88,X-141.42,Y9.41,Z-207.00

: Sonardyne - read R = 250.880000 from 250.88,X-141.42,Y9.41,Z-207.00

: Sonardyne - got all data, Vehicle coordinates,
    r=250.880000, x=207.000000, y=-141.420000, z=-9.410000 tat = 860
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230155.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230155.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.19,X-122.46,Y0.87,Z-217.03

: Sonardyne - parsing R249.19,X-122.46,Y0.87,Z-217.03

: Sonardyne - read R = 249.190000 from 249.19,X-122.46,Y0.87,Z-217.03

: Sonardyne - got all data, Vehicle coordinates,
    r=249.190000, x=217.030000, y=-122.460000, z=-0.870000 tat = 810
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230156.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230156.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.47,X-94.45,Y12.05,Z-229.51

: Sonardyne - parsing R248.47,X-94.45,Y12.05,Z-229.51

: Sonardyne - read R = 248.470000 from 248.47,X-94.45,Y12.05,Z-229.51

: Sonardyne - got all data, Vehicle coordinates,
    r=248.470000, x=229.510000, y=-94.450000, z=-12.050000 tat = 810
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230157.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230157.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.36,X-63.13,Y2.23,Z-239.16

: Sonardyne - parsing R247.36,X-63.13,Y2.23,Z-239.16

: Sonardyne - read R = 247.360000 from 247.36,X-63.13,Y2.23,Z-239.16

: Sonardyne - got all data, Vehicle coordinates,
    r=247.360000, x=239.160000, y=-63.130000, z=-2.230000 tat = 800
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230158.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230158.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.96,X-22.93,Y11.16,Z-244.63

: Sonardyne - parsing R245.96,X-22.93,Y11.16,Z-244.63

: Sonardyne - read R = 245.960000 from 245.96,X-22.93,Y11.16,Z-244.63

: Sonardyne - got all data, Vehicle coordinates,
    r=245.960000, x=244.630000, y=-22.930000, z=-11.160000 tat = 799
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230159.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230159.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.86,X8.87,Y6.70,Z-244.61

: Sonardyne - parsing R244.86,X8.87,Y6.70,Z-244.61

: Sonardyne - read R = 244.860000 from 244.86,X8.87,Y6.70,Z-244.61

: Sonardyne - got all data, Vehicle coordinates,
    r=244.860000, x=244.610000, y=8.870000, z=-6.700000 tat = 800
: BluefinBatt Reply: $aaq0 d- 31.15 10.24 16.79 3.89 3.91 0  1155.10 06:59:20 m

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

: AshtechGps::processRecord() - $GPGGA,230200.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230200.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.63,X34.88,Y3.41,Z-241.10

: Sonardyne - parsing R243.63,X34.88,Y3.41,Z-241.10

: Sonardyne - read R = 243.630000 from 243.63,X34.88,Y3.41,Z-241.10

: Sonardyne - got all data, Vehicle coordinates,
    r=243.630000, x=241.100000, y=34.880000, z=-3.410000 tat = 800
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230201.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230201.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.57

: Sonardyne - parsing R245.57

: Sonardyne - read R = 245.570000 from 245.57

: Sonardyne - got range only (245.570000), tat = 780
: Sonardyne - POSD response: 
POSD S127.5,N32.7,D33,U1,Q0.001238

: Sonardyne - POSD response: 
POSD S127.5,N32.7,D33,U1,Q0.001238

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

: AshtechGps::processRecord() - $GPGGA,230202.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230202.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.99,X83.88,Y14.37,Z-225.46

: Sonardyne - parsing R240.99,X83.88,Y14.37,Z-225.46

: Sonardyne - read R = 240.990000 from 240.99,X83.88,Y14.37,Z-225.46

: Sonardyne - got all data, Vehicle coordinates,
    r=240.990000, x=225.460000, y=83.880000, z=-14.370000 tat = 800
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230203.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230203.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.65,X94.02,Y5.35,Z-220.37

: Sonardyne - parsing R239.65,X94.02,Y5.35,Z-220.37

: Sonardyne - read R = 239.650000 from 239.65,X94.02,Y5.35,Z-220.37

: Sonardyne - got all data, Vehicle coordinates,
    r=239.650000, x=220.370000, y=94.020000, z=-5.350000 tat = 790
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230204.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230204.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.11,X98.48,Y0.16,Z-216.79

: Sonardyne - parsing R238.11,X98.48,Y0.16,Z-216.79

: Sonardyne - read R = 238.110000 from 238.11,X98.48,Y0.16,Z-216.79

: Sonardyne - got all data, Vehicle coordinates,
    r=238.110000, x=216.790000, y=98.480000, z=-0.160000 tat = 790
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230205.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230205.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.63,X104.08,Y1.95,Z-212.51

: Sonardyne - parsing R236.63,X104.08,Y1.95,Z-212.51

: Sonardyne - read R = 236.630000 from 236.63,X104.08,Y1.95,Z-212.51

: Sonardyne - got all data, Vehicle coordinates,
    r=236.630000, x=212.510000, y=104.080000, z=-1.950000 tat = 790
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230206.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230206.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.27,X104.37,Y1.71,Z-210.85

: Sonardyne - parsing R235.27,X104.37,Y1.71,Z-210.85

: Sonardyne - read R = 235.270000 from 235.27,X104.37,Y1.71,Z-210.85

: Sonardyne - got all data, Vehicle coordinates,
    r=235.270000, x=210.850000, y=104.370000, z=-1.710000 tat = 790
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230207.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230207.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R233.97,X102.27,Y10.36,Z-210.18

: Sonardyne - parsing R233.97,X102.27,Y10.36,Z-210.18

: Sonardyne - read R = 233.970000 from 233.97,X102.27,Y10.36,Z-210.18

: Sonardyne - got all data, Vehicle coordinates,
    r=233.970000, x=210.180000, y=102.270000, z=-10.360000 tat = 790
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230208.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230208.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.61,X96.87,Y10.45,Z-211.23

: Sonardyne - parsing R232.61,X96.87,Y10.45,Z-211.23

: Sonardyne - read R = 232.610000 from 232.61,X96.87,Y10.45,Z-211.23

: Sonardyne - got all data, Vehicle coordinates,
    r=232.610000, x=211.230000, y=96.870000, z=-10.450000 tat = 780
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230209.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230209.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R231.43,X86.83,Y11.37,Z-214.22

: Sonardyne - parsing R231.43,X86.83,Y11.37,Z-214.22

: Sonardyne - read R = 231.430000 from 231.43,X86.83,Y11.37,Z-214.22

: Sonardyne - got all data, Vehicle coordinates,
    r=231.430000, x=214.220000, y=86.830000, z=-11.370000 tat = 780
: BluefinBatt Reply: $aaq0 d- 31.15 10.71 16.79 3.89 3.91 0  1154.43 06:59:30 m

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

: AshtechGps::processRecord() - $GPGGA,230210.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230210.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.19,X81.00,Y10.61,Z-215.21

: Sonardyne - parsing R230.19,X81.00,Y10.61,Z-215.21

: Sonardyne - read R = 230.190000 from 230.19,X81.00,Y10.61,Z-215.21

: Sonardyne - got all data, Vehicle coordinates,
    r=230.190000, x=215.210000, y=81.000000, z=-10.610000 tat = 780
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230211.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230211.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R228.76,X72.70,Y19.29,Z-216.05

: Sonardyne - parsing R228.76,X72.70,Y19.29,Z-216.05

: Sonardyne - read R = 228.760000 from 228.76,X72.70,Y19.29,Z-216.05

: Sonardyne - got all data, Vehicle coordinates,
    r=228.760000, x=216.050000, y=72.700000, z=-19.290000 tat = 780
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230212.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230212.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R227.33,X61.23,Y12.63,Z-218.57

: Sonardyne - parsing R227.33,X61.23,Y12.63,Z-218.57

: Sonardyne - read R = 227.330000 from 227.33,X61.23,Y12.63,Z-218.57

: Sonardyne - got all data, Vehicle coordinates,
    r=227.330000, x=218.570000, y=61.230000, z=-12.630000 tat = 779
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230213.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230213.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R225.82,X49.96,Y14.52,Z-219.75

: Sonardyne - parsing R225.82,X49.96,Y14.52,Z-219.75

: Sonardyne - read R = 225.820000 from 225.82,X49.96,Y14.52,Z-219.75

: Sonardyne - got all data, Vehicle coordinates,
    r=225.820000, x=219.750000, y=49.960000, z=-14.520000 tat = 780
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230214.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230214.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R224.47,X38.61,Y22.02,Z-220.02

: Sonardyne - parsing R224.47,X38.61,Y22.02,Z-220.02

: Sonardyne - read R = 224.470000 from 224.47,X38.61,Y22.02,Z-220.02

: Sonardyne - got all data, Vehicle coordinates,
    r=224.470000, x=220.020000, y=38.610000, z=-22.020000 tat = 770
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230215.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230215.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R222.44,X27.89,Y12.00,Z-220.35

: Sonardyne - parsing R222.44,X27.89,Y12.00,Z-220.35

: Sonardyne - read R = 222.440000 from 222.44,X27.89,Y12.00,Z-220.35

: Sonardyne - got all data, Vehicle coordinates,
    r=222.440000, x=220.350000, y=27.890000, z=-12.000000 tat = 770
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230216.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230216.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R220.74,X16.10,Y11.46,Z-219.85

: Sonardyne - parsing R220.74,X16.10,Y11.46,Z-219.85

: Sonardyne - read R = 220.740000 from 220.74,X16.10,Y11.46,Z-219.85

: Sonardyne - got all data, Vehicle coordinates,
    r=220.740000, x=219.850000, y=16.100000, z=-11.460000 tat = 770
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230217.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230217.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R219.04,X6.29,Y12.92,Z-218.57

: Sonardyne - parsing R219.04,X6.29,Y12.92,Z-218.57

: Sonardyne - read R = 219.040000 from 219.04,X6.29,Y12.92,Z-218.57

: Sonardyne - got all data, Vehicle coordinates,
    r=219.040000, x=218.570000, y=6.290000, z=-12.920000 tat = 770
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230218.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230218.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R217.52,X-3.89,Y17.49,Z-216.78

: Sonardyne - parsing R217.52,X-3.89,Y17.49,Z-216.78

: Sonardyne - read R = 217.520000 from 217.52,X-3.89,Y17.49,Z-216.78

: Sonardyne - got all data, Vehicle coordinates,
    r=217.520000, x=216.780000, y=-3.890000, z=-17.490000 tat = 760
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230219.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230219.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R215.68,X-13.40,Y8.72,Z-215.09

: Sonardyne - parsing R215.68,X-13.40,Y8.72,Z-215.09

: Sonardyne - read R = 215.680000 from 215.68,X-13.40,Y8.72,Z-215.09

: Sonardyne - got all data, Vehicle coordinates,
    r=215.680000, x=215.090000, y=-13.400000, z=-8.720000 tat = 760
: BluefinBatt Reply: $aaq0 d- 31.19  9.19 16.79 3.89 3.91 0  1153.42 06:59:40 m

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

: AshtechGps::processRecord() - $GPGGA,230220.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230220.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R214.12,X-24.35,Y19.94,Z-211.79

: Sonardyne - parsing R214.12,X-24.35,Y19.94,Z-211.79

: Sonardyne - read R = 214.120000 from 214.12,X-24.35,Y19.94,Z-211.79

: Sonardyne - got all data, Vehicle coordinates,
    r=214.120000, x=211.790000, y=-24.350000, z=-19.940000 tat = 760
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R212.43

: Sonardyne - parsing R212.43

: Sonardyne - read R = 212.430000 from 212.43

: Sonardyne - got range only (212.430000), tat = 730
: AshtechGps::processRecord() - $GPGGA,230221.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230221.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S134.8,N23.0,D-144,U4,Q0.001114

: Sonardyne - POSD response: 
POSD S134.8,N23.0,D-144,U4,Q0.001114

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

: AshtechGps::processRecord() - $GPGGA,230222.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230222.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.88,X-41.30,Y20.28,Z-205.80

: Sonardyne - parsing R210.88,X-41.30,Y20.28,Z-205.80

: Sonardyne - read R = 210.880000 from 210.88,X-41.30,Y20.28,Z-205.80

: Sonardyne - got all data, Vehicle coordinates,
    r=210.880000, x=205.800000, y=-41.300000, z=-20.280000 tat = 760
:  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 R209.31

: Sonardyne - parsing R209.31

: Sonardyne - read R = 209.310000 from 209.31

: Sonardyne - got range only (209.310000), tat = 730
: AshtechGps::processRecord() - $GPGGA,230223.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230223.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.5,N20.8,D-72,U4,Q0.000247

: Sonardyne - POSD response: 
POSD S135.5,N20.8,D-72,U4,Q0.000247

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

: AshtechGps::processRecord() - $GPGGA,230224.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230224.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - POS response: 
POS V4,1 R207.88,X-56.54,Y10.53,Z-199.76

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R207.88,X-56.54,Y10.53,Z-199.76

: Sonardyne - read R = 207.880000 from 207.88,X-56.54,Y10.53,Z-199.76

: Sonardyne - got all data, Vehicle coordinates,
    r=207.880000, x=199.760000, y=-56.540000, z=-10.530000 tat = 750
:  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 R206.22,X-62.27,Y14.96,Z-196.03

: Sonardyne - parsing R206.22,X-62.27,Y14.96,Z-196.03

: AshtechGps::processRecord() - $GPGGA,230225.00,,,,,0,00,,,M,,M,,*4C

: Sonardyne - read R = 206.220000 from 206.22,X-62.27,Y14.96,Z-196.03

: GpsUtils::parseFix() - $GPGGA,230225.00,,,,,0,00,,,M,,M,,*4C


: Sonardyne - got all data, Vehicle coordinates,
    r=206.220000, x=196.030000, y=-62.270000, z=-14.960000 tat = 750
: 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 R204.72,X-66.88,Y15.27,Z-192.89

: AshtechGps::processRecord() - $GPGGA,230226.00,,,,,0,00,,,M,,M,,*4F

: Sonardyne - parsing R204.72,X-66.88,Y15.27,Z-192.89

: GpsUtils::parseFix() - $GPGGA,230226.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - read R = 204.720000 from 204.72,X-66.88,Y15.27,Z-192.89

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - got all data, Vehicle coordinates,
    r=204.720000, x=192.890000, y=-66.880000, z=-15.270000 tat = 750
: Sonardyne - POS response: 
POS V4,1 R203.15,X-69.76,Y11.76,Z-190.43

: Sonardyne - parsing R203.15,X-69.76,Y11.76,Z-190.43

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

: Sonardyne - read R = 203.150000 from 203.15,X-69.76,Y11.76,Z-190.43

: AshtechGps::processRecord() - $GPGGA,230227.00,,,,,0,00,,,M,,M,,*4E

: Sonardyne - got all data, Vehicle coordinates,
    r=203.150000, x=190.430000, y=-69.760000, z=-11.760000 tat = 749
: GpsUtils::parseFix() - $GPGGA,230227.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R201.56,X-72.02,Y8.54,Z-188.05

: Sonardyne - parsing R201.56,X-72.02,Y8.54,Z-188.05

: Sonardyne - read R = 201.560000 from 201.56,X-72.02,Y8.54,Z-188.05

: Sonardyne - got all data, Vehicle coordinates,
    r=201.560000, x=188.050000, y=-72.020000, z=-8.540000 tat = 740
: AshtechGps::processRecord() - $GPGGA,230228.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230228.00,,,,,0,00,,,M,,M,,*41


:  wdt = 00899,  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 R199.93,X-72.78,Y11.69,Z-185.84

: Sonardyne - parsing R199.93,X-72.78,Y11.69,Z-185.84

: Sonardyne - read R = 199.930000 from 199.93,X-72.78,Y11.69,Z-185.84

: Sonardyne - got all data, Vehicle coordinates,
    r=199.930000, x=185.840000, y=-72.780000, z=-11.690000 tat = 740
: AshtechGps::processRecord() - $GPGGA,230229.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230229.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.19 10.00 16.79 3.89 3.91 0  1152.79 06:59:50 m

: Sonardyne - POS response: 
POS V4,1 R198.17,X-75.03,Y18.03,Z-182.53

: Sonardyne - parsing R198.17,X-75.03,Y18.03,Z-182.53

: Sonardyne - read R = 198.170000 from 198.17,X-75.03,Y18.03,Z-182.53

: Sonardyne - got all data, Vehicle coordinates,
    r=198.170000, x=182.530000, y=-75.030000, z=-18.030000 tat = 740
: AshtechGps::processRecord() - $GPGGA,230230.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230230.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - POS response: 
POS V4,1 R196.64,X-76.01,Y8.79,Z-181.14

: Sonardyne - parsing R196.64,X-76.01,Y8.79,Z-181.14

: Sonardyne - read R = 196.640000 from 196.64,X-76.01,Y8.79,Z-181.14

: Sonardyne - got all data, Vehicle coordinates,
    r=196.640000, x=181.140000, y=-76.010000, z=-8.790000 tat = 740
: AshtechGps::processRecord() - $GPGGA,230231.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230231.00,,,,,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 R195.44,X-76.94,Y7.23,Z-179.51

: Sonardyne - parsing R195.44,X-76.94,Y7.23,Z-179.51

: Sonardyne - read R = 195.440000 from 195.44,X-76.94,Y7.23,Z-179.51

: Sonardyne - got all data, Vehicle coordinates,
    r=195.440000, x=179.510000, y=-76.940000, z=-7.230000 tat = 730
: AshtechGps::processRecord() - $GPGGA,230232.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230232.00,,,,,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 R193.93,X-76.54,Y7.17,Z-178.04

: Sonardyne - parsing R193.93,X-76.54,Y7.17,Z-178.04

: Sonardyne - read R = 193.930000 from 193.93,X-76.54,Y7.17,Z-178.04

: Sonardyne - got all data, Vehicle coordinates,
    r=193.930000, x=178.040000, y=-76.540000, z=-7.170000 tat = 740
: AshtechGps::processRecord() - $GPGGA,230233.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230233.00,,,,,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 R192.58,X-77.13,Y9.07,Z-176.23

: Sonardyne - parsing R192.58,X-77.13,Y9.07,Z-176.23

: Sonardyne - read R = 192.580000 from 192.58,X-77.13,Y9.07,Z-176.23

: Sonardyne - got all data, Vehicle coordinates,
    r=192.580000, x=176.230000, y=-77.130000, z=-9.070000 tat = 730
: AshtechGps::processRecord() - $GPGGA,230234.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230234.00,,,,,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 R191.31,X-79.25,Y8.94,Z-173.89

: Sonardyne - parsing R191.31,X-79.25,Y8.94,Z-173.89

: Sonardyne - read R = 191.310000 from 191.31,X-79.25,Y8.94,Z-173.89

: Sonardyne - got all data, Vehicle coordinates,
    r=191.310000, x=173.890000, y=-79.250000, z=-8.940000 tat = 730
: AshtechGps::processRecord() - $GPGGA,230235.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230235.00,,,,,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 R189.74,X-79.92,Y6.98,Z-171.94

: Sonardyne - parsing R189.74,X-79.92,Y6.98,Z-171.94

: Sonardyne - read R = 189.740000 from 189.74,X-79.92,Y6.98,Z-171.94

: Sonardyne - got all data, Vehicle coordinates,
    r=189.740000, x=171.940000, y=-79.920000, z=-6.980000 tat = 730
: AshtechGps::processRecord() - $GPGGA,230236.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230236.00,,,,,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 R188.25,X-80.36,Y5.79,Z-170.14

: Sonardyne - parsing R188.25,X-80.36,Y5.79,Z-170.14

: Sonardyne - read R = 188.250000 from 188.25,X-80.36,Y5.79,Z-170.14

: Sonardyne - got all data, Vehicle coordinates,
    r=188.250000, x=170.140000, y=-80.360000, z=-5.790000 tat = 720
: AshtechGps::processRecord() - $GPGGA,230237.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230237.00,,,,,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 R186.32,X-82.01,Y21.05,Z-165.97

: Sonardyne - parsing R186.32,X-82.01,Y21.05,Z-165.97

: Sonardyne - read R = 186.320000 from 186.32,X-82.01,Y21.05,Z-165.97

: Sonardyne - got all data, Vehicle coordinates,
    r=186.320000, x=165.970000, y=-82.010000, z=-21.050000 tat = 720
: AshtechGps::processRecord() - $GPGGA,230238.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230238.00,,,,,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 R184.80,X-81.88,Y13.79,Z-165.10

: Sonardyne - parsing R184.80,X-81.88,Y13.79,Z-165.10

: Sonardyne - read R = 184.800000 from 184.80,X-81.88,Y13.79,Z-165.10

: Sonardyne - got all data, Vehicle coordinates,
    r=184.800000, x=165.100000, y=-81.880000, z=-13.790000 tat = 720
: AshtechGps::processRecord() - $GPGGA,230239.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230239.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.19  9.70 16.79 3.89 3.91 0  1151.82 07:00:00 m

: Sonardyne - POS response: 
POS V4,1 R183.27,X-81.46,Y18.16,Z-163.16

: Sonardyne - parsing R183.27,X-81.46,Y18.16,Z-163.16

: Sonardyne - read R = 183.270000 from 183.27,X-81.46,Y18.16,Z-163.16

: Sonardyne - got all data, Vehicle coordinates,
    r=183.270000, x=163.160000, y=-81.460000, z=-18.160000 tat = 720
: AshtechGps::processRecord() - $GPGGA,230240.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230240.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - POS response: 
POS V4,1 R185.57

: Sonardyne - parsing R185.57

: Sonardyne - read R = 185.570000 from 185.57

: Sonardyne - got range only (185.570000), tat = 700
: AshtechGps::processRecord() - $GPGGA,230241.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230241.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.7,N27.1,D-4,U2,Q0.002769

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

: Sonardyne - POSD response: 
POSD S121.7,N27.1,D-4,U2,Q0.002769

: Sonardyne - POS response: 
POS V4,1 R180.27,X-80.22,Y20.93,Z-160.07

: Sonardyne - parsing R180.27,X-80.22,Y20.93,Z-160.07

: Sonardyne - read R = 180.270000 from 180.27,X-80.22,Y20.93,Z-160.07

: Sonardyne - got all data, Vehicle coordinates,
    r=180.270000, x=160.070000, y=-80.220000, z=-20.930000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230242.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230242.00,,,,,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 R178.90,X-78.34,Y19.81,Z-159.61

: Sonardyne - parsing R178.90,X-78.34,Y19.81,Z-159.61

: Sonardyne - read R = 178.900000 from 178.90,X-78.34,Y19.81,Z-159.61

: Sonardyne - got all data, Vehicle coordinates,
    r=178.900000, x=159.610000, y=-78.340000, z=-19.810000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230243.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230243.00,,,,,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 R177.90,X-79.14,Y13.31,Z-158.78

