Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleConfigurationServer
S: Initializing worksiteServer
upervisor: WorkSite::WorkSite -- Adding attributes
::: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv/altex/onboard/config/docking/workSite.cfg
createTask() - externalCommsServer
: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
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() - parosciSe: Preparing to fork

rver
: SerialDevice: done...

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
: SerialDevice: done...

: SerialDevice: done...

: I'm the child...forking

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

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

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

nBattDriver
: SerialDevice: done...

: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

S: ahrs if is Ahrs

up: SerialDevice: done...

: SerialDevice: done...

ervisor::c: Crossbow.cc: Setting polled mode
reateT: Crossbow.cc: Setting polled mode
ask: AshtechGps::processRecord() - $PASHR,ACK*3D

(: Crossbow.cc: In getSerialNumber()
) : GpsUtils::parseFix() - $PASHR,ACK*3D


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

r
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

: SerialDevice: done...

: SerialDevice: done...

: BluefineBatt::init() - 1 batteries on 10 second interval
: BluefinBatt.cc - Looking for Parosci server
: SerialDevice: done...

: seabirdDriver RUNNING...

Su: BluefinBatt::init() - querying for batt ids
perviso: SerialDevice: done...

r::createTask() - fa: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv/altex/onboard/config/docking/ctdDriver.cfg

nServer
Supervisor::createTask() - dropWeight: AshtechGps::processRecord() - $GPGGA,202003.00,3636.79487,N,12152.52419,W,1,10,0.9,-4.49,M,-33.30,M,,*74

Se: GpsUtils::parseFix() - $GPGGA,202003.00,3636.79487,N,12152.52419,W,1,10,