: Sonardyne - parsing R177.90,X-79.14,Y13.31,Z-158.78

: Sonardyne - read R = 177.900000 from 177.90,X-79.14,Y13.31,Z-158.78

: Sonardyne - got all data, Vehicle coordinates,
    r=177.900000, x=158.780000, y=-79.140000, z=-13.310000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230244.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230244.00,,,,,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 R176.17,X-78.17,Y21.60,Z-156.39

: Sonardyne - parsing R176.17,X-78.17,Y21.60,Z-156.39

: Sonardyne - read R = 176.170000 from 176.17,X-78.17,Y21.60,Z-156.39

: Sonardyne - got all data, Vehicle coordinates,
    r=176.170000, x=156.390000, y=-78.170000, z=-21.600000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230245.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230245.00,,,,,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 R174.60,X-78.82,Y18.02,Z-154.75

: Sonardyne - parsing R174.60,X-78.82,Y18.02,Z-154.75

: Sonardyne - read R = 174.600000 from 174.60,X-78.82,Y18.02,Z-154.75

: Sonardyne - got all data, Vehicle coordinates,
    r=174.600000, x=154.750000, y=-78.820000, z=-18.020000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230246.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230246.00,,,,,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 R173.40,X-79.36,Y13.00,Z-153.62

: Sonardyne - parsing R173.40,X-79.36,Y13.00,Z-153.62

: Sonardyne - read R = 173.400000 from 173.40,X-79.36,Y13.00,Z-153.62

: Sonardyne - got all data, Vehicle coordinates,
    r=173.400000, x=153.620000, y=-79.360000, z=-13.000000 tat = 710
: AshtechGps::processRecord() - $GPGGA,230247.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230247.00,,,,,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 R172.20,X-79.42,Y21.40,Z-151.29

: Sonardyne - parsing R172.20,X-79.42,Y21.40,Z-151.29

: Sonardyne - read R = 172.200000 from 172.20,X-79.42,Y21.40,Z-151.29

: Sonardyne - got all data, Vehicle coordinates,
    r=172.200000, x=151.290000, y=-79.420000, z=-21.400000 tat = 700
: AshtechGps::processRecord() - $GPGGA,230248.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230248.00,,,,,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 R176.32

: Sonardyne - parsing R176.32

: Sonardyne - read R = 176.320000 from 176.32

: Sonardyne - got range only (176.320000), tat = 680
: AshtechGps::processRecord() - $GPGGA,230249.00,,,,,0,00,,,M,,M,,*46

: Sonardyne - POSD response: 
POSD S124.2,N20.2,D-110,U5,Q0.002338

: GpsUtils::parseFix() - $GPGGA,230249.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.2,N20.2,D-110,U5,Q0.002338

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

: BluefinBatt Reply: $aaq0 d- 31.15  9.40 16.79 3.89 3.91 0  1151.19 07:00:10 m

: Sonardyne - POS response: 
POS V4,1 R168.85,X-80.41,Y7.57,Z-148.28

: Sonardyne - parsing R168.85,X-80.41,Y7.57,Z-148.28

: Sonardyne - read R = 168.850000 from 168.85,X-80.41,Y7.57,Z-148.28

: Sonardyne - got all data, Vehicle coordinates,
    r=168.850000, x=148.280000, y=-80.410000, z=-7.570000 tat = 700
: AshtechGps::processRecord() - $GPGGA,230250.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230250.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - POS response: 
POS V4,1 R174.56

: Sonardyne - parsing R174.56

: Sonardyne - read R = 174.560000 from 174.56

: Sonardyne - got range only (174.560000), tat = 680
: Sonardyne - POSD response: 
POSD S119.9,N21.5,D-14,U2,Q0.005192

: AshtechGps::processRecord() - $GPGGA,230251.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230251.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.9,N21.5,D-14,U2,Q0.005192

:  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 R165.95,X-79.63,Y17.29,Z-144.57

: Sonardyne - parsing R165.95,X-79.63,Y17.29,Z-144.57

: Sonardyne - read R = 165.950000 from 165.95,X-79.63,Y17.29,Z-144.57

: Sonardyne - got all data, Vehicle coordinates,
    r=165.950000, x=144.570000, y=-79.630000, z=-17.290000 tat = 700
: AshtechGps::processRecord() - $GPGGA,230252.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230252.00,,,,,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 R167.46

: Sonardyne - parsing R167.46

: Sonardyne - read R = 167.460000 from 167.46

: Sonardyne - got range only (167.460000), tat = 670
: Sonardyne - POSD response: 
POSD S119.5,N19.0,D-64,U3,Q0.008062

: AshtechGps::processRecord() - $GPGGA,230253.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230253.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.5,N19.0,D-64,U3,Q0.008062

:  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 R163.00,X-79.62,Y14.60,Z-141.48

: Sonardyne - parsing R163.00,X-79.62,Y14.60,Z-141.48

: Sonardyne - read R = 163.000000 from 163.00,X-79.62,Y14.60,Z-141.48

: Sonardyne - got all data, Vehicle coordinates,
    r=163.000000, x=141.480000, y=-79.620000, z=-14.600000 tat = 690
: AshtechGps::processRecord() - $GPGGA,230254.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230254.00,,,,,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 R161.57

: Sonardyne - parsing R161.57

: Sonardyne - read R = 161.570000 from 161.57

: Sonardyne - got range only (161.570000), tat = 660
: Sonardyne - POSD response: 
POSD S127.8,N22.3,D49,U4,Q0.001806

: AshtechGps::processRecord() - $GPGGA,230255.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230255.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.8,N22.3,D49,U4,Q0.001806

:  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 R163.83

: Sonardyne - parsing R163.83

: Sonardyne - read R = 163.830000 from 163.83

: Sonardyne - got range only (163.830000), tat = 669
: Sonardyne - POSD response: 
POSD S123.5,N25.1,D-13,U2,Q0.008163

: AshtechGps::processRecord() - $GPGGA,230256.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230256.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S123.5,N25.1,D-13,U2,Q0.008163

:  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 R159.73

: Sonardyne - parsing R159.73

: Sonardyne - read R = 159.730000 from 159.73

: Sonardyne - got range only (159.730000), tat = 660
: Sonardyne - POSD response: 
POSD S135.5,N29.1,D-29,U5,Q0.000487

: AshtechGps::processRecord() - $GPGGA,230257.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230257.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.5,N29.1,D-29,U5,Q0.000487

:  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 R157.56

: Sonardyne - parsing R157.56

: Sonardyne - read R = 157.560000 from 157.56

: Sonardyne - got range only (157.560000), tat = 660
: Sonardyne - POSD response: 
POSD S125.1,N17.5,D-44,U5,Q0.001785

: AshtechGps::processRecord() - $GPGGA,230258.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230258.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S125.1,N17.5,D-44,U5,Q0.001785

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

:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 227.39                                          (wplog)

: Vehicle Position is error is (-0.2, -0.4)

: LayeredControl::execute() -- (t = 227.394422) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 227.39                            (wplog)
  The current location (N,E) = 4052292.4      , 600427.0         (wplog)
  The next waypoint          = 4052143.0      , 600600.9         (wplog)
  The bearing to the next w.p. is 130.7 Degrees.

: LayeredControl::execute() -- (t = 227.394422) Behavior waypoint_homing has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230259.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230259.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  9.33 16.79 3.89 3.91 0  1150.26 07:00:20 m

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

: AshtechGps::processRecord() - $GPGGA,230300.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230300.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230301.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230301.00,,,,,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,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230302.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230302.00,,,,,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 R151.28,X-27.83,Y11.24,Z-148.28

: Sonardyne - parsing R151.28,X-27.83,Y11.24,Z-148.28

: Sonardyne - read R = 151.280000 from 151.28,X-27.83,Y11.24,Z-148.28

: Sonardyne - got all data, Vehicle coordinates,
    r=151.280000, x=148.280000, y=-27.830000, z=-11.240000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder
  at t = 231.59          Seconds.
:   The vehicle position is is (4052286.4, 600430.3)

: AshtechGps::processRecord() - $GPGGA,230303.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230303.00,,,,,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 R149.45,X-17.99,Y4.56,Z-148.29

: Sonardyne - parsing R149.45,X-17.99,Y4.56,Z-148.29

: Sonardyne - read R = 149.450000 from 149.45,X-17.99,Y4.56,Z-148.29

: Sonardyne - got all data, Vehicle coordinates,
    r=149.450000, x=148.290000, y=-17.990000, z=-4.560000 tat = 670
: AshtechGps::processRecord() - $GPGGA,230304.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230304.00,,,,,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 R149.72

: Sonardyne - parsing R149.72

: Sonardyne - read R = 149.720000 from 149.72

: Sonardyne - got range only (149.720000), tat = 650
: Sonardyne - POSD response: 
POSD S133.8,N17.6,D45,U1,Q0.006893

: Sonardyne - POSD response: 
POSD S133.8,N17.6,D45,U1,Q0.006893

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 233.59          Seconds.
:   The vehicle position is is (4052284.2, 600432.4)

: AshtechGps::processRecord() - $GPGGA,230305.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230305.00,,,,,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 R146.84,X6.35,Y-2.96,Z-146.67

: Sonardyne - parsing R146.84,X6.35,Y-2.96,Z-146.67

: Sonardyne - read R = 146.840000 from 146.84,X6.35,Y-2.96,Z-146.67

: Sonardyne - got all data, Vehicle coordinates,
    r=146.840000, x=146.670000, y=6.350000, z=2.960000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder
  at t = 234.59          Seconds.
:   The vehicle position is is (4052283.2, 600433.4)

: AshtechGps::processRecord() - $GPGGA,230306.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230306.00,,,,,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 R145.76

: Sonardyne - parsing R145.76

: Sonardyne - read R = 145.760000 from 145.76

: Sonardyne - got range only (145.760000), tat = 640
: Sonardyne - POSD response: 
POSD S142.5,N30.5,D16,U5,Q0.000497

: Sonardyne - POSD response: 
POSD S142.5,N30.5,D16,U5,Q0.000497

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 235.59          Seconds.
:   The vehicle position is is (4052282.3, 600434.4)

: AshtechGps::processRecord() - $GPGGA,230307.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230307.00,,,,,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 R144.51,X52.03,Y-12.00,Z-134.28

: Sonardyne - parsing R144.51,X52.03,Y-12.00,Z-134.28

: Sonardyne - read R = 144.510000 from 144.51,X52.03,Y-12.00,Z-134.28

: Sonardyne - got all data, Vehicle coordinates,
    r=144.510000, x=134.280000, y=52.030000, z=12.000000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder
  at t = 236.59          Seconds.
:   The vehicle position is is (4052281.6, 600435.5)

: AshtechGps::processRecord() - $GPGGA,230308.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230308.00,,,,,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 R143.65,X75.09,Y-5.96,Z-122.31

: Sonardyne - parsing R143.65,X75.09,Y-5.96,Z-122.31

: Sonardyne - read R = 143.650000 from 143.65,X75.09,Y-5.96,Z-122.31

: Sonardyne - got all data, Vehicle coordinates,
    r=143.650000, x=122.310000, y=75.090000, z=5.960000 tat = 660
: AshtechGps::processRecord() - $GPGGA,230309.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230309.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  5.08 16.89 3.89 3.91 0  1149.86 07:00:30 m

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

: Sonardyne - POS response: 
POS V4,1 R143.10

: Sonardyne - parsing R143.10

: Sonardyne - read R = 143.100000 from 143.10

: Sonardyne - got range only (143.100000), tat = 640
: Sonardyne - POSD response: 
POSD S130.8,N20.0,D115,U5,Q0.002599

: Sonardyne - POSD response: 
POSD S130.8,N20.0,D115,U5,Q0.002599

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 238.59          Seconds.
:   The vehicle position is is (4052280.4, 600437.5)

: AshtechGps::processRecord() - $GPGGA,230310.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230310.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - POS response: 
POS V4,1 R141.93

: Sonardyne - parsing R141.93

: Sonardyne - read R = 141.930000 from 141.93

: Sonardyne - got range only (141.930000), tat = 640
: Sonardyne - POSD response: 
POSD S133.2,N25.5,D-44,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.2,N25.5,D-44,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230311.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230311.00,,,,,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 R141.62

: Sonardyne - parsing R141.62

: Sonardyne - read R = 141.620000 from 141.62

: Sonardyne - got range only (141.620000), tat = 640
: Sonardyne - POSD response: 
POSD S135.8,N32.6,D-18,U2,Q0.006440

: Sonardyne - POSD response: 
POSD S135.8,N32.6,D-18,U2,Q0.006440

: AshtechGps::processRecord() - $GPGGA,230312.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230312.00,,,,,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 R144.08

: Sonardyne - parsing R144.08

: Sonardyne - read R = 144.080000 from 144.08

: Sonardyne - got range only (144.080000), tat = 640
: Sonardyne - POSD response: 
POSD S128.8,N27.1,D0,U1,Q0.005493

: Sonardyne - POSD response: 
POSD S128.8,N27.1,D0,U1,Q0.005493

: AshtechGps::processRecord() - $GPGGA,230313.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230313.00,,,,,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 R140.86

: Sonardyne - parsing R140.86

: Sonardyne - read R = 140.860000 from 140.86

: Sonardyne - got range only (140.860000), tat = 640
: Sonardyne - POSD response: 
POSD S132.5,N31.0,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.5,N31.0,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230314.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230314.00,,,,,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 R140.61

: Sonardyne - parsing R140.61

: Sonardyne - read R = 140.610000 from 140.61

: Sonardyne - got range only (140.610000), tat = 640
: Sonardyne - POSD response: 
POSD S121.7,N24.6,D22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N24.6,D22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230315.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230315.00,,,,,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 R140.43

: Sonardyne - parsing R140.43

: Sonardyne - read R = 140.430000 from 140.43

: Sonardyne - got range only (140.430000), tat = 640
: Sonardyne - POSD response: 
POSD S123.3,N24.3,D-53,U1,Q0.006089

: Sonardyne - POSD response: 
POSD S123.3,N24.3,D-53,U1,Q0.006089

: AshtechGps::processRecord() - $GPGGA,230316.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230316.00,,,,,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 R140.44

: Sonardyne - parsing R140.44

: Sonardyne - read R = 140.440000 from 140.44

: Sonardyne - got range only (140.440000), tat = 640
: Sonardyne - POSD response: 
POSD S126.2,N32.6,D5,U3,Q0.013245

: Sonardyne - POSD response: 
POSD S126.2,N32.6,D5,U3,Q0.013245

: AshtechGps::processRecord() - $GPGGA,230317.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230317.00,,,,,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 R140.21

: Sonardyne - parsing R140.21

: Sonardyne - read R = 140.210000 from 140.21

: Sonardyne - got range only (140.210000), tat = 640
: Sonardyne - POSD response: 
POSD S122.4,N27.8,D-50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N27.8,D-50,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230318.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230318.00,,,,,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 R140.08

: Sonardyne - parsing R140.08

: Sonardyne - read R = 140.080000 from 140.08

: Sonardyne - got range only (140.080000), tat = 640
: Sonardyne - POSD response: 
POSD S127.1,N29.4,D-37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.1,N29.4,D-37,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230319.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230319.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  7.00 16.89 3.90 3.93 0  1149.26 07:00:40 m

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

: Sonardyne - POS response: 
POS V4,1 R139.90

: Sonardyne - parsing R139.90

: Sonardyne - read R = 139.900000 from 139.90

: Sonardyne - got range only (139.900000), tat = 640
: Sonardyne - POSD response: 
POSD S127.6,N35.1,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.6,N35.1,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230320.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230320.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R139.61

: Sonardyne - parsing R139.61

: Sonardyne - read R = 139.610000 from 139.61

: Sonardyne - got range only (139.610000), tat = 640
: Sonardyne - POSD response: 
POSD S121.8,N29.4,D31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.8,N29.4,D31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230321.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230321.00,,,,,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 R139.33

: Sonardyne - parsing R139.33

: Sonardyne - read R = 139.330000 from 139.33

: Sonardyne - got range only (139.330000), tat = 640
: Sonardyne - POSD response: 
POSD S123.9,N24.1,D87,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.9,N24.1,D87,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230322.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230322.00,,,,,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 R139.53

: Sonardyne - parsing R139.53

: Sonardyne - read R = 139.530000 from 139.53

: Sonardyne - got range only (139.530000), tat = 630
: Sonardyne - POSD response: 
POSD S126.9,N28.1,D39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.9,N28.1,D39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230323.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230323.00,,,,,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 R139.03

: Sonardyne - parsing R139.03

: Sonardyne - read R = 139.030000 from 139.03

: Sonardyne - got range only (139.030000), tat = 640
: Sonardyne - POSD response: 
POSD S130.6,N28.5,D75,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N28.5,D75,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230324.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230324.00,,,,,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 R138.82

: Sonardyne - parsing R138.82

: Sonardyne - read R = 138.820000 from 138.82

: Sonardyne - got range only (138.820000), tat = 630
: Sonardyne - POSD response: 
POSD S125.3,N26.9,D34,U3,Q0.002005

: Sonardyne - POSD response: 
POSD S125.3,N26.9,D34,U3,Q0.002005

: AshtechGps::processRecord() - $GPGGA,230325.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230325.00,,,,,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 R138.49

: Sonardyne - parsing R138.49

: Sonardyne - read R = 138.490000 from 138.49

: Sonardyne - got range only (138.490000), tat = 629
: Sonardyne - POSD response: 
POSD S128.1,N25.8,D61,U4,Q0.002314

: Sonardyne - POSD response: 
POSD S128.1,N25.8,D61,U4,Q0.002314

: AshtechGps::processRecord() - $GPGGA,230326.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230326.00,,,,,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 R138.24

: Sonardyne - parsing R138.24

: Sonardyne - read R = 138.240000 from 138.24

: Sonardyne - got range only (138.240000), tat = 630
: Sonardyne - POSD response: 
POSD S125.1,N24.9,D-45,U1,Q0.006305

: Sonardyne - POSD response: 
POSD S125.1,N24.9,D-45,U1,Q0.006305

: AshtechGps::processRecord() - $GPGGA,230327.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230327.00,,,,,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 R137.87

: Sonardyne - parsing R137.87

: Sonardyne - read R = 137.870000 from 137.87

: Sonardyne - got range only (137.870000), tat = 630
: Sonardyne - POSD response: 
POSD S129.4,N25.0,D32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.4,N25.0,D32,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230328.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230328.00,,,,,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 R138.71

: Sonardyne - parsing R138.71

: Sonardyne - read R = 138.710000 from 138.71

: Sonardyne - got range only (138.710000), tat = 630
: Sonardyne - POSD response: 
POSD S123.4,N19.4,D-100,U1,Q0.005424

: Sonardyne - POSD response: 
POSD S123.4,N19.4,D-100,U1,Q0.005424

: AshtechGps::processRecord() - $GPGGA,230329.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230329.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.30 16.79 3.90 3.93 0  1148.81 07:00:50 m

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

: Sonardyne - POS response: 
POS V4,1 R143.19

: Sonardyne - parsing R143.19

: Sonardyne - read R = 143.190000 from 143.19

: Sonardyne - got range only (143.190000), tat = 640
: Sonardyne - POSD response: 
POSD S120.4,N26.8,D-44,U1,Q0.004356

: Sonardyne - POSD response: 
POSD S120.4,N26.8,D-44,U1,Q0.004356

: AshtechGps::processRecord() - $GPGGA,230330.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230330.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R136.77

: Sonardyne - parsing R136.77

: Sonardyne - read R = 136.770000 from 136.77

: Sonardyne - got range only (136.770000), tat = 630
: Sonardyne - POSD response: 
POSD S135.8,N24.3,D-66,U2,Q0.017500

: Sonardyne - POSD response: 
POSD S135.8,N24.3,D-66,U2,Q0.017500

: AshtechGps::processRecord() - $GPGGA,230331.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230331.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R136.08

: Sonardyne - parsing R136.08

: Sonardyne - read R = 136.080000 from 136.08

: Sonardyne - got range only (136.080000), tat = 630
: Sonardyne - POSD response: 
POSD S132.8,N25.4,D2,U3,Q0.011355

: Sonardyne - POSD response: 
POSD S132.8,N25.4,D2,U3,Q0.011355

: AshtechGps::processRecord() - $GPGGA,230332.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230332.00,,,,,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 R135.58

: Sonardyne - parsing R135.58

: Sonardyne - read R = 135.580000 from 135.58

: Sonardyne - got range only (135.580000), tat = 630
: Sonardyne - POSD response: 
POSD S136.2,N23.9,D-72,U5,Q0.009305

: Sonardyne - POSD response: 
POSD S136.2,N23.9,D-72,U5,Q0.009305

: AshtechGps::processRecord() - $GPGGA,230333.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230333.00,,,,,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 R135.10

: Sonardyne - parsing R135.10

: Sonardyne - read R = 135.100000 from 135.10

: Sonardyne - got range only (135.100000), tat = 630
: Sonardyne - POSD response: 
POSD S138.8,N30.2,D-49,U1,Q0.003332

: Sonardyne - POSD response: 
POSD S138.8,N30.2,D-49,U1,Q0.003332

: AshtechGps::processRecord() - $GPGGA,230334.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230334.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R137.98

: Sonardyne - parsing R137.98

: Sonardyne - read R = 137.980000 from 137.98

: Sonardyne - got range only (137.980000), tat = 630
: Sonardyne - POSD response: 
POSD S125.2,N22.9,D-4,U3,Q0.007510

: Sonardyne - POSD response: 
POSD S125.2,N22.9,D-4,U3,Q0.007510

: AshtechGps::processRecord() - $GPGGA,230335.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230335.00,,,,,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 R133.70

: Sonardyne - parsing R133.70

: Sonardyne - read R = 133.700000 from 133.70

: Sonardyne - got range only (133.700000), tat = 630
: Sonardyne - POSD response: 
POSD S121.9,N16.4,D15,U4,Q0.007244

: Sonardyne - POSD response: 
POSD S121.9,N16.4,D15,U4,Q0.007244

: AshtechGps::processRecord() - $GPGGA,230336.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230336.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R133.17,X88.44,Y9.02,Z-99.16

: Sonardyne - parsing R133.17,X88.44,Y9.02,Z-99.16

: Sonardyne - read R = 133.170000 from 133.17,X88.44,Y9.02,Z-99.16

: Sonardyne - got all data, Vehicle coordinates,
    r=133.170000, x=99.160000, y=88.440000, z=-9.020000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder
  at t = 265.59          Seconds.
:   The vehicle position is is (4052283.0, 600459.9)

: AshtechGps::processRecord() - $GPGGA,230337.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230337.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R132.75,X83.79,Y10.99,Z-102.38

: Sonardyne - parsing R132.75,X83.79,Y10.99,Z-102.38

: Sonardyne - read R = 132.750000 from 132.75,X83.79,Y10.99,Z-102.38

: Sonardyne - got all data, Vehicle coordinates,
    r=132.750000, x=102.380000, y=83.790000, z=-10.990000 tat = 650
: AshtechGps::processRecord() - $GPGGA,230338.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230338.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230339.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230339.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.34  4.68 16.79 3.91 3.93 0  1148.18 07:01:00 m

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

: AshtechGps::processRecord() - $GPGGA,230340.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230340.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

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

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

: Sonardyne - parsing R0.00

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

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 270.00          Seconds.
:   The vehicle position is is (4052281.9, 600464.2)

: AshtechGps::processRecord() - $GPGGA,230341.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230341.00,,,,,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 R128.86,X44.39,Y12.89,Z-120.29

: Sonardyne - parsing R128.86,X44.39,Y12.89,Z-120.29

: Sonardyne - read R = 128.860000 from 128.86,X44.39,Y12.89,Z-120.29

: Sonardyne - got all data, Vehicle coordinates,
    r=128.860000, x=120.290000, y=44.390000, z=-12.890000 tat = 650
: AshtechGps::processRecord() - $GPGGA,230342.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230342.00,,,,,0,00,,,M,,M,,*4C


: WaypointHoming: The Usbl has aquired the transponder
  at t = 271.00          Seconds.
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:   The vehicle position is is (4052281.5, 600465.2)

:  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 R128.19,X29.70,Y11.65,Z-124.16

: Sonardyne - parsing R128.19,X29.70,Y11.65,Z-124.16

: Sonardyne - read R = 128.190000 from 128.19,X29.70,Y11.65,Z-124.16

: Sonardyne - got all data, Vehicle coordinates,
    r=128.190000, x=124.160000, y=29.700000, z=-11.650000 tat = 640
: AshtechGps::processRecord() - $GPGGA,230343.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230343.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R127.47,X14.70,Y9.46,Z-126.27

: Sonardyne - parsing R127.47,X14.70,Y9.46,Z-126.27

: Sonardyne - read R = 127.470000 from 127.47,X14.70,Y9.46,Z-126.27

: Sonardyne - got all data, Vehicle coordinates,
    r=127.470000, x=126.270000, y=14.700000, z=-9.460000 tat = 640
: AshtechGps::processRecord() - $GPGGA,230344.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230344.00,,,,,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 R126.71,X1.97,Y4.07,Z-126.63

: Sonardyne - parsing R126.71,X1.97,Y4.07,Z-126.63

: Sonardyne - read R = 126.710000 from 126.71,X1.97,Y4.07,Z-126.63

: Sonardyne - got all data, Vehicle coordinates,
    r=126.710000, x=126.630000, y=1.970000, z=-4.070000 tat = 640
: AshtechGps::processRecord() - $GPGGA,230345.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230345.00,,,,,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 R125.74

: Sonardyne - parsing R125.74

: Sonardyne - read R = 125.740000 from 125.74

: Sonardyne - got range only (125.740000), tat = 620
: Sonardyne - POSD response: 
POSD S143.3,N25.0,D46,U5,Q0.000607

: Sonardyne - POSD response: 
POSD S143.3,N25.0,D46,U5,Q0.000607

: AshtechGps::processRecord() - $GPGGA,230346.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230346.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 275.20          Seconds.
:   The vehicle position is is (4052280.2, 600468.5)

:  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 R124.25

: Sonardyne - parsing R124.25

: Sonardyne - read R = 124.250000 from 124.25

: Sonardyne - got range only (124.250000), tat = 610
: Sonardyne - POSD response: 
POSD S136.4,N19.1,D-61,U4,Q0.000572

: Sonardyne - POSD response: 
POSD S136.4,N19.1,D-61,U4,Q0.000572

: AshtechGps::processRecord() - $GPGGA,230347.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230347.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R123.50,X-1.35,Y3.02,Z-123.46

: Sonardyne - parsing R123.50,X-1.35,Y3.02,Z-123.46

: Sonardyne - read R = 123.500000 from 123.50,X-1.35,Y3.02,Z-123.46

: Sonardyne - got all data, Vehicle coordinates,
    r=123.500000, x=123.460000, y=-1.350000, z=-3.020000 tat = 640
: WaypointHoming: The Usbl has aquired the transponder
  at t = 277.00          Seconds.
:   The vehicle position is is (4052279.1, 600469.8)

: AshtechGps::processRecord() - $GPGGA,230348.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230348.00,,,,,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 R122.37,X3.63,Y7.34,Z-122.09

: Sonardyne - parsing R122.37,X3.63,Y7.34,Z-122.09

: Sonardyne - read R = 122.370000 from 122.37,X3.63,Y7.34,Z-122.09

: Sonardyne - got all data, Vehicle coordinates,
    r=122.370000, x=122.090000, y=3.630000, z=-7.340000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230349.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230349.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.30 16.79 3.91 3.93 0  1147.74 07:01:10 m

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

: Sonardyne - POS response: 
POS V4,1 R121.26,X13.58,Y8.40,Z-120.21

: Sonardyne - parsing R121.26,X13.58,Y8.40,Z-120.21

: Sonardyne - read R = 121.260000 from 121.26,X13.58,Y8.40,Z-120.21

: Sonardyne - got all data, Vehicle coordinates,
    r=121.260000, x=120.210000, y=13.580000, z=-8.400000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230350.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230350.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

:  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 R120.37,X27.17,Y4.50,Z-117.18

: Sonardyne - parsing R120.37,X27.17,Y4.50,Z-117.18

: Sonardyne - read R = 120.370000 from 120.37,X27.17,Y4.50,Z-117.18

: Sonardyne - got all data, Vehicle coordinates,
    r=120.370000, x=117.180000, y=27.170000, z=-4.500000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230351.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230351.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R119.61,X37.24,Y3.72,Z-113.61

: Sonardyne - parsing R119.61,X37.24,Y3.72,Z-113.61

: Sonardyne - read R = 119.610000 from 119.61,X37.24,Y3.72,Z-113.61

: Sonardyne - got all data, Vehicle coordinates,
    r=119.610000, x=113.610000, y=37.240000, z=-3.720000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230352.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230352.00,,,,,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 R119.14,X40.30,Y0.13,Z-112.11

: Sonardyne - parsing R119.14,X40.30,Y0.13,Z-112.11

: Sonardyne - read R = 119.140000 from 119.14,X40.30,Y0.13,Z-112.11

: Sonardyne - got all data, Vehicle coordinates,
    r=119.140000, x=112.110000, y=40.300000, z=-0.130000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230353.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230353.00,,,,,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 R119.07,X42.16,Y-0.31,Z-111.35

: Sonardyne - parsing R119.07,X42.16,Y-0.31,Z-111.35

: Sonardyne - read R = 119.070000 from 119.07,X42.16,Y-0.31,Z-111.35

: Sonardyne - got all data, Vehicle coordinates,
    r=119.070000, x=111.350000, y=42.160000, z=0.310000 tat = 630
: AshtechGps::processRecord() - $GPGGA,230354.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230354.00,,,,,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 R116.67

: Sonardyne - parsing R116.67

: Sonardyne - read R = 116.670000 from 116.67

: Sonardyne - got range only (116.670000), tat = 600
: Sonardyne - POSD response: 
POSD S139.7,N22.7,D-129,U2,Q0.000389

: Sonardyne - POSD response: 
POSD S139.7,N22.7,D-129,U2,Q0.000389

: AshtechGps::processRecord() - $GPGGA,230355.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230355.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 284.20          Seconds.
:   The vehicle position is is (4052274.5, 600475.2)

:  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 R118.83

: Sonardyne - parsing R118.83

: Sonardyne - read R = 118.830000 from 118.83

: Sonardyne - got range only (118.830000), tat = 610
: Sonardyne - POSD response: 
POSD S136.7,N29.5,D-42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N29.5,D-42,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230356.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230356.00,,,,,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 R117.95

: Sonardyne - parsing R117.95

: Sonardyne - read R = 117.950000 from 117.95

: Sonardyne - got range only (117.950000), tat = 610
: Sonardyne - POSD response: 
POSD S136.0,N26.7,D-49,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.0,N26.7,D-49,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230357.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230357.00,,,,,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 R117.03

: Sonardyne - parsing R117.03

: Sonardyne - read R = 117.030000 from 117.03

: Sonardyne - got range only (117.030000), tat = 600
: Sonardyne - POSD response: 
POSD S131.3,N17.4,D35,U1,Q0.013098

: Sonardyne - POSD response: 
POSD S131.3,N17.4,D35,U1,Q0.013098

: AshtechGps::processRecord() - $GPGGA,230358.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230358.00,,,,,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 R113.04,X18.17,Y8.49,Z-111.24

: Sonardyne - parsing R113.04,X18.17,Y8.49,Z-111.24

: Sonardyne - read R = 113.040000 from 113.04,X18.17,Y8.49,Z-111.24

: Sonardyne - got all data, Vehicle coordinates,
    r=113.040000, x=111.240000, y=18.170000, z=-8.490000 tat = 620
: WaypointHoming: The Usbl has aquired the transponder
  at t = 288.00          Seconds.
:   The vehicle position is is (4052273.0, 600478.3)

: AshtechGps::processRecord() - $GPGGA,230359.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230359.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.34  4.78 16.79 3.91 3.93 0  1147.16 07:01:20 m

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

: Sonardyne - POS response: 
POS V4,1 R112.21,X11.59,Y8.60,Z-111.28

: Sonardyne - parsing R112.21,X11.59,Y8.60,Z-111.28

: Sonardyne - read R = 112.210000 from 112.21,X11.59,Y8.60,Z-111.28

: Sonardyne - got all data, Vehicle coordinates,
    r=112.210000, x=111.280000, y=11.590000, z=-8.600000 tat = 620
: AshtechGps::processRecord() - $GPGGA,230400.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230400.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

:  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 R111.39,X8.73,Y5.38,Z-110.91

: Sonardyne - parsing R111.39,X8.73,Y5.38,Z-110.91

: Sonardyne - read R = 111.390000 from 111.39,X8.73,Y5.38,Z-110.91

: Sonardyne - got all data, Vehicle coordinates,
    r=111.390000, x=110.910000, y=8.730000, z=-5.380000 tat = 620
: AshtechGps::processRecord() - $GPGGA,230401.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230401.00,,,,,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 R110.56,X9.66,Y3.77,Z-110.07

: Sonardyne - parsing R110.56,X9.66,Y3.77,Z-110.07

: Sonardyne - read R = 110.560000 from 110.56,X9.66,Y3.77,Z-110.07

: Sonardyne - got all data, Vehicle coordinates,
    r=110.560000, x=110.070000, y=9.660000, z=-3.770000 tat = 620
: AshtechGps::processRecord() - $GPGGA,230402.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230402.00,,,,,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 R112.26

: Sonardyne - parsing R112.26

: Sonardyne - read R = 112.260000 from 112.26

: Sonardyne - got range only (112.260000), tat = 600
: Sonardyne - POSD response: 
POSD S138.5,N28.6,D51,U1,Q0.000519

: Sonardyne - POSD response: 
POSD S138.5,N28.6,D51,U1,Q0.000519

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 292.00          Seconds.
:   The vehicle position is is (4052270.5, 600481.6)

: AshtechGps::processRecord() - $GPGGA,230403.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230403.00,,,,,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 R108.25,X15.95,Y3.64,Z-107.01

: Sonardyne - parsing R108.25,X15.95,Y3.64,Z-107.01

: Sonardyne - read R = 108.250000 from 108.25,X15.95,Y3.64,Z-107.01

: Sonardyne - got all data, Vehicle coordinates,
    r=108.250000, x=107.010000, y=15.950000, z=-3.640000 tat = 610
: WaypointHoming: The Usbl has aquired the transponder
  at t = 293.00          Seconds.
:   The vehicle position is is (4052269.9, 600482.4)

: AshtechGps::processRecord() - $GPGGA,230404.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230404.00,,,,,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 R107.09,X19.08,Y3.56,Z-105.32

: Sonardyne - parsing R107.09,X19.08,Y3.56,Z-105.32

: Sonardyne - read R = 107.090000 from 107.09,X19.08,Y3.56,Z-105.32

: Sonardyne - got all data, Vehicle coordinates,
    r=107.090000, x=105.320000, y=19.080000, z=-3.560000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230405.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230405.00,,,,,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 R105.94,X20.34,Y6.25,Z-103.78

: Sonardyne - parsing R105.94,X20.34,Y6.25,Z-103.78

: Sonardyne - read R = 105.940000 from 105.94,X20.34,Y6.25,Z-103.78

: Sonardyne - got all data, Vehicle coordinates,
    r=105.940000, x=103.780000, y=20.340000, z=-6.250000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230406.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230406.00,,,,,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 R105.04,X19.45,Y3.13,Z-103.17

: Sonardyne - parsing R105.04,X19.45,Y3.13,Z-103.17

: Sonardyne - read R = 105.040000 from 105.04,X19.45,Y3.13,Z-103.17

: Sonardyne - got all data, Vehicle coordinates,
    r=105.040000, x=103.170000, y=19.450000, z=-3.130000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230407.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230407.00,,,,,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 R104.23,X18.98,Y3.57,Z-102.43

: Sonardyne - parsing R104.23,X18.98,Y3.57,Z-102.43

: Sonardyne - read R = 104.230000 from 104.23,X18.98,Y3.57,Z-102.43

: Sonardyne - got all data, Vehicle coordinates,
    r=104.230000, x=102.430000, y=18.980000, z=-3.570000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230408.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230408.00,,,,,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 R103.51,X18.69,Y5.38,Z-101.66

: Sonardyne - parsing R103.51,X18.69,Y5.38,Z-101.66

: Sonardyne - read R = 103.510000 from 103.51,X18.69,Y5.38,Z-101.66

: Sonardyne - got all data, Vehicle coordinates,
    r=103.510000, x=101.660000, y=18.690000, z=-5.380000 tat = 609
: AshtechGps::processRecord() - $GPGGA,230409.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230409.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.80 16.89 3.91 3.93 0  1146.70 07:01:30 m

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

: Sonardyne - POS response: 
POS V4,1 R102.72,X19.33,Y7.27,Z-100.62

: Sonardyne - parsing R102.72,X19.33,Y7.27,Z-100.62

: Sonardyne - read R = 102.720000 from 102.72,X19.33,Y7.27,Z-100.62

: Sonardyne - got all data, Vehicle coordinates,
    r=102.720000, x=100.620000, y=19.330000, z=-7.270000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230410.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230410.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

:  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 R101.79,X20.67,Y5.73,Z-99.50

: Sonardyne - parsing R101.79,X20.67,Y5.73,Z-99.50

: Sonardyne - read R = 101.790000 from 101.79,X20.67,Y5.73,Z-99.50

: Sonardyne - got all data, Vehicle coordinates,
    r=101.790000, x=99.500000, y=20.670000, z=-5.730000 tat = 610
: AshtechGps::processRecord() - $GPGGA,230411.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230411.00,,,,,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 R100.77,X20.47,Y4.79,Z-98.55

: Sonardyne - parsing R100.77,X20.47,Y4.79,Z-98.55

: Sonardyne - read R = 100.770000 from 100.77,X20.47,Y4.79,Z-98.55

: Sonardyne - got all data, Vehicle coordinates,
    r=100.770000, x=98.550000, y=20.470000, z=-4.790000 tat = 600
: AshtechGps::processRecord() - $GPGGA,230412.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230412.00,,,,,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 R99.72,X19.14,Y7.91,Z-97.54

: Sonardyne - parsing R99.72,X19.14,Y7.91,Z-97.54

: Sonardyne - read R = 99.720000 from 99.72,X19.14,Y7.91,Z-97.54

: Sonardyne - got all data, Vehicle coordinates,
    r=99.720000, x=97.540000, y=19.140000, z=-7.910000 tat = 600
: AshtechGps::processRecord() - $GPGGA,230413.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230413.00,,,,,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 R99.87

: Sonardyne - parsing R99.87

: Sonardyne - read R = 99.870000 from 99.87

: Sonardyne - got range only (99.870000), tat = 580
: Sonardyne - POSD response: 
POSD S139.5,N30.0,D-2,U2,Q0.001271

: Sonardyne - POSD response: 
POSD S139.5,N30.0,D-2,U2,Q0.001271

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 303.00          Seconds.
:   The vehicle position is is (4052264.5, 600490.4)

: AshtechGps::processRecord() - $GPGGA,230414.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230414.00,,,,,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 R98.05,X16.03,Y6.24,Z-96.53

: Sonardyne - parsing R98.05,X16.03,Y6.24,Z-96.53

: Sonardyne - read R = 98.050000 from 98.05,X16.03,Y6.24,Z-96.53

: Sonardyne - got all data, Vehicle coordinates,
    r=98.050000, x=96.530000, y=16.030000, z=-6.240000 tat = 600
: WaypointHoming: The Usbl has aquired the transponder
  at t = 304.00          Seconds.
:   The vehicle position is is (4052263.9, 600491.3)

: AshtechGps::processRecord() - $GPGGA,230415.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230415.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R96.54,X13.56,Y4.08,Z-95.49

: Sonardyne - parsing R96.54,X13.56,Y4.08,Z-95.49

: Sonardyne - read R = 96.540000 from 96.54,X13.56,Y4.08,Z-95.49

: Sonardyne - got all data, Vehicle coordinates,
    r=96.540000, x=95.490000, y=13.560000, z=-4.080000 tat = 600
: AshtechGps::processRecord() - $GPGGA,230416.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230416.00,,,,,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 R95.40,X12.66,Y6.24,Z-94.35

: Sonardyne - parsing R95.40,X12.66,Y6.24,Z-94.35

: Sonardyne - read R = 95.400000 from 95.40,X12.66,Y6.24,Z-94.35

: Sonardyne - got all data, Vehicle coordinates,
    r=95.400000, x=94.350000, y=12.660000, z=-6.240000 tat = 600
: AshtechGps::processRecord() - $GPGGA,230417.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230417.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R94.48,X12.35,Y4.71,Z-93.55

: Sonardyne - parsing R94.48,X12.35,Y4.71,Z-93.55

: Sonardyne - read R = 94.480000 from 94.48,X12.35,Y4.71,Z-93.55

: Sonardyne - got all data, Vehicle coordinates,
    r=94.480000, x=93.550000, y=12.350000, z=-4.710000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230418.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230418.00,,,,,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 R93.38,X11.91,Y3.21,Z-92.56

: Sonardyne - parsing R93.38,X11.91,Y3.21,Z-92.56

: Sonardyne - read R = 93.380000 from 93.38,X11.91,Y3.21,Z-92.56

: Sonardyne - got all data, Vehicle coordinates,
    r=93.380000, x=92.560000, y=11.910000, z=-3.210000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230419.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230419.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  6.19 16.89 3.91 3.93 0  1146.10 07:01:40 m

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

: Sonardyne - POS response: 
POS V4,1 R92.54,X12.45,Y2.57,Z-91.67

: Sonardyne - parsing R92.54,X12.45,Y2.57,Z-91.67

: Sonardyne - read R = 92.540000 from 92.54,X12.45,Y2.57,Z-91.67

: Sonardyne - got all data, Vehicle coordinates,
    r=92.540000, x=91.670000, y=12.450000, z=-2.570000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230420.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230420.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

:  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 R91.66,X12.97,Y3.97,Z-90.65

: Sonardyne - parsing R91.66,X12.97,Y3.97,Z-90.65

: Sonardyne - read R = 91.660000 from 91.66,X12.97,Y3.97,Z-90.65

: Sonardyne - got all data, Vehicle coordinates,
    r=91.660000, x=90.650000, y=12.970000, z=-3.970000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230421.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230421.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R90.72,X13.20,Y5.96,Z-89.56

: Sonardyne - parsing R90.72,X13.20,Y5.96,Z-89.56

: Sonardyne - read R = 90.720000 from 90.72,X13.20,Y5.96,Z-89.56

: Sonardyne - got all data, Vehicle coordinates,
    r=90.720000, x=89.560000, y=13.200000, z=-5.960000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230422.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230422.00,,,,,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 R89.75,X13.41,Y4.66,Z-88.62

: Sonardyne - parsing R89.75,X13.41,Y4.66,Z-88.62

: Sonardyne - read R = 89.750000 from 89.75,X13.41,Y4.66,Z-88.62

: Sonardyne - got all data, Vehicle coordinates,
    r=89.750000, x=88.620000, y=13.410000, z=-4.660000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230423.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230423.00,,,,,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 R88.80,X15.33,Y9.32,Z-86.97

: Sonardyne - parsing R88.80,X15.33,Y9.32,Z-86.97

: Sonardyne - read R = 88.800000 from 88.80,X15.33,Y9.32,Z-86.97

: Sonardyne - got all data, Vehicle coordinates,
    r=88.800000, x=86.970000, y=15.330000, z=-9.320000 tat = 589
: AshtechGps::processRecord() - $GPGGA,230424.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230424.00,,,,,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 R87.78,X14.98,Y2.37,Z-86.46

: Sonardyne - parsing R87.78,X14.98,Y2.37,Z-86.46

: Sonardyne - read R = 87.780000 from 87.78,X14.98,Y2.37,Z-86.46

: Sonardyne - got all data, Vehicle coordinates,
    r=87.780000, x=86.460000, y=14.980000, z=-2.370000 tat = 590
: AshtechGps::processRecord() - $GPGGA,230425.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230425.00,,,,,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 R88.24

: Sonardyne - parsing R88.24

: Sonardyne - read R = 88.240000 from 88.24

: Sonardyne - got range only (88.240000), tat = 560
: Sonardyne - POSD response: 
POSD S144.3,N22.7,D-124,U4,Q0.002432

: Sonardyne - POSD response: 
POSD S144.3,N22.7,D-124,U4,Q0.002432

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 315.00          Seconds.
:   The vehicle position is is (4052257.3, 600500.1)

: AshtechGps::processRecord() - $GPGGA,230426.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230426.00,,,,,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 R85.99,X14.37,Y5.30,Z-84.62

: Sonardyne - parsing R85.99,X14.37,Y5.30,Z-84.62

: Sonardyne - read R = 85.990000 from 85.99,X14.37,Y5.30,Z-84.62

: Sonardyne - got all data, Vehicle coordinates,
    r=85.990000, x=84.620000, y=14.370000, z=-5.300000 tat = 580
: WaypointHoming: The Usbl has aquired the transponder
  at t = 316.00          Seconds.
:   The vehicle position is is (4052256.7, 600501.0)

: AshtechGps::processRecord() - $GPGGA,230427.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230427.00,,,,,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 R84.70,X14.17,Y3.29,Z-83.44

: Sonardyne - parsing R84.70,X14.17,Y3.29,Z-83.44

: Sonardyne - read R = 84.700000 from 84.70,X14.17,Y3.29,Z-83.44

: Sonardyne - got all data, Vehicle coordinates,
    r=84.700000, x=83.440000, y=14.170000, z=-3.290000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230428.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230428.00,,,,,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 R83.75,X14.53,Y1.49,Z-82.47

: Sonardyne - parsing R83.75,X14.53,Y1.49,Z-82.47

: Sonardyne - read R = 83.750000 from 83.75,X14.53,Y1.49,Z-82.47

: Sonardyne - got all data, Vehicle coordinates,
    r=83.750000, x=82.470000, y=14.530000, z=-1.490000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230429.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230429.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.34  6.06 16.79 3.91 3.93 0  1145.64 07:01:50 m

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

: Sonardyne - POS response: 
POS V4,1 R82.79,X14.26,Y3.09,Z-81.49

: Sonardyne - parsing R82.79,X14.26,Y3.09,Z-81.49

: Sonardyne - read R = 82.790000 from 82.79,X14.26,Y3.09,Z-81.49

: Sonardyne - got all data, Vehicle coordinates,
    r=82.790000, x=81.490000, y=14.260000, z=-3.090000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230430.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230430.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

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

: Sonardyne - POS response: 
POS V4,1 R81.88,X13.96,Y3.67,Z-80.60

: Sonardyne - parsing R81.88,X13.96,Y3.67,Z-80.60

: Sonardyne - read R = 81.880000 from 81.88,X13.96,Y3.67,Z-80.60

: Sonardyne - got all data, Vehicle coordinates,
    r=81.880000, x=80.600000, y=13.960000, z=-3.670000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230431.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230431.00,,,,,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 R80.99,X13.74,Y5.71,Z-79.61

: Sonardyne - parsing R80.99,X13.74,Y5.71,Z-79.61

: Sonardyne - read R = 80.990000 from 80.99,X13.74,Y5.71,Z-79.61

: Sonardyne - got all data, Vehicle coordinates,
    r=80.990000, x=79.610000, y=13.740000, z=-5.710000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230432.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230432.00,,,,,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 R80.08,X13.75,Y1.70,Z-78.87

: Sonardyne - parsing R80.08,X13.75,Y1.70,Z-78.87

: Sonardyne - read R = 80.080000 from 80.08,X13.75,Y1.70,Z-78.87

: Sonardyne - got all data, Vehicle coordinates,
    r=80.080000, x=78.870000, y=13.750000, z=-1.700000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230433.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230433.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R78.90,X13.95,Y3.56,Z-77.58

: Sonardyne - parsing R78.90,X13.95,Y3.56,Z-77.58

: Sonardyne - read R = 78.900000 from 78.90,X13.95,Y3.56,Z-77.58

: Sonardyne - got all data, Vehicle coordinates,
    r=78.900000, x=77.580000, y=13.950000, z=-3.560000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230434.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230434.00,,,,,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 R77.81,X14.17,Y3.35,Z-76.44

: Sonardyne - parsing R77.81,X14.17,Y3.35,Z-76.44

: Sonardyne - read R = 77.810000 from 77.81,X14.17,Y3.35,Z-76.44

: Sonardyne - got all data, Vehicle coordinates,
    r=77.810000, x=76.440000, y=14.170000, z=-3.350000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230435.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230435.00,,,,,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 R76.79,X13.82,Y2.40,Z-75.50

: Sonardyne - parsing R76.79,X13.82,Y2.40,Z-75.50

: Sonardyne - read R = 76.790000 from 76.79,X13.82,Y2.40,Z-75.50

: Sonardyne - got all data, Vehicle coordinates,
    r=76.790000, x=75.500000, y=13.820000, z=-2.400000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230436.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230436.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R75.82,X13.36,Y0.79,Z-74.63

: Sonardyne - parsing R75.82,X13.36,Y0.79,Z-74.63

: Sonardyne - read R = 75.820000 from 75.82,X13.36,Y0.79,Z-74.63

: Sonardyne - got all data, Vehicle coordinates,
    r=75.820000, x=74.630000, y=13.360000, z=-0.790000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230437.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230437.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R74.72,X12.59,Y1.71,Z-73.64

: Sonardyne - parsing R74.72,X12.59,Y1.71,Z-73.64

: Sonardyne - read R = 74.720000 from 74.72,X12.59,Y1.71,Z-73.64

: Sonardyne - got all data, Vehicle coordinates,
    r=74.720000, x=73.640000, y=12.590000, z=-1.710000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230438.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230438.00,,,,,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 R73.82,X12.29,Y1.73,Z-72.77

: Sonardyne - parsing R73.82,X12.29,Y1.73,Z-72.77

: Sonardyne - read R = 73.820000 from 73.82,X12.29,Y1.73,Z-72.77

: Sonardyne - got all data, Vehicle coordinates,
    r=73.820000, x=72.770000, y=12.290000, z=-1.730000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230439.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230439.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  5.99 16.89 3.90 3.92 0  1144.95 07:02:00 m

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

: Sonardyne - POS response: 
POS V4,1 R72.90,X11.55,Y2.06,Z-71.95

: Sonardyne - parsing R72.90,X11.55,Y2.06,Z-71.95

: Sonardyne - read R = 72.900000 from 72.90,X11.55,Y2.06,Z-71.95

: Sonardyne - got all data, Vehicle coordinates,
    r=72.900000, x=71.950000, y=11.550000, z=-2.060000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230440.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230440.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R72.04,X11.15,Y2.34,Z-71.14

: Sonardyne - parsing R72.04,X11.15,Y2.34,Z-71.14

: Sonardyne - read R = 72.040000 from 72.04,X11.15,Y2.34,Z-71.14

: Sonardyne - got all data, Vehicle coordinates,
    r=72.040000, x=71.140000, y=11.150000, z=-2.340000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230441.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230441.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R71.23,X10.25,Y3.43,Z-70.40

: Sonardyne - parsing R71.23,X10.25,Y3.43,Z-70.40

: Sonardyne - read R = 71.230000 from 71.23,X10.25,Y3.43,Z-70.40

: Sonardyne - got all data, Vehicle coordinates,
    r=71.230000, x=70.400000, y=10.250000, z=-3.430000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230442.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230442.00,,,,,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 R70.28,X9.96,Y1.39,Z-69.55

: Sonardyne - parsing R70.28,X9.96,Y1.39,Z-69.55

: Sonardyne - read R = 70.280000 from 70.28,X9.96,Y1.39,Z-69.55

: Sonardyne - got all data, Vehicle coordinates,
    r=70.280000, x=69.550000, y=9.960000, z=-1.390000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230443.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230443.00,,,,,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 R69.28,X9.95,Y3.11,Z-68.49

: Sonardyne - parsing R69.28,X9.95,Y3.11,Z-68.49

: Sonardyne - read R = 69.280000 from 69.28,X9.95,Y3.11,Z-68.49

: Sonardyne - got all data, Vehicle coordinates,
    r=69.280000, x=68.490000, y=9.950000, z=-3.110000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230444.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230444.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R68.13,X9.80,Y1.45,Z-67.41

: Sonardyne - parsing R68.13,X9.80,Y1.45,Z-67.41

: Sonardyne - read R = 68.130000 from 68.13,X9.80,Y1.45,Z-67.41

: Sonardyne - got all data, Vehicle coordinates,
    r=68.130000, x=67.410000, y=9.800000, z=-1.450000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230445.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230445.00,,,,,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 R66.80,X9.36,Y1.70,Z-66.12

: Sonardyne - parsing R66.80,X9.36,Y1.70,Z-66.12

: Sonardyne - read R = 66.800000 from 66.80,X9.36,Y1.70,Z-66.12

: Sonardyne - got all data, Vehicle coordinates,
    r=66.800000, x=66.120000, y=9.360000, z=-1.700000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230446.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230446.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R65.58,X9.21,Y2.99,Z-64.86

: Sonardyne - parsing R65.58,X9.21,Y2.99,Z-64.86

: Sonardyne - read R = 65.580000 from 65.58,X9.21,Y2.99,Z-64.86

: Sonardyne - got all data, Vehicle coordinates,
    r=65.580000, x=64.860000, y=9.210000, z=-2.990000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230447.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230447.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R64.48,X8.58,Y2.20,Z-63.87

: Sonardyne - parsing R64.48,X8.58,Y2.20,Z-63.87

: Sonardyne - read R = 64.480000 from 64.48,X8.58,Y2.20,Z-63.87

: Sonardyne - got all data, Vehicle coordinates,
    r=64.480000, x=63.870000, y=8.580000, z=-2.200000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230448.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230448.00,,,,,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 R63.49,X8.11,Y3.41,Z-62.87

: Sonardyne - parsing R63.49,X8.11,Y3.41,Z-62.87

: Sonardyne - read R = 63.490000 from 63.49,X8.11,Y3.41,Z-62.87

: Sonardyne - got all data, Vehicle coordinates,
    r=63.490000, x=62.870000, y=8.110000, z=-3.410000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230449.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230449.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  5.45 16.89 3.90 3.92 0  1144.51 07:02:10 m

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

: Sonardyne - POS response: 
POS V4,1 R62.65,X7.58,Y2.22,Z-62.15

: Sonardyne - parsing R62.65,X7.58,Y2.22,Z-62.15

: Sonardyne - read R = 62.650000 from 62.65,X7.58,Y2.22,Z-62.15

: Sonardyne - got all data, Vehicle coordinates,
    r=62.650000, x=62.150000, y=7.580000, z=-2.220000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230450.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230450.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R61.82,X6.75,Y1.23,Z-61.44

: Sonardyne - parsing R61.82,X6.75,Y1.23,Z-61.44

: Sonardyne - read R = 61.820000 from 61.82,X6.75,Y1.23,Z-61.44

: Sonardyne - got all data, Vehicle coordinates,
    r=61.820000, x=61.440000, y=6.750000, z=-1.230000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230451.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230451.00,,,,,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 R61.09

: Sonardyne - parsing R61.09

: Sonardyne - read R = 61.090000 from 61.09

: Sonardyne - got range only (61.090000), tat = 530
: Sonardyne - POSD response: 
POSD S148.5,N21.9,D-115,U5,Q0.000067

: Sonardyne - POSD response: 
POSD S148.5,N21.9,D-115,U5,Q0.000067

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 341.00          Seconds.
:   The vehicle position is is (4052242.0, 600521.3)

: AshtechGps::processRecord() - $GPGGA,230452.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230452.00,,,,,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 R60.24,X5.63,Y1.28,Z-59.96

: Sonardyne - parsing R60.24,X5.63,Y1.28,Z-59.96

: Sonardyne - read R = 60.240000 from 60.24,X5.63,Y1.28,Z-59.96

: Sonardyne - got all data, Vehicle coordinates,
    r=60.240000, x=59.960000, y=5.630000, z=-1.280000 tat = 549
: WaypointHoming: The Usbl has aquired the transponder
  at t = 342.00          Seconds.
:   The vehicle position is is (4052241.4, 600522.0)

: AshtechGps::processRecord() - $GPGGA,230453.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230453.00,,,,,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 R59.23,X5.73,Y0.38,Z-58.95

: Sonardyne - parsing R59.23,X5.73,Y0.38,Z-58.95

: Sonardyne - read R = 59.230000 from 59.23,X5.73,Y0.38,Z-58.95

: Sonardyne - got all data, Vehicle coordinates,
    r=59.230000, x=58.950000, y=5.730000, z=-0.380000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230454.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230454.00,,,,,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 R58.20,X5.89,Y2.27,Z-57.86

: Sonardyne - parsing R58.20,X5.89,Y2.27,Z-57.86

: Sonardyne - read R = 58.200000 from 58.20,X5.89,Y2.27,Z-57.86

: Sonardyne - got all data, Vehicle coordinates,
    r=58.200000, x=57.860000, y=5.890000, z=-2.270000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230455.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230455.00,,,,,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 R57.00,X6.06,Y2.47,Z-56.62

: Sonardyne - parsing R57.00,X6.06,Y2.47,Z-56.62

: Sonardyne - read R = 57.000000 from 57.00,X6.06,Y2.47,Z-56.62

: Sonardyne - got all data, Vehicle coordinates,
    r=57.000000, x=56.620000, y=6.060000, z=-2.470000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230456.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230456.00,,,,,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 R55.78,X6.30,Y2.01,Z-55.39

: Sonardyne - parsing R55.78,X6.30,Y2.01,Z-55.39

: Sonardyne - read R = 55.780000 from 55.78,X6.30,Y2.01,Z-55.39

: Sonardyne - got all data, Vehicle coordinates,
    r=55.780000, x=55.390000, y=6.300000, z=-2.010000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230457.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230457.00,,,,,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 R54.60,X6.38,Y1.89,Z-54.19

: Sonardyne - parsing R54.60,X6.38,Y1.89,Z-54.19

: Sonardyne - read R = 54.600000 from 54.60,X6.38,Y1.89,Z-54.19

: Sonardyne - got all data, Vehicle coordinates,
    r=54.600000, x=54.190000, y=6.380000, z=-1.890000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230458.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230458.00,,,,,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 R53.52,X6.15,Y1.76,Z-53.13

: Sonardyne - parsing R53.52,X6.15,Y1.76,Z-53.13

: Sonardyne - read R = 53.520000 from 53.52,X6.15,Y1.76,Z-53.13

: Sonardyne - got all data, Vehicle coordinates,
    r=53.520000, x=53.130000, y=6.150000, z=-1.760000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230459.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230459.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  6.19 16.89 3.90 3.93 0  1143.86 07:02:20 m

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

: Sonardyne - POS response: 
POS V4,1 R52.50,X5.96,Y1.01,Z-52.15

: Sonardyne - parsing R52.50,X5.96,Y1.01,Z-52.15

: Sonardyne - read R = 52.500000 from 52.50,X5.96,Y1.01,Z-52.15

: Sonardyne - got all data, Vehicle coordinates,
    r=52.500000, x=52.150000, y=5.960000, z=-1.010000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230500.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230500.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: Sonardyne - POS response: 
POS V4,1 R51.61,X5.66,Y0.74,Z-51.29

: Sonardyne - parsing R51.61,X5.66,Y0.74,Z-51.29

: Sonardyne - read R = 51.610000 from 51.61,X5.66,Y0.74,Z-51.29

: Sonardyne - got all data, Vehicle coordinates,
    r=51.610000, x=51.290000, y=5.660000, z=-0.740000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230501.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230501.00,,,,,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 R50.79,X5.53,Y1.01,Z-50.48

: Sonardyne - parsing R50.79,X5.53,Y1.01,Z-50.48

: Sonardyne - read R = 50.790000 from 50.79,X5.53,Y1.01,Z-50.48

: Sonardyne - got all data, Vehicle coordinates,
    r=50.790000, x=50.480000, y=5.530000, z=-1.010000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230502.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230502.00,,,,,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 R49.97,X5.35,Y0.46,Z-49.68

: Sonardyne - parsing R49.97,X5.35,Y0.46,Z-49.68

: Sonardyne - read R = 49.970000 from 49.97,X5.35,Y0.46,Z-49.68

: Sonardyne - got all data, Vehicle coordinates,
    r=49.970000, x=49.680000, y=5.350000, z=-0.460000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230503.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230503.00,,,,,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 R48.99,X5.28,Y1.19,Z-48.69

: Sonardyne - parsing R48.99,X5.28,Y1.19,Z-48.69

: Sonardyne - read R = 48.990000 from 48.99,X5.28,Y1.19,Z-48.69

: Sonardyne - got all data, Vehicle coordinates,
    r=48.990000, x=48.690000, y=5.280000, z=-1.190000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230504.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230504.00,,,,,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 R47.85,X5.26,Y0.84,Z-47.55

: Sonardyne - parsing R47.85,X5.26,Y0.84,Z-47.55

: Sonardyne - read R = 47.850000 from 47.85,X5.26,Y0.84,Z-47.55

: Sonardyne - got all data, Vehicle coordinates,
    r=47.850000, x=47.550000, y=5.260000, z=-0.840000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230505.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230505.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R46.74,X5.26,Y0.80,Z-46.44

: Sonardyne - parsing R46.74,X5.26,Y0.80,Z-46.44

: Sonardyne - read R = 46.740000 from 46.74,X5.26,Y0.80,Z-46.44

: Sonardyne - got all data, Vehicle coordinates,
    r=46.740000, x=46.440000, y=5.260000, z=-0.800000 tat = 530
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230506.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230506.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R45.58,X5.39,Y0.71,Z-45.26

: Sonardyne - parsing R45.58,X5.39,Y0.71,Z-45.26

: Sonardyne - read R = 45.580000 from 45.58,X5.39,Y0.71,Z-45.26

: Sonardyne - got all data, Vehicle coordinates,
    r=45.580000, x=45.260000, y=5.390000, z=-0.710000 tat = 530
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230507.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230507.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R44.46,X5.35,Y1.24,Z-44.12

: Sonardyne - parsing R44.46,X5.35,Y1.24,Z-44.12

: Sonardyne - read R = 44.460000 from 44.46,X5.35,Y1.24,Z-44.12

: Sonardyne - got all data, Vehicle coordinates,
    r=44.460000, x=44.120000, y=5.350000, z=-1.240000 tat = 530
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230508.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230508.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R43.44,X5.35,Y0.36,Z-43.11

: Sonardyne - parsing R43.44,X5.35,Y0.36,Z-43.11

: Sonardyne - read R = 43.440000 from 43.44,X5.35,Y0.36,Z-43.11

: Sonardyne - got all data, Vehicle coordinates,
    r=43.440000, x=43.110000, y=5.350000, z=-0.360000 tat = 520
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230509.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230509.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.90 16.89 3.90 3.93 0  1143.42 07:02:30 m

: Sonardyne - POS response: 
POS V4,1 R42.47,X5.27,Y0.80,Z-42.14

: Sonardyne - parsing R42.47,X5.27,Y0.80,Z-42.14

: Sonardyne - read R = 42.470000 from 42.47,X5.27,Y0.80,Z-42.14

: Sonardyne - got all data, Vehicle coordinates,
    r=42.470000, x=42.140000, y=5.270000, z=-0.800000 tat = 520
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230510.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230510.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - POS response: 
POS V4,1 R41.50,X5.08,Y0.97,Z-41.17

: Sonardyne - parsing R41.50,X5.08,Y0.97,Z-41.17

: Sonardyne - read R = 41.500000 from 41.50,X5.08,Y0.97,Z-41.17

: Sonardyne - got all data, Vehicle coordinates,
    r=41.500000, x=41.170000, y=5.080000, z=-0.970000 tat = 520
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230511.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230511.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R40.51,X4.77,Y0.71,Z-40.22

: Sonardyne - parsing R40.51,X4.77,Y0.71,Z-40.22

: Sonardyne - read R = 40.510000 from 40.51,X4.77,Y0.71,Z-40.22

: Sonardyne - got all data, Vehicle coordinates,
    r=40.510000, x=40.220000, y=4.770000, z=-0.710000 tat = 520
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230512.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230512.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R39.35,X4.42,Y0.46,Z-39.10

: Sonardyne - parsing R39.35,X4.42,Y0.46,Z-39.10

: Sonardyne - read R = 39.350000 from 39.35,X4.42,Y0.46,Z-39.10

: Sonardyne - got all data, Vehicle coordinates,
    r=39.350000, x=39.100000, y=4.420000, z=-0.460000 tat = 520
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230513.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230513.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R38.15,X4.19,Y0.33,Z-37.92

: Sonardyne - parsing R38.15,X4.19,Y0.33,Z-37.92

: Sonardyne - read R = 38.150000 from 38.15,X4.19,Y0.33,Z-37.92

: Sonardyne - got all data, Vehicle coordinates,
    r=38.150000, x=37.920000, y=4.190000, z=-0.330000 tat = 520
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230514.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230514.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R36.89,X4.11,Y0.28,Z-36.66

: Sonardyne - parsing R36.89,X4.11,Y0.28,Z-36.66

: Sonardyne - read R = 36.890000 from 36.89,X4.11,Y0.28,Z-36.66

: Sonardyne - got all data, Vehicle coordinates,
    r=36.890000, x=36.660000, y=4.110000, z=-0.280000 tat = 520
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230515.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230515.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R36.01,X3.98,Y0.18,Z-35.78

: Sonardyne - parsing R36.01,X3.98,Y0.18,Z-35.78

: Sonardyne - read R = 36.010000 from 36.01,X3.98,Y0.18,Z-35.78

: Sonardyne - got all data, Vehicle coordinates,
    r=36.010000, x=35.780000, y=3.980000, z=-0.180000 tat = 510
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230516.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230516.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R35.10,X3.88,Y0.33,Z-34.89

: Sonardyne - parsing R35.10,X3.88,Y0.33,Z-34.89

: Sonardyne - read R = 35.100000 from 35.10,X3.88,Y0.33,Z-34.89

: Sonardyne - got all data, Vehicle coordinates,
    r=35.100000, x=34.890000, y=3.880000, z=-0.330000 tat = 510
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230517.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230517.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R34.21,X3.60,Y0.36,Z-34.02

: Sonardyne - parsing R34.21,X3.60,Y0.36,Z-34.02

: Sonardyne - read R = 34.210000 from 34.21,X3.60,Y0.36,Z-34.02

: Sonardyne - got all data, Vehicle coordinates,
    r=34.210000, x=34.020000, y=3.600000, z=-0.360000 tat = 510
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230518.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230518.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R33.23,X3.38,Y0.29,Z-33.06

: Sonardyne - parsing R33.23,X3.38,Y0.29,Z-33.06

: Sonardyne - read R = 33.230000 from 33.23,X3.38,Y0.29,Z-33.06

: Sonardyne - got all data, Vehicle coordinates,
    r=33.230000, x=33.060000, y=3.380000, z=-0.290000 tat = 510
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230519.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230519.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  6.16 16.89 3.90 3.92 0  1142.78 07:02:40 m

: Sonardyne - POS response: 
POS V4,1 R32.18,X3.32,Y0.20,Z-32.01

: Sonardyne - parsing R32.18,X3.32,Y0.20,Z-32.01

: Sonardyne - read R = 32.180000 from 32.18,X3.32,Y0.20,Z-32.01

: Sonardyne - got all data, Vehicle coordinates,
    r=32.180000, x=32.010000, y=3.320000, z=-0.200000 tat = 510
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230520.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230520.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - POS response: 
POS V4,1 R30.95,X3.28,Y0.15,Z-30.78

: Sonardyne - parsing R30.95,X3.28,Y0.15,Z-30.78

: Sonardyne - read R = 30.950000 from 30.95,X3.28,Y0.15,Z-30.78

: Sonardyne - got all data, Vehicle coordinates,
    r=30.950000, x=30.780000, y=3.280000, z=-0.150000 tat = 510
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230521.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230521.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R29.78,X3.21,Y0.16,Z-29.61

: Sonardyne - parsing R29.78,X3.21,Y0.16,Z-29.61

: Sonardyne - read R = 29.780000 from 29.78,X3.21,Y0.16,Z-29.61

: Sonardyne - got all data, Vehicle coordinates,
    r=29.780000, x=29.610000, y=3.210000, z=-0.160000 tat = 510
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230522.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230522.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R28.60,X3.05,Y0.10,Z-28.44

: Sonardyne - parsing R28.60,X3.05,Y0.10,Z-28.44

: Sonardyne - read R = 28.600000 from 28.60,X3.05,Y0.10,Z-28.44

: Sonardyne - got all data, Vehicle coordinates,
    r=28.600000, x=28.440000, y=3.050000, z=-0.100000 tat = 500
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230523.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230523.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R27.71,X2.90,Y-0.03,Z-27.56

: Sonardyne - parsing R27.71,X2.90,Y-0.03,Z-27.56

: Sonardyne - read R = 27.710000 from 27.71,X2.90,Y-0.03,Z-27.56

: Sonardyne - got all data, Vehicle coordinates,
    r=27.710000, x=27.560000, y=2.900000, z=0.030000 tat = 510
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230524.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230524.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R26.69,X2.72,Y-0.24,Z-26.55

: Sonardyne - parsing R26.69,X2.72,Y-0.24,Z-26.55

: Sonardyne - read R = 26.690000 from 26.69,X2.72,Y-0.24,Z-26.55

: Sonardyne - got all data, Vehicle coordinates,
    r=26.690000, x=26.550000, y=2.720000, z=0.240000 tat = 500
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230525.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230525.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R25.67,X2.61,Y-0.41,Z-25.53

: Sonardyne - parsing R25.67,X2.61,Y-0.41,Z-25.53

: Sonardyne - read R = 25.670000 from 25.67,X2.61,Y-0.41,Z-25.53

: Sonardyne - got all data, Vehicle coordinates,
    r=25.670000, x=25.530000, y=2.610000, z=0.410000 tat = 500
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230526.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230526.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R24.64,X2.52,Y-0.49,Z-24.50

: Sonardyne - parsing R24.64,X2.52,Y-0.49,Z-24.50

: Sonardyne - read R = 24.640000 from 24.64,X2.52,Y-0.49,Z-24.50

: Sonardyne - got all data, Vehicle coordinates,
    r=24.640000, x=24.500000, y=2.520000, z=0.490000 tat = 500
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230527.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230527.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R23.61,X2.35,Y-0.56,Z-23.48

: Sonardyne - parsing R23.61,X2.35,Y-0.56,Z-23.48

: Sonardyne - read R = 23.610000 from 23.61,X2.35,Y-0.56,Z-23.48

: Sonardyne - got all data, Vehicle coordinates,
    r=23.610000, x=23.480000, y=2.350000, z=0.560000 tat = 500
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230528.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230528.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R22.60,X2.25,Y-0.62,Z-22.48

: Sonardyne - parsing R22.60,X2.25,Y-0.62,Z-22.48

: Sonardyne - read R = 22.600000 from 22.60,X2.25,Y-0.62,Z-22.48

: Sonardyne - got all data, Vehicle coordinates,
    r=22.600000, x=22.480000, y=2.250000, z=0.620000 tat = 500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230529.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230529.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.40 16.89 3.90 3.92 0  1142.38 07:02:50 m

: Sonardyne - POS response: 
POS V4,1 R21.61,X2.18,Y-0.52,Z-21.49

: Sonardyne - parsing R21.61,X2.18,Y-0.52,Z-21.49

: Sonardyne - read R = 21.610000 from 21.61,X2.18,Y-0.52,Z-21.49

: Sonardyne - got all data, Vehicle coordinates,
    r=21.610000, x=21.490000, y=2.180000, z=0.520000 tat = 500
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230530.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230530.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - POS response: 
POS V4,1 R20.57,X2.10,Y-0.60,Z-20.45

: Sonardyne - parsing R20.57,X2.10,Y-0.60,Z-20.45

: Sonardyne - read R = 20.570000 from 20.57,X2.10,Y-0.60,Z-20.45

: Sonardyne - got all data, Vehicle coordinates,
    r=20.570000, x=20.450000, y=2.100000, z=0.600000 tat = 500
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230531.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230531.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R19.55,X2.07,Y-0.59,Z-19.44

: Sonardyne - parsing R19.55,X2.07,Y-0.59,Z-19.44

: Sonardyne - read R = 19.550000 from 19.55,X2.07,Y-0.59,Z-19.44

: Sonardyne - got all data, Vehicle coordinates,
    r=19.550000, x=19.440000, y=2.070000, z=0.590000 tat = 490
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230532.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230532.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R18.55,X2.03,Y-0.65,Z-18.42

: Sonardyne - parsing R18.55,X2.03,Y-0.65,Z-18.42

: Sonardyne - read R = 18.550000 from 18.55,X2.03,Y-0.65,Z-18.42

: Sonardyne - got all data, Vehicle coordinates,
    r=18.550000, x=18.420000, y=2.030000, z=0.650000 tat = 490
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230533.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230533.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R17.51,X1.90,Y-0.72,Z-17.40

: Sonardyne - parsing R17.51,X1.90,Y-0.72,Z-17.40

: Sonardyne - read R = 17.510000 from 17.51,X1.90,Y-0.72,Z-17.40

: Sonardyne - got all data, Vehicle coordinates,
    r=17.510000, x=17.400000, y=1.900000, z=0.720000 tat = 490
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230534.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230534.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R16.41,X1.81,Y-0.81,Z-16.29

: Sonardyne - parsing R16.41,X1.81,Y-0.81,Z-16.29

: Sonardyne - read R = 16.410000 from 16.41,X1.81,Y-0.81,Z-16.29

: Sonardyne - got all data, Vehicle coordinates,
    r=16.410000, x=16.290000, y=1.810000, z=0.810000 tat = 490
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230535.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230535.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R15.42,X1.67,Y-0.83,Z-15.31

: Sonardyne - parsing R15.42,X1.67,Y-0.83,Z-15.31

: Sonardyne - read R = 15.420000 from 15.42,X1.67,Y-0.83,Z-15.31

: Sonardyne - got all data, Vehicle coordinates,
    r=15.420000, x=15.310000, y=1.670000, z=0.830000 tat = 490
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230536.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230536.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R14.36,X1.64,Y-0.94,Z-14.24

: Sonardyne - parsing R14.36,X1.64,Y-0.94,Z-14.24

: Sonardyne - read R = 14.360000 from 14.36,X1.64,Y-0.94,Z-14.24

: Sonardyne - got all data, Vehicle coordinates,
    r=14.360000, x=14.240000, y=1.640000, z=0.940000 tat = 489
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230537.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230537.00,,,,,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,230538.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230538.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,230539.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230539.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  6.83 16.89 3.90 3.93 0  1141.74 07:03:00 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,N5.7,D0,U0,Q0.000000

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

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 388.99          Seconds.
:   The vehicle position is is (4052207.6, 600558.0)

: AshtechGps::processRecord() - $GPGGA,230540.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230540.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: Sonardyne - POS response: 
POS V4,1 R10.15,X1.44,Y-1.32,Z-9.96

: Sonardyne - parsing R10.15,X1.44,Y-1.32,Z-9.96

: Sonardyne - read R = 10.150000 from 10.15,X1.44,Y-1.32,Z-9.96

: Sonardyne - got all data, Vehicle coordinates,
    r=10.150000, x=9.960000, y=1.440000, z=1.320000 tat = 480
: WaypointHoming: The Usbl has aquired the transponder
  at t = 389.79          Seconds.
:   The vehicle position is is (4052207.0, 600558.6)

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

: AshtechGps::processRecord() - $GPGGA,230541.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230541.00,,,,,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,230542.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230542.00,,,,,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,230543.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230543.00,,,,,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,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 392.99          Seconds.
:   The vehicle position is is (4052204.7, 600560.9)

: AshtechGps::processRecord() - $GPGGA,230544.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230544.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R6.17,X1.18,Y-1.66,Z-5.83

: Sonardyne - parsing R6.17,X1.18,Y-1.66,Z-5.83

: Sonardyne - read R = 6.170000 from 6.17,X1.18,Y-1.66,Z-5.83

: Sonardyne - got all data, Vehicle coordinates,
    r=6.170000, x=5.830000, y=1.180000, z=1.660000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder
  at t = 393.79          Seconds.
:   The vehicle position is is (4052204.1, 600561.6)

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

: AshtechGps::processRecord() - $GPGGA,230545.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230545.00,,,,,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,230546.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230546.00,,,,,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,230547.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230547.00,,,,,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,N4.7,D0,U0,Q0.000000

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 396.99          Seconds.
:   The vehicle position is is (4052201.7, 600564.1)

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

: AshtechGps::processRecord() - $GPGGA,230548.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230548.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R2.60,X0.88,Y-1.94,Z-1.49

: Sonardyne - parsing R2.60,X0.88,Y-1.94,Z-1.49

: Sonardyne - read R = 2.600000 from 2.60,X0.88,Y-1.94,Z-1.49

: Sonardyne - got all data, Vehicle coordinates,
    r=2.600000, x=1.490000, y=0.880000, z=1.940000 tat = 470
: WaypointHoming: The Usbl has aquired the transponder
  at t = 397.79          Seconds.
:   The vehicle position is is (4052201.2, 600564.7)

: AshtechGps::processRecord() - $GPGGA,230549.00,,,,,0,00,,,M,,M,,*41

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

: GpsUtils::parseFix() - $GPGGA,230549.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  6.13 16.89 3.90 3.93 0  1141.35 07:03:10 m

: AshtechGps::processRecord() - $GPGGA,230550.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230550.00,,,,,0,00,,,M,,M,,*49


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

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

:  WaypointHoming has set the state to finished.

: WaypointHoming (4052199.5, 600565.2), 
  reached at t = 399.39                                          (wplog)

: Vehicle Position error is (-0.5, -0.6)

: LayeredControl::execute() -- (t = 399.392640) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 399.39                            (wplog)
  The current location (N,E) = 4052200.0      , 600565.8         (wplog)
  The next waypoint          = 4052143.0      , 600600.9         (wplog)
  The bearing to the next w.p. is 148.4 Degrees.

: LayeredControl::execute() -- (t = 399.392640) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230551.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230551.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230552.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230552.00,,,,,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 R3.50,X-2.78,Y1.62,Z-1.38

: Sonardyne - parsing R3.50,X-2.78,Y1.62,Z-1.38

: Sonardyne - read R = 3.500000 from 3.50,X-2.78,Y1.62,Z-1.38

: Sonardyne - got all data, Vehicle coordinates,
    r=3.500000, x=1.380000, y=-2.780000, z=-1.620000 tat = 470
: AshtechGps::processRecord() - $GPGGA,230553.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230553.00,,,,,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,230554.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230554.00,,,,,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,230555.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230555.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230556.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230556.00,,,,,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 R15.78

: Sonardyne - parsing R15.78

: Sonardyne - read R = 15.780000 from 15.78

: Sonardyne - got range only (15.780000), tat = 470
: Sonardyne - POSD response: 
POSD S132.6,N26.4,D6,U3,Q0.000564

: Sonardyne - POSD response: 
POSD S132.6,N26.4,D6,U3,Q0.000564

: AshtechGps::processRecord() - $GPGGA,230557.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230557.00,,,,,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,230558.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230558.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230559.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230559.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.12 10.58 16.89 3.88 3.91 0  1140.45 07:03:20 m

: AshtechGps::processRecord() - $GPGGA,230600.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230600.00,,,,,0,00,,,M,,M,,*4F


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

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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230601.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230601.00,,,,,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,230602.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230602.00,,,,,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,230603.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230603.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230604.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230604.00,,,,,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,230605.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230605.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,230606.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230606.00,,,,,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,230607.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230607.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230608.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230608.00,,,,,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 R30.61

: Sonardyne - parsing R30.61

: Sonardyne - read R = 30.610000 from 30.61

: Sonardyne - got range only (30.610000), tat = 490
: Sonardyne - POSD response: 
POSD S118.4,N17.0,D24,U1,Q0.001137

: Sonardyne - POSD response: 
POSD S118.4,N17.0,D24,U1,Q0.001137

: AshtechGps::processRecord() - $GPGGA,230609.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230609.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 31.19  9.50 16.89 3.88 3.91 0  1139.75 07:03:30 m

: Sonardyne - POS response: 
POS V4,1 R30.90

: Sonardyne - parsing R30.90

: Sonardyne - read R = 30.900000 from 30.90

: Sonardyne - got range only (30.900000), tat = 490
: Sonardyne - POSD response: 
POSD S117.7,N19.2,D26,U1,Q0.017937

: Sonardyne - POSD response: 
POSD S117.7,N19.2,D26,U1,Q0.017937

: AshtechGps::processRecord() - $GPGGA,230610.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230610.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - POS response: 
POS V4,1 R32.97

: Sonardyne - parsing R32.97

: Sonardyne - read R = 32.970000 from 32.97

: Sonardyne - got range only (32.970000), tat = 490
: Sonardyne - POSD response: 
POSD S124.0,N22.9,D142,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S124.0,N22.9,D142,U1,Q0.011501

: AshtechGps::processRecord() - $GPGGA,230611.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230611.00,,,,,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 R38.88

: Sonardyne - parsing R38.88

: Sonardyne - read R = 38.880000 from 38.88

: Sonardyne - got range only (38.880000), tat = 500
: Sonardyne - POSD response: 
POSD S120.3,N25.7,D37,U2,Q0.009818

: Sonardyne - POSD response: 
POSD S120.3,N25.7,D37,U2,Q0.009818

: AshtechGps::processRecord() - $GPGGA,230612.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230612.00,,,,,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 R36.94

: Sonardyne - parsing R36.94

: Sonardyne - read R = 36.940000 from 36.94

: Sonardyne - got range only (36.940000), tat = 500
: Sonardyne - POSD response: 
POSD S118.4,N22.3,D43,U2,Q0.005463

: Sonardyne - POSD response: 
POSD S118.4,N22.3,D43,U2,Q0.005463

: AshtechGps::processRecord() - $GPGGA,230613.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230613.00,,,,,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 R38.13

: Sonardyne - parsing R38.13

: Sonardyne - read R = 38.130000 from 38.13

: Sonardyne - got range only (38.130000), tat = 500
: Sonardyne - POSD response: 
POSD S112.4,N14.8,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S112.4,N14.8,D-36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230614.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230614.00,,,,,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 R39.90

: Sonardyne - parsing R39.90

: Sonardyne - read R = 39.900000 from 39.90

: Sonardyne - got range only (39.900000), tat = 500
: Sonardyne - POSD response: 
POSD S114.6,N15.5,D11,U4,Q0.003874

: Sonardyne - POSD response: 
POSD S114.6,N15.5,D11,U4,Q0.003874

: AshtechGps::processRecord() - $GPGGA,230615.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230615.00,,,,,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,230616.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230616.00,,,,,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,230617.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230617.00,,,,,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,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,230618.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230618.00,,,,,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 R46.95

: Sonardyne - parsing R46.95

: Sonardyne - read R = 46.950000 from 46.95

: Sonardyne - got range only (46.950000), tat = 510
: Sonardyne - POSD response: 
POSD S114.8,N21.6,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.8,N21.6,D20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230619.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230619.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  9.50 16.89 3.89 3.91 0  1138.78 07:03:40 m

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

: AshtechGps::processRecord() - $GPGGA,230620.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230620.00,,,,,0,00,,,M,,M,,*4D


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

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

: AshtechGps::processRecord() - $GPGGA,230621.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230621.00,,,,,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,230622.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230622.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230623.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230623.00,,,,,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,230624.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230624.00,,,,,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,230625.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230625.00,,,,,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,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,230626.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230626.00,,,,,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 R68.47

: Sonardyne - parsing R68.47

: Sonardyne - read R = 68.470000 from 68.47

: Sonardyne - got range only (68.470000), tat = 540
: Sonardyne - POSD response: 
POSD S115.3,N16.3,D-72,U2,Q0.008157

: Sonardyne - POSD response: 
POSD S115.3,N16.3,D-72,U2,Q0.008157

: AshtechGps::processRecord() - $GPGGA,230627.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230627.00,,,,,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 R68.40

: Sonardyne - parsing R68.40

: Sonardyne - read R = 68.400000 from 68.40

: Sonardyne - got range only (68.400000), tat = 540
: Sonardyne - POSD response: 
POSD S120.0,N15.6,D-22,U1,Q0.006056

: Sonardyne - POSD response: 
POSD S120.0,N15.6,D-22,U1,Q0.006056

: AshtechGps::processRecord() - $GPGGA,230628.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230628.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R71.12

: Sonardyne - parsing R71.12

: Sonardyne - read R = 71.120000 from 71.12

: Sonardyne - got range only (71.120000), tat = 540
: Sonardyne - POSD response: 
POSD S123.0,N28.6,D36,U1,Q0.003449

: Sonardyne - POSD response: 
POSD S123.0,N28.6,D36,U1,Q0.003449

: AshtechGps::processRecord() - $GPGGA,230629.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230629.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  9.09 16.89 3.89 3.91 0  1138.14 07:03:50 m

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

: AshtechGps::processRecord() - $GPGGA,230630.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230630.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,230631.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230631.00,,,,,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,230632.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230632.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230633.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230633.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052143.0, 600600.9), 
  reached at t = 442.20                                          (wplog)

: Vehicle Position is error is (0.0, -0.1)

: LayeredControl::execute() -- (t = 442.199707) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 442.20                            (wplog)
  The current location (N,E) = 4052143.0      , 600601.0         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 326.2 Degrees.

: LayeredControl::execute() -- (t = 442.209707) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,230634.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230634.00,,,,,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,230635.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230635.00,,,,,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,N0.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N0.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230636.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230636.00,,,,,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,230637.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230637.00,,,,,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,230638.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230638.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230639.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230639.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.90 16.89 3.88 3.91 0  1137.14 07:04:00 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230640.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230640.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230641.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230641.00,,,,,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,230642.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230642.00,,,,,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,N2.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230643.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230643.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R82.13

: Sonardyne - parsing R82.13

: Sonardyne - read R = 82.130000 from 82.13

: Sonardyne - got range only (82.130000), tat = 560
: Sonardyne - POSD response: 
POSD S127.4,N28.0,D117,U4,Q0.009335

: Sonardyne - POSD response: 
POSD S127.4,N28.0,D117,U4,Q0.009335

: AshtechGps::processRecord() - $GPGGA,230644.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230644.00,,,,,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 R81.93

: Sonardyne - parsing R81.93

: Sonardyne - read R = 81.930000 from 81.93

: Sonardyne - got range only (81.930000), tat = 560
: Sonardyne - POSD response: 
POSD S121.9,N19.9,D4,U1,Q0.009402

: Sonardyne - POSD response: 
POSD S121.9,N19.9,D4,U1,Q0.009402

: AshtechGps::processRecord() - $GPGGA,230645.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230645.00,,,,,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 R82.69,X-63.96,Y-32.93,Z-40.78

: Sonardyne - parsing R82.69,X-63.96,Y-32.93,Z-40.78

: Sonardyne - read R = 82.690000 from 82.69,X-63.96,Y-32.93,Z-40.78

: Sonardyne - got all data, Vehicle coordinates,
    r=82.690000, x=40.780000, y=-63.960000, z=32.930000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230646.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230646.00,,,,,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 R83.54

: Sonardyne - parsing R83.54

: Sonardyne - read R = 83.540000 from 83.54

: Sonardyne - got range only (83.540000), tat = 560
: Sonardyne - POSD response: 
POSD S122.3,N28.0,D63,U2,Q0.010922

: Sonardyne - POSD response: 
POSD S122.3,N28.0,D63,U2,Q0.010922

: AshtechGps::processRecord() - $GPGGA,230647.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230647.00,,,,,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 R83.15,X79.05,Y2.27,Z-25.67

: Sonardyne - parsing R83.15,X79.05,Y2.27,Z-25.67

: Sonardyne - read R = 83.150000 from 83.15,X79.05,Y2.27,Z-25.67

: Sonardyne - got all data, Vehicle coordinates,
    r=83.150000, x=25.670000, y=79.050000, z=-2.270000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230648.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230648.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R83.11

: Sonardyne - parsing R83.11

: Sonardyne - read R = 83.110000 from 83.11

: Sonardyne - got range only (83.110000), tat = 560
: Sonardyne - POSD response: 
POSD S132.4,N21.9,D-129,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.4,N21.9,D-129,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230649.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230649.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  8.42 16.89 3.88 3.91 0  1136.51 07:04:10 m

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

: Sonardyne - POS response: 
POS V4,1 R82.76

: Sonardyne - parsing R82.76

: Sonardyne - read R = 82.760000 from 82.76

: Sonardyne - got range only (82.760000), tat = 559
: Sonardyne - POSD response: 
POSD S137.4,N23.4,D-96,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.4,N23.4,D-96,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230650.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230650.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R82.15

: Sonardyne - parsing R82.15

: Sonardyne - read R = 82.150000 from 82.15

: Sonardyne - got range only (82.150000), tat = 560
: Sonardyne - POSD response: 
POSD S141.3,N26.9,D57,U2,Q0.002739

: Sonardyne - POSD response: 
POSD S141.3,N26.9,D57,U2,Q0.002739

: AshtechGps::processRecord() - $GPGGA,230651.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230651.00,,,,,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 R81.39

: Sonardyne - parsing R81.39

: Sonardyne - read R = 81.390000 from 81.39

: Sonardyne - got range only (81.390000), tat = 560
: Sonardyne - POSD response: 
POSD S143.1,N30.9,D10,U1,Q0.016633

: Sonardyne - POSD response: 
POSD S143.1,N30.9,D10,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,230652.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230652.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R80.61

: Sonardyne - parsing R80.61

: Sonardyne - read R = 80.610000 from 80.61

: Sonardyne - got range only (80.610000), tat = 550
: Sonardyne - POSD response: 
POSD S143.7,N30.3,D46,U5,Q0.013523

: Sonardyne - POSD response: 
POSD S143.7,N30.3,D46,U5,Q0.013523

: AshtechGps::processRecord() - $GPGGA,230653.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230653.00,,,,,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 R79.45,X36.84,Y-3.35,Z-70.31

: Sonardyne - parsing R79.45,X36.84,Y-3.35,Z-70.31

: Sonardyne - read R = 79.450000 from 79.45,X36.84,Y-3.35,Z-70.31

: Sonardyne - got all data, Vehicle coordinates,
    r=79.450000, x=70.310000, y=36.840000, z=3.350000 tat = 580
: AshtechGps::processRecord() - $GPGGA,230654.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230654.00,,,,,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 R78.29,X23.48,Y-3.84,Z-74.59

: Sonardyne - parsing R78.29,X23.48,Y-3.84,Z-74.59

: Sonardyne - read R = 78.290000 from 78.29,X23.48,Y-3.84,Z-74.59

: Sonardyne - got all data, Vehicle coordinates,
    r=78.290000, x=74.590000, y=23.480000, z=3.840000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230655.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230655.00,,,,,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 R77.06,X9.26,Y-3.40,Z-76.42

: Sonardyne - parsing R77.06,X9.26,Y-3.40,Z-76.42

: Sonardyne - read R = 77.060000 from 77.06,X9.26,Y-3.40,Z-76.42

: Sonardyne - got all data, Vehicle coordinates,
    r=77.060000, x=76.420000, y=9.260000, z=3.400000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230656.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230656.00,,,,,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 R75.85,X-2.80,Y-3.33,Z-75.72

: Sonardyne - parsing R75.85,X-2.80,Y-3.33,Z-75.72

: Sonardyne - read R = 75.850000 from 75.85,X-2.80,Y-3.33,Z-75.72

: Sonardyne - got all data, Vehicle coordinates,
    r=75.850000, x=75.720000, y=-2.800000, z=3.330000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230657.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230657.00,,,,,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 R74.60,X-15.94,Y-3.96,Z-72.77

: Sonardyne - parsing R74.60,X-15.94,Y-3.96,Z-72.77

: Sonardyne - read R = 74.600000 from 74.60,X-15.94,Y-3.96,Z-72.77

: Sonardyne - got all data, Vehicle coordinates,
    r=74.600000, x=72.770000, y=-15.940000, z=3.960000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230658.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230658.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R73.50,X-28.52,Y-3.18,Z-67.67

: Sonardyne - parsing R73.50,X-28.52,Y-3.18,Z-67.67

: Sonardyne - read R = 73.500000 from 73.50,X-28.52,Y-3.18,Z-67.67

: Sonardyne - got all data, Vehicle coordinates,
    r=73.500000, x=67.670000, y=-28.520000, z=3.180000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230659.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230659.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12 10.81 16.89 3.88 3.91 0  1135.53 07:04:20 m

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

: Sonardyne - POS response: 
POS V4,1 R72.50,X-35.36,Y-3.40,Z-63.20

: Sonardyne - parsing R72.50,X-35.36,Y-3.40,Z-63.20

: Sonardyne - read R = 72.500000 from 72.50,X-35.36,Y-3.40,Z-63.20

: Sonardyne - got all data, Vehicle coordinates,
    r=72.500000, x=63.200000, y=-35.360000, z=3.400000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230700.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230700.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R71.51,X-37.49,Y-1.60,Z-60.87

: Sonardyne - parsing R71.51,X-37.49,Y-1.60,Z-60.87

: Sonardyne - read R = 71.510000 from 71.51,X-37.49,Y-1.60,Z-60.87

: Sonardyne - got all data, Vehicle coordinates,
    r=71.510000, x=60.870000, y=-37.490000, z=1.600000 tat = 570
: AshtechGps::processRecord() - $GPGGA,230701.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230701.00,,,,,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 R70.43,X-37.16,Y1.82,Z-59.81

: Sonardyne - parsing R70.43,X-37.16,Y1.82,Z-59.81

: Sonardyne - read R = 70.430000 from 70.43,X-37.16,Y1.82,Z-59.81

: Sonardyne - got all data, Vehicle coordinates,
    r=70.430000, x=59.810000, y=-37.160000, z=-1.820000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230702.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230702.00,,,,,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 R69.24,X-34.22,Y3.26,Z-60.10

: Sonardyne - parsing R69.24,X-34.22,Y3.26,Z-60.10

: Sonardyne - read R = 69.240000 from 69.24,X-34.22,Y3.26,Z-60.10

: Sonardyne - got all data, Vehicle coordinates,
    r=69.240000, x=60.100000, y=-34.220000, z=-3.260000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230703.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230703.00,,,,,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 R68.06,X-30.09,Y7.59,Z-60.57

: Sonardyne - parsing R68.06,X-30.09,Y7.59,Z-60.57

: Sonardyne - read R = 68.060000 from 68.06,X-30.09,Y7.59,Z-60.57

: Sonardyne - got all data, Vehicle coordinates,
    r=68.060000, x=60.570000, y=-30.090000, z=-7.590000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230704.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230704.00,,,,,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 R66.73,X-25.53,Y6.89,Z-61.27

: Sonardyne - parsing R66.73,X-25.53,Y6.89,Z-61.27

: Sonardyne - read R = 66.730000 from 66.73,X-25.53,Y6.89,Z-61.27

: Sonardyne - got all data, Vehicle coordinates,
    r=66.730000, x=61.270000, y=-25.530000, z=-6.890000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230705.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230705.00,,,,,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 R65.48,X-21.48,Y7.19,Z-61.43

: Sonardyne - parsing R65.48,X-21.48,Y7.19,Z-61.43

: Sonardyne - read R = 65.480000 from 65.48,X-21.48,Y7.19,Z-61.43

: Sonardyne - got all data, Vehicle coordinates,
    r=65.480000, x=61.430000, y=-21.480000, z=-7.190000 tat = 560
: AshtechGps::processRecord() - $GPGGA,230706.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230706.00,,,,,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 R64.13,X-18.21,Y6.27,Z-61.17

: Sonardyne - parsing R64.13,X-18.21,Y6.27,Z-61.17

: Sonardyne - read R = 64.130000 from 64.13,X-18.21,Y6.27,Z-61.17

: Sonardyne - got all data, Vehicle coordinates,
    r=64.130000, x=61.170000, y=-18.210000, z=-6.270000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230707.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230707.00,,,,,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 R62.71,X-16.02,Y4.76,Z-60.44

: Sonardyne - parsing R62.71,X-16.02,Y4.76,Z-60.44

: Sonardyne - read R = 62.710000 from 62.71,X-16.02,Y4.76,Z-60.44

: Sonardyne - got all data, Vehicle coordinates,
    r=62.710000, x=60.440000, y=-16.020000, z=-4.760000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230708.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230708.00,,,,,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 R61.17,X-14.30,Y4.26,Z-59.32

: Sonardyne - parsing R61.17,X-14.30,Y4.26,Z-59.32

: Sonardyne - read R = 61.170000 from 61.17,X-14.30,Y4.26,Z-59.32

: Sonardyne - got all data, Vehicle coordinates,
    r=61.170000, x=59.320000, y=-14.300000, z=-4.260000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230709.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230709.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.57 16.99 3.88 3.91 0  1134.83 07:04:30 m

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

: Sonardyne - POS response: 
POS V4,1 R59.67,X-13.08,Y3.50,Z-58.11

: Sonardyne - parsing R59.67,X-13.08,Y3.50,Z-58.11

: Sonardyne - read R = 59.670000 from 59.67,X-13.08,Y3.50,Z-58.11

: Sonardyne - got all data, Vehicle coordinates,
    r=59.670000, x=58.110000, y=-13.080000, z=-3.500000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230710.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230710.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R58.08,X-12.02,Y2.60,Z-56.76

: Sonardyne - parsing R58.08,X-12.02,Y2.60,Z-56.76

: Sonardyne - read R = 58.080000 from 58.08,X-12.02,Y2.60,Z-56.76

: Sonardyne - got all data, Vehicle coordinates,
    r=58.080000, x=56.760000, y=-12.020000, z=-2.600000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230711.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230711.00,,,,,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 R56.52,X-10.92,Y2.97,Z-55.38

: Sonardyne - parsing R56.52,X-10.92,Y2.97,Z-55.38

: Sonardyne - read R = 56.520000 from 56.52,X-10.92,Y2.97,Z-55.38

: Sonardyne - got all data, Vehicle coordinates,
    r=56.520000, x=55.380000, y=-10.920000, z=-2.970000 tat = 550
: AshtechGps::processRecord() - $GPGGA,230712.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230712.00,,,,,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 R54.98,X-9.64,Y3.28,Z-54.02

: Sonardyne - parsing R54.98,X-9.64,Y3.28,Z-54.02

: Sonardyne - read R = 54.980000 from 54.98,X-9.64,Y3.28,Z-54.02

: Sonardyne - got all data, Vehicle coordinates,
    r=54.980000, x=54.020000, y=-9.640000, z=-3.280000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230713.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230713.00,,,,,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 R53.51,X-8.75,Y2.59,Z-52.73

: Sonardyne - parsing R53.51,X-8.75,Y2.59,Z-52.73

: Sonardyne - read R = 53.510000 from 53.51,X-8.75,Y2.59,Z-52.73

: Sonardyne - got all data, Vehicle coordinates,
    r=53.510000, x=52.730000, y=-8.750000, z=-2.590000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230714.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230714.00,,,,,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 R51.77,X-7.91,Y2.57,Z-51.10

: Sonardyne - parsing R51.77,X-7.91,Y2.57,Z-51.10

: Sonardyne - read R = 51.770000 from 51.77,X-7.91,Y2.57,Z-51.10

: Sonardyne - got all data, Vehicle coordinates,
    r=51.770000, x=51.100000, y=-7.910000, z=-2.570000 tat = 540
: AshtechGps::processRecord() - $GPGGA,230715.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230715.00,,,,,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 R50.38,X-7.09,Y1.99,Z-49.84

: Sonardyne - parsing R50.38,X-7.09,Y1.99,Z-49.84

: Sonardyne - read R = 50.380000 from 50.38,X-7.09,Y1.99,Z-49.84

: Sonardyne - got all data, Vehicle coordinates,
    r=50.380000, x=49.840000, y=-7.090000, z=-1.990000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230716.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230716.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R48.64,X-6.00,Y1.99,Z-48.22

: Sonardyne - parsing R48.64,X-6.00,Y1.99,Z-48.22

: Sonardyne - read R = 48.640000 from 48.64,X-6.00,Y1.99,Z-48.22

: Sonardyne - got all data, Vehicle coordinates,
    r=48.640000, x=48.220000, y=-6.000000, z=-1.990000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230717.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230717.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R46.76,X-5.13,Y1.60,Z-46.45

: Sonardyne - parsing R46.76,X-5.13,Y1.60,Z-46.45

: Sonardyne - read R = 46.760000 from 46.76,X-5.13,Y1.60,Z-46.45

: Sonardyne - got all data, Vehicle coordinates,
    r=46.760000, x=46.450000, y=-5.130000, z=-1.600000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230718.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230718.00,,,,,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 R45.01,X-4.51,Y1.39,Z-44.76

: Sonardyne - parsing R45.01,X-4.51,Y1.39,Z-44.76

: Sonardyne - read R = 45.010000 from 45.01,X-4.51,Y1.39,Z-44.76

: Sonardyne - got all data, Vehicle coordinates,
    r=45.010000, x=44.760000, y=-4.510000, z=-1.390000 tat = 529
: AshtechGps::processRecord() - $GPGGA,230719.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230719.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.30 16.99 3.88 3.91 0  1133.88 07:04:40 m

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

: Sonardyne - POS response: 
POS V4,1 R43.39,X-4.01,Y1.06,Z-43.19

: Sonardyne - parsing R43.39,X-4.01,Y1.06,Z-43.19

: Sonardyne - read R = 43.390000 from 43.39,X-4.01,Y1.06,Z-43.19

: Sonardyne - got all data, Vehicle coordinates,
    r=43.390000, x=43.190000, y=-4.010000, z=-1.060000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230720.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230720.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R41.83,X-3.73,Y0.71,Z-41.65

: Sonardyne - parsing R41.83,X-3.73,Y0.71,Z-41.65

: Sonardyne - read R = 41.830000 from 41.83,X-3.73,Y0.71,Z-41.65

: Sonardyne - got all data, Vehicle coordinates,
    r=41.830000, x=41.650000, y=-3.730000, z=-0.710000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230721.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230721.00,,,,,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 R40.35,X-3.41,Y0.76,Z-40.20

: Sonardyne - parsing R40.35,X-3.41,Y0.76,Z-40.20

: Sonardyne - read R = 40.350000 from 40.35,X-3.41,Y0.76,Z-40.20

: Sonardyne - got all data, Vehicle coordinates,
    r=40.350000, x=40.200000, y=-3.410000, z=-0.760000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230722.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230722.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R38.83,X-3.02,Y0.64,Z-38.71

: Sonardyne - parsing R38.83,X-3.02,Y0.64,Z-38.71

: Sonardyne - read R = 38.830000 from 38.83,X-3.02,Y0.64,Z-38.71

: Sonardyne - got all data, Vehicle coordinates,
    r=38.830000, x=38.710000, y=-3.020000, z=-0.640000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230723.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230723.00,,,,,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 R37.31,X-2.49,Y0.48,Z-37.22

: Sonardyne - parsing R37.31,X-2.49,Y0.48,Z-37.22

: Sonardyne - read R = 37.310000 from 37.31,X-2.49,Y0.48,Z-37.22

: Sonardyne - got all data, Vehicle coordinates,
    r=37.310000, x=37.220000, y=-2.490000, z=-0.480000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230724.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230724.00,,,,,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 R35.31,X-1.90,Y0.48,Z-35.25

: Sonardyne - parsing R35.31,X-1.90,Y0.48,Z-35.25

: Sonardyne - read R = 35.310000 from 35.31,X-1.90,Y0.48,Z-35.25

: Sonardyne - got all data, Vehicle coordinates,
    r=35.310000, x=35.250000, y=-1.900000, z=-0.480000 tat = 520
: AshtechGps::processRecord() - $GPGGA,230725.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230725.00,,,,,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 R33.67,X-1.35,Y0.39,Z-33.64

: Sonardyne - parsing R33.67,X-1.35,Y0.39,Z-33.64

: Sonardyne - read R = 33.670000 from 33.67,X-1.35,Y0.39,Z-33.64

: Sonardyne - got all data, Vehicle coordinates,
    r=33.670000, x=33.640000, y=-1.350000, z=-0.390000 tat = 510
: AshtechGps::processRecord() - $GPGGA,230726.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230726.00,,,,,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 R31.84,X-0.81,Y0.25,Z-31.83

: Sonardyne - parsing R31.84,X-0.81,Y0.25,Z-31.83

: Sonardyne - read R = 31.840000 from 31.84,X-0.81,Y0.25,Z-31.83

: Sonardyne - got all data, Vehicle coordinates,
    r=31.840000, x=31.830000, y=-0.810000, z=-0.250000 tat = 510
: AshtechGps::processRecord() - $GPGGA,230727.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230727.00,,,,,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 R30.00,X-0.48,Y-0.10,Z-30.00

: Sonardyne - parsing R30.00,X-0.48,Y-0.10,Z-30.00

: Sonardyne - read R = 30.000000 from 30.00,X-0.48,Y-0.10,Z-30.00

: Sonardyne - got all data, Vehicle coordinates,
    r=30.000000, x=30.000000, y=-0.480000, z=0.100000 tat = 510
: AshtechGps::processRecord() - $GPGGA,230728.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230728.00,,,,,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 R28.33,X-0.33,Y-0.54,Z-28.32

: Sonardyne - parsing R28.33,X-0.33,Y-0.54,Z-28.32

: Sonardyne - read R = 28.330000 from 28.33,X-0.33,Y-0.54,Z-28.32

: Sonardyne - got all data, Vehicle coordinates,
    r=28.330000, x=28.320000, y=-0.330000, z=0.540000 tat = 510
: AshtechGps::processRecord() - $GPGGA,230729.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230729.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.43 16.99 3.88 3.91 0  1133.25 07:04:50 m

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

: Sonardyne - POS response: 
POS V4,1 R26.65,X-0.12,Y-0.80,Z-26.64

: Sonardyne - parsing R26.65,X-0.12,Y-0.80,Z-26.64

: Sonardyne - read R = 26.650000 from 26.65,X-0.12,Y-0.80,Z-26.64

: Sonardyne - got all data, Vehicle coordinates,
    r=26.650000, x=26.640000, y=-0.120000, z=0.800000 tat = 500
: AshtechGps::processRecord() - $GPGGA,230730.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230730.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R25.01,X0.16,Y-0.97,Z-24.99

: Sonardyne - parsing R25.01,X0.16,Y-0.97,Z-24.99

: Sonardyne - read R = 25.010000 from 25.01,X0.16,Y-0.97,Z-24.99

: Sonardyne - got all data, Vehicle coordinates,
    r=25.010000, x=24.990000, y=0.160000, z=0.970000 tat = 500
: AshtechGps::processRecord() - $GPGGA,230731.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230731.00,,,,,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 R23.34,X0.44,Y-1.10,Z-23.31

: Sonardyne - parsing R23.34,X0.44,Y-1.10,Z-23.31

: Sonardyne - read R = 23.340000 from 23.34,X0.44,Y-1.10,Z-23.31

: Sonardyne - got all data, Vehicle coordinates,
    r=23.340000, x=23.310000, y=0.440000, z=1.100000 tat = 500
: AshtechGps::processRecord() - $GPGGA,230732.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230732.00,,,,,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 R21.60,X0.79,Y-1.22,Z-21.55

: Sonardyne - parsing R21.60,X0.79,Y-1.22,Z-21.55

: Sonardyne - read R = 21.600000 from 21.60,X0.79,Y-1.22,Z-21.55

: Sonardyne - got all data, Vehicle coordinates,
    r=21.600000, x=21.550000, y=0.790000, z=1.220000 tat = 500
: AshtechGps::processRecord() - $GPGGA,230733.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230733.00,,,,,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 R19.89,X1.14,Y-1.46,Z-19.80

: Sonardyne - parsing R19.89,X1.14,Y-1.46,Z-19.80

: Sonardyne - read R = 19.890000 from 19.89,X1.14,Y-1.46,Z-19.80

: Sonardyne - got all data, Vehicle coordinates,
    r=19.890000, x=19.800000, y=1.140000, z=1.460000 tat = 490
: AshtechGps::processRecord() - $GPGGA,230734.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230734.00,,,,,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 R18.10,X1.39,Y-1.69,Z-17.97

: Sonardyne - parsing R18.10,X1.39,Y-1.69,Z-17.97

: Sonardyne - read R = 18.100000 from 18.10,X1.39,Y-1.69,Z-17.97

: Sonardyne - got all data, Vehicle coordinates,
    r=18.100000, x=17.970000, y=1.390000, z=1.690000 tat = 490
: AshtechGps::processRecord() - $GPGGA,230735.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230735.00,,,,,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 R16.53,X1.60,Y-1.86,Z-16.35

: Sonardyne - parsing R16.53,X1.60,Y-1.86,Z-16.35

: Sonardyne - read R = 16.530000 from 16.53,X1.60,Y-1.86,Z-16.35

: Sonardyne - got all data, Vehicle coordinates,
    r=16.530000, x=16.350000, y=1.600000, z=1.860000 tat = 490
: AshtechGps::processRecord() - $GPGGA,230736.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230736.00,,,,,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 R15.01,X1.73,Y-1.94,Z-14.78

: Sonardyne - parsing R15.01,X1.73,Y-1.94,Z-14.78

: Sonardyne - read R = 15.010000 from 15.01,X1.73,Y-1.94,Z-14.78

: Sonardyne - got all data, Vehicle coordinates,
    r=15.010000, x=14.780000, y=1.730000, z=1.940000 tat = 490
: AshtechGps::processRecord() - $GPGGA,230737.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230737.00,,,,,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,230738.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230738.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230739.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230739.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12 10.10 16.99 3.88 3.91 0  1132.29 07:05:00 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230740.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230740.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R8.71,X2.94,Y-2.24,Z-7.89

: Sonardyne - parsing R8.71,X2.94,Y-2.24,Z-7.89

: Sonardyne - read R = 8.710000 from 8.71,X2.94,Y-2.24,Z-7.89

: Sonardyne - got all data, Vehicle coordinates,
    r=8.710000, x=7.890000, y=2.940000, z=2.240000 tat = 480
: AshtechGps::processRecord() - $GPGGA,230741.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230741.00,,,,,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,230742.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230742.00,,,,,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,230743.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230743.00,,,,,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,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,230744.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230744.00,,,,,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 R4.49,X3.40,Y-2.18,Z-1.96

: Sonardyne - parsing R4.49,X3.40,Y-2.18,Z-1.96

: Sonardyne - read R = 4.490000 from 4.49,X3.40,Y-2.18,Z-1.96

: Sonardyne - got all data, Vehicle coordinates,
    r=4.490000, x=1.960000, y=3.400000, z=2.180000 tat = 470
: AshtechGps::processRecord() - $GPGGA,230745.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230745.00,,,,,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,230746.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230746.00,,,,,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,230747.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230747.00,,,,,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,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,230748.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230748.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R7.78,X0.82,Y7.74,Z0.00

: Sonardyne - parsing R7.78,X0.82,Y7.74,Z0.00

: Sonardyne - read R = 7.780000 from 7.78,X0.82,Y7.74,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=7.780000, x=0.000000, y=0.820000, z=-7.740000 tat = 470
: AshtechGps::processRecord() - $GPGGA,230749.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230749.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.63 16.99 3.88 3.91 0  1131.64 07:05:10 m

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

: AshtechGps::processRecord() - $GPGGA,230750.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230750.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230751.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230751.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230752.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230752.00,,,,,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,230753.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230753.00,,,,,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,230754.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,230754.00,,,,,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,230755.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,230755.00,,,,,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,N5.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.8,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,230756.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230756.00,,,,,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,230757.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230757.00,,,,,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,230758.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230758.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 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,230759.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230759.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.40 16.99 3.88 3.91 0  1130.66 07:05:20 m

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

: AshtechGps::processRecord() - $GPGGA,230800.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230800.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230801.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230801.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230802.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230802.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230803.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230803.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,230804.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230804.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230805.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230805.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230806.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230806.00,,,,,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 R42.19,X-2.02,Y-2.85,Z-42.04

: Sonardyne - parsing R42.19,X-2.02,Y-2.85,Z-42.04

: Sonardyne - read R = 42.190000 from 42.19,X-2.02,Y-2.85,Z-42.04

: Sonardyne - got all data, Vehicle coordinates,
    r=42.190000, x=42.040000, y=-2.020000, z=2.850000 tat = 530
: AshtechGps::processRecord() - $GPGGA,230807.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230807.00,,,,,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 R44.35

: Sonardyne - parsing R44.35

: Sonardyne - read R = 44.350000 from 44.35

: Sonardyne - got range only (44.350000), tat = 510
: Sonardyne - POSD response: 
POSD S119.8,N28.3,D47,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.8,N28.3,D47,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230808.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230808.00,,,,,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,230809.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230809.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.87 16.89 3.88 3.91 0  1129.99 07:05:30 m

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

: AshtechGps::processRecord() - $GPGGA,230810.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230810.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230811.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230811.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230812.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230812.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.83

: Sonardyne - parsing R54.83

: Sonardyne - read R = 54.830000 from 54.83

: Sonardyne - got range only (54.830000), tat = 520
: Sonardyne - POSD response: 
POSD S120.1,N30.2,D14,U2,Q0.012426

: Sonardyne - POSD response: 
POSD S120.1,N30.2,D14,U2,Q0.012426

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

: AshtechGps::processRecord() - $GPGGA,230813.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230813.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230814.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230814.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230815.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230815.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,230816.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230816.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230817.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230817.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230818.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230818.00,,,,,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,230819.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230819.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.36 16.89 3.88 3.91 0  1128.99 07:05:40 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,N1.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230820.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230820.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230821.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230821.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,230822.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230822.00,,,,,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 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,230823.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230823.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230824.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230824.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230825.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230825.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230826.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230826.00,,,,,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,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,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,230827.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230827.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230828.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230828.00,,,,,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,230829.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230829.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.77 16.99 3.88 3.91 0  1128.35 07:05:50 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230830.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230830.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230831.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230831.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230832.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230832.00,,,,,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,230833.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230833.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230834.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230835.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230836.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230837.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230838.00,,,,,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,230839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230839.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.28 16.89 3.88 3.91 0  1127.45 07:06:00 m

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

: AshtechGps::processRecord() - $GPGGA,230840.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230840.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230841.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230842.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230843.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230844.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230845.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230846.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230847.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230848.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,230849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230849.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.77 16.99 3.88 3.91 0  1126.79 07:06:10 m

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

: AshtechGps::processRecord() - $GPGGA,230850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230850.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  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,N4.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230851.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230852.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230853.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230854.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,230855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230855.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230856.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,230857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230857.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

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

: Sonardyne - POSD response: 
POSD S-100.0,N4.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230858.00,,,,,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,230859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230859.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08 10.00 16.99 3.88 3.91 0  1125.84 07:06:20 m

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

: AshtechGps::processRecord() - $GPGGA,230900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230900.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,230901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230901.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,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,230902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230902.00,,,,,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,230903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230903.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230904.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230905.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230906.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230907.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,230908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230908.00,,,,,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,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,230909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230909.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.57 16.99 3.88 3.91 0  1125.18 07:06:30 m

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

: AshtechGps::processRecord() - $GPGGA,230910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230910.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,230911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230911.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230912.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230913.00,,,,,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,230914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230914.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230915.00,,,,,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 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,230916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230916.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230917.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,230918.00,,,,,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,N3.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,230919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,230919.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 31.12  8.52 16.99 3.88 3.91 0  1124.28 07:06:40 m

: AshtechGps::processRecord() - $GPGGA,230920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230920.00,,,,,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 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,230921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230921.00,,,,,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,230922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230922.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230923.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230924.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230925.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230926.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230927.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,230928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230928.00,,,,,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,230929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230929.00,,,,,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- 31.08  9.77 16.99 3.88 3.91 0  1123.60 07:06:50 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,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,230930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230930.00,,,,,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 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,230931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230931.00,,,,,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,230932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230932.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,230933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230933.00,,,,,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,230934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230934.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230935.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230936.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,230937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230937.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,230938.00,,,,,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,230939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,230939.00,,,,,0,00,,,M,,M,,*4A


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

: BluefinBatt Reply: $aaq0 d- 31.12  8.49 16.99 3.88 3.90 0  1122.66 07:07:00 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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230940.00,,,,,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 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,230941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230941.00,,,,,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,230942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230942.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,230943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230943.00,,,,,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,230944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230944.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230945.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230946.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230947.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230948.00,,,,,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,230949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230949.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.16 16.99 3.88 3.90 0  1122.00 07:07:10 m

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

: AshtechGps::processRecord() - $GPGGA,230950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,230950.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,230951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,230951.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,230952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,230952.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,230953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,230953.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,230954.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,230955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,230955.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,230956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,230956.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,230957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,230957.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,230958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,230958.00,,,,,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,230959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,230959.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.16 16.99 3.88 3.90 0  1121.03 07:07:20 m

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

: AshtechGps::processRecord() - $GPGGA,231000.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231000.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: 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,231001.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231001.00,,,,,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,231002.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231002.00,,,,,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,231003.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231003.00,,,,,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,231004.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231004.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,231005.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231005.00,,,,,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,231006.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231006.00,,,,,0,00,,,M,,M,,*4E


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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 656.00                                          (wplog)

: Vehicle Position is error is (-0.5, -0.6)

: LayeredControl::execute() -- (t = 655.995061) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 655.995061) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,231007.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231007.00,,,,,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,N3.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231008.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231008.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231009.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231009.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  8.82 16.99 3.88 3.90 0  1120.38 07:07:30 m

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

: AshtechGps::processRecord() - $GPGGA,231010.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231010.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,231011.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231011.00,,,,,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 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,231012.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231012.00,,,,,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,231013.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231013.00,,,,,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,231014.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231014.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231015.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231015.00,,,,,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,231016.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231016.00,,,,,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,231017.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231017.00,,,,,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,231018.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,231018.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,231019.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,231019.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  7.91 16.99 3.88 3.91 0  1119.43 07:07:40 m

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

: Sonardyne - POS response: 
POS V4,1 R257.35

: Sonardyne - parsing R257.35

: Sonardyne - read R = 257.350000 from 257.35

: Sonardyne - got range only (257.350000), tat = 790
: Sonardyne - POSD response: 
POSD S122.3,N28.7,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N28.7,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231020.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231020.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R256.60

: Sonardyne - parsing R256.60

: Sonardyne - read R = 256.600000 from 256.60

: Sonardyne - got range only (256.600000), tat = 790
: Sonardyne - POSD response: 
POSD S132.6,N33.0,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.6,N33.0,D10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231021.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231021.00,,,,,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 R260.22

: Sonardyne - parsing R260.22

: Sonardyne - read R = 260.220000 from 260.22

: Sonardyne - got range only (260.220000), tat = 800
: Sonardyne - POSD response: 
POSD S122.1,N28.6,D-62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.1,N28.6,D-62,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231022.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231022.00,,,,,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 R254.36,X-240.72,Y82.15,Z0.00

: Sonardyne - parsing R254.36,X-240.72,Y82.15,Z0.00

: Sonardyne - read R = 254.360000 from 254.36,X-240.72,Y82.15,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=254.360000, x=0.000000, y=-240.720000, z=-82.150000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231023.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231023.00,,,,,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 R253.69,X129.01,Y-57.92,Z-210.61

: Sonardyne - parsing R253.69,X129.01,Y-57.92,Z-210.61

: Sonardyne - read R = 253.690000 from 253.69,X129.01,Y-57.92,Z-210.61

: Sonardyne - got all data, Vehicle coordinates,
    r=253.690000, x=210.610000, y=129.010000, z=57.920000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231024.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231024.00,,,,,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 R252.22,X94.83,Y-52.87,Z-227.65

: Sonardyne - parsing R252.22,X94.83,Y-52.87,Z-227.65

: Sonardyne - read R = 252.220000 from 252.22,X94.83,Y-52.87,Z-227.65

: Sonardyne - got all data, Vehicle coordinates,
    r=252.220000, x=227.650000, y=94.830000, z=52.870000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231025.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231025.00,,,,,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 R251.03,X54.26,Y-46.43,Z-240.66

: Sonardyne - parsing R251.03,X54.26,Y-46.43,Z-240.66

: Sonardyne - read R = 251.030000 from 251.03,X54.26,Y-46.43,Z-240.66

: Sonardyne - got all data, Vehicle coordinates,
    r=251.030000, x=240.660000, y=54.260000, z=46.430000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231026.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231026.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R249.90,X14.41,Y-64.67,Z-240.96

: Sonardyne - parsing R249.90,X14.41,Y-64.67,Z-240.96

: Sonardyne - read R = 249.900000 from 249.90,X14.41,Y-64.67,Z-240.96

: Sonardyne - got all data, Vehicle coordinates,
    r=249.900000, x=240.960000, y=14.410000, z=64.670000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231027.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231027.00,,,,,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 R250.28,X-26.87,Y-88.05,Z-232.74

: Sonardyne - parsing R250.28,X-26.87,Y-88.05,Z-232.74

: Sonardyne - read R = 250.280000 from 250.28,X-26.87,Y-88.05,Z-232.74

: Sonardyne - got all data, Vehicle coordinates,
    r=250.280000, x=232.740000, y=-26.870000, z=88.050000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231028.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231028.00,,,,,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 R247.71,X-70.09,Y-66.71,Z-228.03

: Sonardyne - parsing R247.71,X-70.09,Y-66.71,Z-228.03

: Sonardyne - read R = 247.710000 from 247.71,X-70.09,Y-66.71,Z-228.03

: Sonardyne - got all data, Vehicle coordinates,
    r=247.710000, x=228.030000, y=-70.090000, z=66.710000 tat = 809
: AshtechGps::processRecord() - $GPGGA,231029.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231029.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  8.99 17.08 3.88 3.91 0  1118.78 07:07:50 m

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

: Sonardyne - POS response: 
POS V4,1 R246.51,X-107.64,Y-70.19,Z-210.37

: Sonardyne - parsing R246.51,X-107.64,Y-70.19,Z-210.37

: Sonardyne - read R = 246.510000 from 246.51,X-107.64,Y-70.19,Z-210.37

: Sonardyne - got all data, Vehicle coordinates,
    r=246.510000, x=210.370000, y=-107.640000, z=70.190000 tat = 810
: AshtechGps::processRecord() - $GPGGA,231030.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231030.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R245.44

: Sonardyne - parsing R245.44

: Sonardyne - read R = 245.440000 from 245.44

: Sonardyne - got range only (245.440000), tat = 780
: Sonardyne - POSD response: 
POSD S133.5,N21.7,D-108,U1,Q0.012087

: Sonardyne - POSD response: 
POSD S133.5,N21.7,D-108,U1,Q0.012087

: AshtechGps::processRecord() - $GPGGA,231031.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231031.00,,,,,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 R244.32,X231.33,Y78.63,Z0.00

: Sonardyne - parsing R244.32,X231.33,Y78.63,Z0.00

: Sonardyne - read R = 244.320000 from 244.32,X231.33,Y78.63,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=244.320000, x=0.000000, y=231.330000, z=-78.630000 tat = 800
: LayeredControl::execute() -- (t = 680.993349) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 680.993349) Behavior getgps has changed to state Active

: AshtechGps::processRecord() - $GPGGA,231032.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231032.00,,,,,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 R243.36

: Sonardyne - parsing R243.36

: Sonardyne - read R = 243.360000 from 243.36

: Sonardyne - got range only (243.360000), tat = 770
: Sonardyne - POSD response: 
POSD S122.9,N25.7,D74,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.9,N25.7,D74,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231033.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231033.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R242.59,X-207.37,Y-32.56,Z-121.61

: Sonardyne - parsing R242.59,X-207.37,Y-32.56,Z-121.61

: Sonardyne - read R = 242.590000 from 242.59,X-207.37,Y-32.56,Z-121.61

: Sonardyne - got all data, Vehicle coordinates,
    r=242.590000, x=121.610000, y=-207.370000, z=32.560000 tat = 800
: AshtechGps::processRecord() - $GPGGA,231034.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231034.00,,,,,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 R241.94,X-214.13,Y-40.78,Z-104.98

: Sonardyne - parsing R241.94,X-214.13,Y-40.78,Z-104.98

: Sonardyne - read R = 241.940000 from 241.94,X-214.13,Y-40.78,Z-104.98

: Sonardyne - got all data, Vehicle coordinates,
    r=241.940000, x=104.980000, y=-214.130000, z=40.780000 tat = 800
: AshtechGps::processRecord() - $GPGGA,231035.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231035.00,,,,,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 R241.73,X-219.44,Y-42.02,Z-92.29

: Sonardyne - parsing R241.73,X-219.44,Y-42.02,Z-92.29

: Sonardyne - read R = 241.730000 from 241.73,X-219.44,Y-42.02,Z-92.29

: Sonardyne - got all data, Vehicle coordinates,
    r=241.730000, x=92.290000, y=-219.440000, z=42.020000 tat = 800
: AshtechGps::processRecord() - $GPGGA,231036.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231036.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R242.13,X-219.17,Y-11.88,Z-102.23

: Sonardyne - parsing R242.13,X-219.17,Y-11.88,Z-102.23

: Sonardyne - read R = 242.130000 from 242.13,X-219.17,Y-11.88,Z-102.23

: Sonardyne - got all data, Vehicle coordinates,
    r=242.130000, x=102.230000, y=-219.170000, z=11.880000 tat = 800
: AshtechGps::processRecord() - $GPGGA,231037.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231037.00,,,,,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 R241.49

: Sonardyne - parsing R241.49

: Sonardyne - read R = 241.490000 from 241.49

: Sonardyne - got range only (241.490000), tat = 770
: Sonardyne - POSD response: 
POSD S122.3,N27.0,D24,U5,Q0.000144

: Sonardyne - POSD response: 
POSD S122.3,N27.0,D24,U5,Q0.000144

: AshtechGps::processRecord() - $GPGGA,231038.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231038.00,,,,,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 R241.88,X-224.48,Y-4.04,Z-89.97

: Sonardyne - parsing R241.88,X-224.48,Y-4.04,Z-89.97

: Sonardyne - read R = 241.880000 from 241.88,X-224.48,Y-4.04,Z-89.97

: Sonardyne - got all data, Vehicle coordinates,
    r=241.880000, x=89.970000, y=-224.480000, z=4.040000 tat = 800
: AshtechGps::processRecord() - $GPGGA,231039.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231039.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.26  3.16 17.08 3.90 3.92 0  1118.12 07:08:00 m

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

: AshtechGps::processRecord() - $GPGGA,231040.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231040.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,231041.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231041.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231042.00,,,,,0,02,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231042.00,,,,,0,02,,,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,231043.00,,,,,0,02,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231043.00,,,,,0,02,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.07,X-224.64,Y-37.77,Z-84.83

: Sonardyne - parsing R243.07,X-224.64,Y-37.77,Z-84.83

: Sonardyne - read R = 243.070000 from 243.07,X-224.64,Y-37.77,Z-84.83

: Sonardyne - got all data, Vehicle coordinates,
    r=243.070000, x=84.830000, y=-224.640000, z=37.770000 tat = 799
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231044.00,,,,,0,02,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231044.00,,,,,0,02,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.50

: Sonardyne - parsing R240.50

: Sonardyne - read R = 240.500000 from 240.50

: Sonardyne - got range only (240.500000), tat = 770
: Sonardyne - POSD response: 
POSD S115.2,N19.0,D83,U4,Q0.001677

: Sonardyne - POSD response: 
POSD S115.2,N19.0,D83,U4,Q0.001677

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

: AshtechGps::processRecord() - $GPGGA,231045.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231045.00,,,,,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,231046.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231046.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,231047.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231047.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,231048.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231048.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231049.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231049.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.30  2.92 17.08 3.90 3.92 0  1117.93 07:08:10 m

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

: AshtechGps::processRecord() - $GPGGA,231050.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231050.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

:  wdt = 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,N12.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231051.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231051.00,,,,,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,231052.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,231052.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.26

: Sonardyne - parsing R240.26

: Sonardyne - read R = 240.260000 from 240.26

: Sonardyne - got range only (240.260000), tat = 770
: Sonardyne - POSD response: 
POSD S120.4,N30.0,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.4,N30.0,D-36,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,231053.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,231053.00,,,,,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,231054.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231054.00,,,,,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,231055.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231055.00,,,,,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,N-0.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.3,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,231056.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231056.00,,,,,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,231057.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231057.00,,,,,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,231058.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,231058.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,231059.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,231059.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.34  3.13 16.99 3.91 3.93 0  1117.65 07:08:20 m

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

: AshtechGps::processRecord() - $GPGGA,231100.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,231100.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.19

: Sonardyne - parsing R243.19

: Sonardyne - read R = 243.190000 from 243.19

: Sonardyne - got range only (243.190000), tat = 770
: Sonardyne - POSD response: 
POSD S116.1,N19.9,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.1,N19.9,D21,U0,Q0.000000

: 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,231101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,231101.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.05

: Sonardyne - parsing R240.05

: Sonardyne - read R = 240.050000 from 240.05

: Sonardyne - got range only (240.050000), tat = 770
: Sonardyne - POSD response: 
POSD S120.6,N24.4,D55,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.6,N24.4,D55,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,231102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231102.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.92

: Sonardyne - parsing R240.92

: Sonardyne - read R = 240.920000 from 240.92

: Sonardyne - got range only (240.920000), tat = 770
: Sonardyne - POSD response: 
POSD S116.7,N14.0,D114,U1,Q0.002733

: Sonardyne - POSD response: 
POSD S116.7,N14.0,D114,U1,Q0.002733

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

: AshtechGps::processRecord() - $GPGGA,231103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231103.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.20

: Sonardyne - parsing R240.20

: Sonardyne - read R = 240.200000 from 240.20

: Sonardyne - got range only (240.200000), tat = 770
: Sonardyne - POSD response: 
POSD S121.3,N22.2,D-121,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S121.3,N22.2,D-121,U1,Q0.019270

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

: AshtechGps::processRecord() - $GPGGA,231104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231104.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R240.03

: Sonardyne - parsing R240.03

: Sonardyne - read R = 240.030000 from 240.03

: Sonardyne - got range only (240.030000), tat = 770
: Sonardyne - POSD response: 
POSD S126.0,N30.1,D-21,U3,Q0.014446

: Sonardyne - POSD response: 
POSD S126.0,N30.1,D-21,U3,Q0.014446

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

: AshtechGps::processRecord() - $GPGGA,231105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231105.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.28

: Sonardyne - parsing R239.28

: Sonardyne - read R = 239.280000 from 239.28

: Sonardyne - got range only (239.280000), tat = 770
: Sonardyne - POSD response: 
POSD S128.5,N30.6,D9,U1,Q0.008945

: Sonardyne - POSD response: 
POSD S128.5,N30.6,D9,U1,Q0.008945

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

: AshtechGps::processRecord() - $GPGGA,231106.00,,,,,0,02,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,231106.00,,,,,0,02,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.13

: Sonardyne - parsing R239.13

: Sonardyne - read R = 239.130000 from 239.13

: Sonardyne - got range only (239.130000), tat = 770
: Sonardyne - POSD response: 
POSD S130.6,N30.9,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.6,N30.9,D26,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,231107.00,,,,,0,02,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,231107.00,,,,,0,02,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.63

: Sonardyne - parsing R242.63

: Sonardyne - read R = 242.630000 from 242.63

: Sonardyne - got range only (242.630000), tat = 770
: Sonardyne - POSD response: 
POSD S118.9,N18.8,D-33,U1,Q0.006500

: Sonardyne - POSD response: 
POSD S118.9,N18.8,D-33,U1,Q0.006500

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

: AshtechGps::processRecord() - $GPGGA,231108.00,,,,,0,02,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,231108.00,,,,,0,02,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.05

: Sonardyne - parsing R239.05

: Sonardyne - read R = 239.050000 from 239.05

: Sonardyne - got range only (239.050000), tat = 770
: Sonardyne - POSD response: 
POSD S116.0,N18.0,D-118,U1,Q0.005102

: Sonardyne - POSD response: 
POSD S116.0,N18.0,D-118,U1,Q0.005102

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

: AshtechGps::processRecord() - $GPGGA,231109.00,,,,,0,02,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,231109.00,,,,,0,02,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.83

: Sonardyne - parsing R238.83

: Sonardyne - read R = 238.830000 from 238.83

: Sonardyne - got range only (238.830000), tat = 770
: Sonardyne - POSD response: 
POSD S128.0,N26.0,D118,U2,Q0.003975

: Sonardyne - POSD response: 
POSD S128.0,N26.0,D118,U2,Q0.003975

: BluefinBatt Reply: $aaq0 d- 31.30  3.26 16.99 3.91 3.93 0  1117.45 07:08:30 m

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

: AshtechGps::processRecord() - $GPGGA,231110.00,,,,,0,02,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,231110.00,,,,,0,02,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.17

: Sonardyne - parsing R238.17

: Sonardyne - read R = 238.170000 from 238.17

: Sonardyne - got range only (238.170000), tat = 770
: Sonardyne - POSD response: 
POSD S126.8,N21.1,D124,U1,Q0.017227

: Sonardyne - POSD response: 
POSD S126.8,N21.1,D124,U1,Q0.017227

: 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,231111.00,,,,,0,02,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,231111.00,,,,,0,02,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.17,X-179.20,Y16.74,Z-155.99

: Sonardyne - parsing R238.17,X-179.20,Y16.74,Z-155.99

: Sonardyne - read R = 238.170000 from 238.17,X-179.20,Y16.74,Z-155.99

: Sonardyne - got all data, Vehicle coordinates,
    r=238.170000, x=155.990000, y=-179.200000, z=-16.740000 tat = 790
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231112.00,3636.69420,N,12152.60234,W,1,09,0.8,-4.68,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231112.00,3636.69420,N,12152.60234,W,1,09,0.8,-4.68,M,-33.22,M,,*78


: successfully parse sentence at 23:11:12

: AshtechGPS::processRecord -sample time is 1143760271
: Sonardyne - POS response: 
POS V4,1 R238.29,X-182.55,Y25.83,Z-150.97

: Sonardyne - parsing R238.29,X-182.55,Y25.83,Z-150.97

: Sonardyne - read R = 238.290000 from 238.29,X-182.55,Y25.83,Z-150.97

: Sonardyne - got all data, Vehicle coordinates,
    r=238.290000, x=150.970000, y=-182.550000, z=-25.830000 tat = 840
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231113.00,3636.69421,N,12152.60245,W,1,10,0.8,-4.31,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,231113.00,3636.69421,N,12152.60245,W,1,10,0.8,-4.31,M,-33.22,M,,*7A


: Sonardyne - POS response: 
POS V4,1 R239.70,X-181.62,Y29.38,Z-153.66

: successfully parse sentence at 23:11:13

: Sonardyne - parsing R239.70,X-181.62,Y29.38,Z-153.66

: AshtechGPS::processRecord -sample time is 1143760272
: Sonardyne - read R = 239.700000 from 239.70,X-181.62,Y29.38,Z-153.66

: Sonardyne - got all data, Vehicle coordinates,
    r=239.700000, x=153.660000, y=-181.620000, z=-29.380000 tat = 800
: GetGPS::execute() -- Got a new GPS hit: 2 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 R238.93

: Sonardyne - parsing R238.93

: Sonardyne - read R = 238.930000 from 238.93

: Sonardyne - got range only (238.930000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231114.00,3636.69417,N,12152.60252,W,1,10,0.8,-4.01,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231114.00,3636.69417,N,12152.60252,W,1,10,0.8,-4.01,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:14

: AshtechGPS::processRecord -sample time is 1143760273
: Sonardyne - POSD response: 
POSD S122.5,N26.6,D10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N26.6,D10,U0,Q0.000000

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R238.09,X-186.91,Y23.99,Z-145.53

: Sonardyne - parsing R238.09,X-186.91,Y23.99,Z-145.53

: Sonardyne - read R = 238.090000 from 238.09,X-186.91,Y23.99,Z-145.53

: AshtechGps::processRecord() - $GPGGA,231115.00,3636.69410,N,12152.60261,W,1,11,0.8,-3.97,M,-33.22,M,,*72

: Sonardyne - got all data, Vehicle coordinates,
    r=238.090000, x=145.530000, y=-186.910000, z=-23.990000 tat = 790
: GpsUtils::parseFix() - $GPGGA,231115.00,3636.69410,N,12152.60261,W,1,11,0.8,-3.97,M,-33.22,M,,*72


: successfully parse sentence at 23:11:15

: AshtechGPS::processRecord -sample time is 1143760274
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R237.79

: Sonardyne - parsing R237.79

: Sonardyne - read R = 237.790000 from 237.79

: Sonardyne - got range only (237.790000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231116.00,3636.69402,N,12152.60259,W,1,11,0.8,-4.04,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,231116.00,3636.69402,N,12152.60259,W,1,11,0.8,-4.04,M,-33.22,M,,*74


: successfully parse sentence at 23:11:16

: AshtechGPS::processRecord -sample time is 1143760275
: Sonardyne - POSD response: 
POSD S123.7,N32.1,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.7,N32.1,D-28,U0,Q0.000000

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R240.63

: Sonardyne - parsing R240.63

: Sonardyne - read R = 240.630000 from 240.63

: Sonardyne - got range only (240.630000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231117.00,3636.69401,N,12152.60270,W,1,11,0.8,-4.10,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231117.00,3636.69401,N,12152.60270,W,1,11,0.8,-4.10,M,-33.22,M,,*78


: successfully parse sentence at 23:11:17

: AshtechGPS::processRecord -sample time is 1143760276
: Sonardyne - POSD response: 
POSD S118.9,N27.4,D89,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.9,N27.4,D89,U0,Q0.000000

: GetGPS::execute() -- Got a new GPS hit: 6 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 R237.59

: Sonardyne - parsing R237.59

: Sonardyne - read R = 237.590000 from 237.59

: Sonardyne - got range only (237.590000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231118.00,3636.69401,N,12152.60277,W,1,11,0.8,-3.80,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231118.00,3636.69401,N,12152.60277,W,1,11,0.8,-3.80,M,-33.22,M,,*7E


: successfully parse sentence at 23:11:18

: AshtechGPS::processRecord -sample time is 1143760277
: Sonardyne - POSD response: 
POSD S125.6,N31.9,D-17,U3,Q0.007649

: Sonardyne - POSD response: 
POSD S125.6,N31.9,D-17,U3,Q0.007649

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R238.12

: Sonardyne - parsing R238.12

: Sonardyne - read R = 238.120000 from 238.12

: Sonardyne - got range only (238.120000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231119.00,3636.69397,N,12152.60279,W,1,11,0.8,-3.71,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,231119.00,3636.69397,N,12152.60279,W,1,11,0.8,-3.71,M,-33.22,M,,*77


: successfully parse sentence at 23:11:19

: AshtechGPS::processRecord -sample time is 1143760278
: Sonardyne - POSD response: 
POSD S121.5,N29.9,D-106,U3,Q0.003353

: BluefinBatt Reply: $aaq0 d- 31.30  3.94 16.99 3.91 3.93 0  1117.01 07:08:40 m

: Sonardyne - POSD response: 
POSD S121.5,N29.9,D-106,U3,Q0.003353

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R236.40

: Sonardyne - parsing R236.40

: Sonardyne - read R = 236.400000 from 236.40

: Sonardyne - got range only (236.400000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231120.00,3636.69388,N,12152.60285,W,1,11,0.8,-3.59,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,231120.00,3636.69388,N,12152.60285,W,1,11,0.8,-3.59,M,-33.22,M,,*7A


: successfully parse sentence at 23:11:20

: AshtechGPS::processRecord -sample time is 1143760279
: Sonardyne - POSD response: 
POSD S125.4,N30.2,D-15,U2,Q0.012710

: Sonardyne - POSD response: 
POSD S125.4,N30.2,D-15,U2,Q0.012710

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

: GetGPS::execute() -- Got a new GPS hit: 9 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 R236.25

: Sonardyne - parsing R236.25

: Sonardyne - read R = 236.250000 from 236.25

: Sonardyne - got range only (236.250000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231121.00,3636.69381,N,12152.60290,W,1,11,0.8,-3.71,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231121.00,3636.69381,N,12152.60290,W,1,11,0.8,-3.71,M,-33.22,M,,*7C


: successfully parse sentence at 23:11:21

: AshtechGPS::processRecord -sample time is 1143760280
: Sonardyne - POSD response: 
POSD S119.5,N18.1,D7,U1,Q0.012214

: Sonardyne - POSD response: 
POSD S119.5,N18.1,D7,U1,Q0.012214

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 730.199978) 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 = 730.399964) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 730.399964) Behavior missionTimer has changed to state Active

:  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 R236.57

: Sonardyne - parsing R236.57

: Sonardyne - read R = 236.570000 from 236.57

: Sonardyne - got range only (236.570000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231122.00,3636.69384,N,12152.60291,W,1,13,0.7,-3.84,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231122.00,3636.69384,N,12152.60291,W,1,13,0.7,-3.84,M,-33.22,M,,*7C


: successfully parse sentence at 23:11:22

: AshtechGPS::processRecord -sample time is 1143760281
: Sonardyne - POSD response: 
POSD S129.5,N31.7,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.5,N31.7,D0,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R235.67

: Sonardyne - parsing R235.67

: Sonardyne - read R = 235.670000 from 235.67

: Sonardyne - got range only (235.670000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231123.00,3636.69384,N,12152.60305,W,1,13,0.7,-3.89,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231123.00,3636.69384,N,12152.60305,W,1,13,0.7,-3.89,M,-33.22,M,,*7C


: successfully parse sentence at 23:11:23

: AshtechGPS::processRecord -sample time is 1143760282
: Sonardyne - POSD response: 
POSD S126.0,N27.0,D-54,U1,Q0.017836

: Sonardyne - POSD response: 
POSD S126.0,N27.0,D-54,U1,Q0.017836

:  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 R236.53

: Sonardyne - parsing R236.53

: Sonardyne - read R = 236.530000 from 236.53

: Sonardyne - got range only (236.530000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231124.00,3636.69385,N,12152.60315,W,1,13,0.7,-3.93,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,231124.00,3636.69385,N,12152.60315,W,1,13,0.7,-3.93,M,-33.22,M,,*70


: successfully parse sentence at 23:11:24

: AshtechGPS::processRecord -sample time is 1143760283
: Sonardyne - POSD response: 
POSD S126.2,N26.2,D-19,U1,Q0.007238

: Sonardyne - POSD response: 
POSD S126.2,N26.2,D-19,U1,Q0.007238

:  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 R235.56

: Sonardyne - parsing R235.56

: Sonardyne - read R = 235.560000 from 235.56

: Sonardyne - got range only (235.560000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231125.00,3636.69385,N,12152.60320,W,1,13,0.7,-3.85,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,231125.00,3636.69385,N,12152.60320,W,1,13,0.7,-3.85,M,-33.22,M,,*70


: successfully parse sentence at 23:11:25

: AshtechGPS::processRecord -sample time is 1143760284
: Sonardyne - POSD response: 
POSD S118.4,N22.7,D15,U1,Q0.013255

: Sonardyne - POSD response: 
POSD S118.4,N22.7,D15,U1,Q0.013255

:  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 R238.33

: Sonardyne - parsing R238.33

: Sonardyne - read R = 238.330000 from 238.33

: Sonardyne - got range only (238.330000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231126.00,3636.69383,N,12152.60333,W,1,12,0.7,-3.71,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231126.00,3636.69383,N,12152.60333,W,1,12,0.7,-3.71,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:26

: AshtechGPS::processRecord -sample time is 1143760285
: Sonardyne - POSD response: 
POSD S124.7,N30.3,D-29,U3,Q0.007068

: Sonardyne - POSD response: 
POSD S124.7,N30.3,D-29,U3,Q0.007068

:  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 R235.37

: Sonardyne - parsing R235.37

: Sonardyne - read R = 235.370000 from 235.37

: Sonardyne - got range only (235.370000), tat = 759
: AshtechGps::processRecord() - $GPGGA,231127.00,3636.69368,N,12152.60327,W,1,12,0.7,-3.54,M,-33.22,M,,*7B

: GpsUtils::parseFix() - $GPGGA,231127.00,3636.69368,N,12152.60327,W,1,12,0.7,-3.54,M,-33.22,M,,*7B


: successfully parse sentence at 23:11:27

: AshtechGPS::processRecord -sample time is 1143760286
: Sonardyne - POSD response: 
POSD S128.2,N26.8,D86,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.2,N26.8,D86,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 R235.00

: Sonardyne - parsing R235.00

: Sonardyne - read R = 235.000000 from 235.00

: Sonardyne - got range only (235.000000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231128.00,3636.69353,N,12152.60326,W,1,12,0.7,-3.54,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231128.00,3636.69353,N,12152.60326,W,1,12,0.7,-3.54,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:28

: AshtechGPS::processRecord -sample time is 1143760287
: Sonardyne - POSD response: 
POSD S126.9,N34.1,D-9,U4,Q0.007527

: Sonardyne - POSD response: 
POSD S126.9,N34.1,D-9,U4,Q0.007527

:  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 R234.63

: Sonardyne - parsing R234.63

: Sonardyne - read R = 234.630000 from 234.63

: Sonardyne - got range only (234.630000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231129.00,3636.69343,N,12152.60324,W,1,12,0.7,-3.74,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231129.00,3636.69343,N,12152.60324,W,1,12,0.7,-3.74,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:29

: AshtechGPS::processRecord -sample time is 1143760288
: Sonardyne - POSD response: 
POSD S121.5,N20.8,D-18,U1,Q0.009112

: Sonardyne - POSD response: 
POSD S121.5,N20.8,D-18,U1,Q0.009112

: BluefinBatt Reply: $aaq0 d- 31.34  2.92 16.99 3.91 3.93 0  1116.78 07:08:50 m

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

: Sonardyne - POS response: 
POS V4,1 R234.60

: Sonardyne - parsing R234.60

: Sonardyne - read R = 234.600000 from 234.60

: Sonardyne - got range only (234.600000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231130.00,3636.69342,N,12152.60324,W,1,12,0.7,-4.12,M,-33.22,M,,*73

: GpsUtils::parseFix() - $GPGGA,231130.00,3636.69342,N,12152.60324,W,1,12,0.7,-4.12,M,-33.22,M,,*73


: successfully parse sentence at 23:11:30

: AshtechGPS::processRecord -sample time is 1143760289
: Sonardyne - POSD response: 
POSD S127.0,N35.9,D27,U5,Q0.008196

: Sonardyne - POSD response: 
POSD S127.0,N35.9,D27,U5,Q0.008196

: 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

: Sonardyne - POS response: 
POS V4,1 R234.73

: Sonardyne - parsing R234.73

: Sonardyne - read R = 234.730000 from 234.73

: Sonardyne - got range only (234.730000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231131.00,3636.69344,N,12152.60330,W,1,12,0.7,-4.16,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231131.00,3636.69344,N,12152.60330,W,1,12,0.7,-4.16,M,-33.22,M,,*75


: successfully parse sentence at 23:11:31

: AshtechGPS::processRecord -sample time is 1143760290
: Sonardyne - POSD response: 
POSD S125.4,N27.4,D-59,U2,Q0.001622

: Sonardyne - POSD response: 
POSD S125.4,N27.4,D-59,U2,Q0.001622

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

: AshtechGps::processRecord() - $GPGGA,231132.00,3636.69346,N,12152.60338,W,1,12,0.7,-4.16,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231132.00,3636.69346,N,12152.60338,W,1,12,0.7,-4.16,M,-33.22,M,,*7C


: successfully parse sentence at 23:11:32

: AshtechGPS::processRecord -sample time is 1143760291
: Sonardyne - POS response: 
POS V4,1 R236.03

: Sonardyne - parsing R236.03

: Sonardyne - read R = 236.030000 from 236.03

: Sonardyne - got range only (236.030000), tat = 810
: Sonardyne - POSD response: 
POSD S125.0,N22.0,D-82,U1,Q0.000467

: Sonardyne - POSD response: 
POSD S125.0,N22.0,D-82,U1,Q0.000467

:  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 R235.01

: Sonardyne - parsing R235.01

: Sonardyne - read R = 235.010000 from 235.01

: Sonardyne - got range only (235.010000), tat = 760
: AshtechGps::processRecord() - $GPGGA,231133.00,3636.69346,N,12152.60344,W,1,12,0.7,-3.97,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231133.00,3636.69346,N,12152.60344,W,1,12,0.7,-3.97,M,-33.22,M,,*78


: successfully parse sentence at 23:11:33

: AshtechGPS::processRecord -sample time is 1143760292
: Sonardyne - POSD response: 
POSD S115.5,N19.8,D-70,U2,Q0.012669

: Sonardyne - POSD response: 
POSD S115.5,N19.8,D-70,U2,Q0.012669

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

: Sonardyne - POS response: 
POS V4,1 R235.38,X197.98,Y127.30,Z0.00

: Sonardyne - parsing R235.38,X197.98,Y127.30,Z0.00

: Sonardyne - read R = 235.380000 from 235.38,X197.98,Y127.30,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=235.380000, x=0.000000, y=197.980000, z=-127.300000 tat = 790
: AshtechGps::processRecord() - $GPGGA,231134.00,3636.69340,N,12152.60346,W,1,12,0.7,-3.88,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231134.00,3636.69340,N,12152.60346,W,1,12,0.7,-3.88,M,-33.22,M,,*75


: successfully parse sentence at 23:11:34

: AshtechGPS::processRecord -sample time is 1143760293
:  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 R235.77

: Sonardyne - parsing R235.77

: Sonardyne - read R = 235.770000 from 235.77

: Sonardyne - got range only (235.770000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231135.00,3636.69335,N,12152.60350,W,1,12,0.7,-3.89,M,-33.22,M,,*70

: GpsUtils::parseFix() - $GPGGA,231135.00,3636.69335,N,12152.60350,W,1,12,0.7,-3.89,M,-33.22,M,,*70


: successfully parse sentence at 23:11:35

: AshtechGPS::processRecord -sample time is 1143760294
: Sonardyne - POSD response: 
POSD S118.8,N22.5,D95,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.8,N22.5,D95,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R237.40

: Sonardyne - parsing R237.40

: Sonardyne - read R = 237.400000 from 237.40

: Sonardyne - got range only (237.400000), tat = 770
: AshtechGps::processRecord() - $GPGGA,231136.00,3636.69334,N,12152.60352,W,1,12,0.7,-3.99,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,231136.00,3636.69334,N,12152.60352,W,1,12,0.7,-3.99,M,-33.22,M,,*71


: successfully parse sentence at 23:11:36

: AshtechGPS::processRecord -sample time is 1143760295
: Sonardyne - POSD response: 
POSD S121.8,N20.7,D100,U5,Q0.000924

: Sonardyne - POSD response: 
POSD S121.8,N20.7,D100,U5,Q0.000924

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

: AshtechGps::processRecord() - $GPGGA,231137.00,3636.69334,N,12152.60361,W,1,12,0.7,-4.00,M,-33.22,M,,*77

: GpsUtils::parseFix() - $GPGGA,231137.00,3636.69334,N,12152.60361,W,1,12,0.7,-4.00,M,-33.22,M,,*77


: successfully parse sentence at 23:11:37

: AshtechGPS::processRecord -sample time is 1143760296
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231138.00,3636.69328,N,12152.60360,W,1,12,0.7,-3.86,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231138.00,3636.69328,N,12152.60360,W,1,12,0.7,-3.86,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:38

: AshtechGPS::processRecord -sample time is 1143760297
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231139.00,3636.69323,N,12152.60363,W,1,12,0.7,-3.87,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231139.00,3636.69323,N,12152.60363,W,1,12,0.7,-3.87,M,-33.22,M,,*75


: successfully parse sentence at 23:11:39

: AshtechGPS::processRecord -sample time is 1143760298
: BluefinBatt Reply: $aaq0 d- 31.34  2.39 16.99 3.91 3.94 0  1116.52 07:09:00 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,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,231140.00,3636.69318,N,12152.60363,W,1,12,0.7,-3.97,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,231140.00,3636.69318,N,12152.60363,W,1,12,0.7,-3.97,M,-33.22,M,,*72


: successfully parse sentence at 23:11:40

: AshtechGPS::processRecord -sample time is 1143760299
: 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,231141.00,3636.69313,N,12152.60364,W,1,12,0.7,-3.96,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231141.00,3636.69313,N,12152.60364,W,1,12,0.7,-3.96,M,-33.22,M,,*7E


: successfully parse sentence at 23:11:41

: AshtechGPS::processRecord -sample time is 1143760300
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231142.00,3636.69309,N,12152.60369,W,1,12,0.7,-4.05,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,231142.00,3636.69309,N,12152.60369,W,1,12,0.7,-4.05,M,-33.22,M,,*76


: successfully parse sentence at 23:11:42

: AshtechGPS::processRecord -sample time is 1143760301
:  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,N2.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231143.00,3636.69306,N,12152.60371,W,1,12,0.7,-4.13,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,231143.00,3636.69306,N,12152.60371,W,1,12,0.7,-4.13,M,-33.22,M,,*76


: successfully parse sentence at 23:11:43

: AshtechGPS::processRecord -sample time is 1143760302
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231144.00,3636.69311,N,12152.60382,W,1,12,0.7,-4.21,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,231144.00,3636.69311,N,12152.60382,W,1,12,0.7,-4.21,M,-33.22,M,,*7A


: successfully parse sentence at 23:11:44

: AshtechGPS::processRecord -sample time is 1143760303
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231145.00,3636.69313,N,12152.60387,W,1,12,0.7,-4.31,M,-33.22,M,,*7D

: GpsUtils::parseFix() - $GPGGA,231145.00,3636.69313,N,12152.60387,W,1,12,0.7,-4.31,M,-33.22,M,,*7D


: successfully parse sentence at 23:11:45

: AshtechGPS::processRecord -sample time is 1143760304
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231146.00,3636.69317,N,12152.60389,W,1,12,0.7,-4.25,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,231146.00,3636.69317,N,12152.60389,W,1,12,0.7,-4.25,M,-33.22,M,,*71


: successfully parse sentence at 23:11:46

: AshtechGPS::processRecord -sample time is 1143760305
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,231147.00,3636.69321,N,12152.60391,W,1,12,0.7,-4.12,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231147.00,3636.69321,N,12152.60391,W,1,12,0.7,-4.12,M,-33.22,M,,*78


: successfully parse sentence at 23:11:47

: AshtechGPS::processRecord -sample time is 1143760306
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231148.00,3636.69319,N,12152.60388,W,1,12,0.7,-4.01,M,-33.22,M,,*76

: GpsUtils::parseFix() - $GPGGA,231148.00,3636.69319,N,12152.60388,W,1,12,0.7,-4.01,M,-33.22,M,,*76


: successfully parse sentence at 23:11:48

: AshtechGPS::processRecord -sample time is 1143760307
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231149.00,3636.69316,N,12152.60390,W,1,12,0.7,-4.05,M,-33.22,M,,*75

: GpsUtils::parseFix() - $GPGGA,231149.00,3636.69316,N,12152.60390,W,1,12,0.7,-4.05,M,-33.22,M,,*75


: successfully parse sentence at 23:11:49

: AshtechGPS::processRecord -sample time is 1143760308
: BluefinBatt Reply: $aaq0 d- 31.34  2.39 16.89 3.91 3.94 0  1116.35 07:09:10 m

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231150.00,3636.69311,N,12152.60386,W,1,12,0.7,-3.99,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,231150.00,3636.69311,N,12152.60386,W,1,12,0.7,-3.99,M,-33.22,M,,*7F


: successfully parse sentence at 23:11:50

: AshtechGPS::processRecord -sample time is 1143760309
: 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,231151.00,3636.69308,N,12152.60385,W,1,12,0.7,-3.98,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,231151.00,3636.69308,N,12152.60385,W,1,12,0.7,-3.98,M,-33.22,M,,*74


: successfully parse sentence at 23:11:51

: AshtechGPS::processRecord -sample time is 1143760310
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231152.00,3636.69304,N,12152.60387,W,1,12,0.7,-3.99,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231152.00,3636.69304,N,12152.60387,W,1,12,0.7,-3.99,M,-33.22,M,,*78


: successfully parse sentence at 23:11:52

: AshtechGPS::processRecord -sample time is 1143760311
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231153.00,3636.69299,N,12152.60386,W,1,12,0.7,-4.02,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231153.00,3636.69299,N,12152.60386,W,1,12,0.7,-4.02,M,-33.22,M,,*78


: successfully parse sentence at 23:11:53

: AshtechGPS::processRecord -sample time is 1143760312
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N0.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N0.9,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,231154.00,3636.69301,N,12152.60393,W,1,12,0.7,-4.17,M,-33.22,M,,*7F

: GpsUtils::parseFix() - $GPGGA,231154.00,3636.69301,N,12152.60393,W,1,12,0.7,-4.17,M,-33.22,M,,*7F


: successfully parse sentence at 23:11:54

: AshtechGPS::processRecord -sample time is 1143760313
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231155.00,3636.69300,N,12152.60393,W,1,12,0.7,-4.19,M,-33.22,M,,*71

: GpsUtils::parseFix() - $GPGGA,231155.00,3636.69300,N,12152.60393,W,1,12,0.7,-4.19,M,-33.22,M,,*71


: successfully parse sentence at 23:11:55

: AshtechGPS::processRecord -sample time is 1143760314
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231156.00,3636.69305,N,12152.60398,W,1,12,0.7,-4.22,M,-33.22,M,,*74

: GpsUtils::parseFix() - $GPGGA,231156.00,3636.69305,N,12152.60398,W,1,12,0.7,-4.22,M,-33.22,M,,*74


: successfully parse sentence at 23:11:56

: AshtechGPS::processRecord -sample time is 1143760315
:  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,N1.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,231157.00,3636.69308,N,12152.60403,W,1,12,0.7,-4.25,M,-33.22,M,,*7A

: GpsUtils::parseFix() - $GPGGA,231157.00,3636.69308,N,12152.60403,W,1,12,0.7,-4.25,M,-33.22,M,,*7A


: successfully parse sentence at 23:11:57

: AshtechGPS::processRecord -sample time is 1143760316
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231158.00,3636.69310,N,12152.60407,W,1,12,0.7,-3.99,M,-33.22,M,,*78

: GpsUtils::parseFix() - $GPGGA,231158.00,3636.69310,N,12152.60407,W,1,12,0.7,-3.99,M,-33.22,M,,*78


: successfully parse sentence at 23:11:58

: AshtechGPS::processRecord -sample time is 1143760317
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231159.00,3636.69302,N,12152.60402,W,1,12,0.7,-3.85,M,-33.22,M,,*72

: GpsUtils::parseFix() - $GPGGA,231159.00,3636.69302,N,12152.60402,W,1,12,0.7,-3.85,M,-33.22,M,,*72


: successfully parse sentence at 23:11:59

: AshtechGPS::processRecord -sample time is 1143760318
: BluefinBatt Reply: $aaq0 d- 31.38  3.23 16.99 3.91 3.94 0  1116.04 07:09:20 m

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

: AshtechGps::processRecord() - $GPGGA,231200.00,3636.69299,N,12152.60398,W,1,12,0.7,-3.79,M,-33.22,M,,*79

: GpsUtils::parseFix() - $GPGGA,231200.00,3636.69299,N,12152.60398,W,1,12,0.7,-3.79,M,-33.22,M,,*79


: successfully parse sentence at 23:12:0

: AshtechGPS::processRecord -sample time is 1143760319
: 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,N2.6,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,231201.00,3636.69287,N,12152.60386,W,1,12,0.7,-3.80,M,-33.22,M,,*7E

: GpsUtils::parseFix() - $GPGGA,231201.00,3636.69287,N,12152.60386,W,1,12,0.7,-3.80,M,-33.22,M,,*7E


: successfully parse sentence at 23:12:1

: AshtechGPS::processRecord -sample time is 1143760320
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,231202.00,3636.69282,N,12152.60387,W,1,12,0.7,-3.94,M,-33.22,M,,*7C

: GpsUtils::parseFix() - $GPGGA,231202.00,3636.69282,N,12152.60387,W,1,12,0.7,-3.94,M,-33.22,M,,*7C


: successfully parse sentence at 23:12:2

: AshtechGPS::processRecord -sample time is 1143760321
: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: 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 ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****


//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()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object crossbowOutput ****

: StepGetStat (2) failed to read chars, rcvd=2, want=8

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: StepGetStat (2) 5d 5d 00 00 01 00 00
: SerialDevice: done...

: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
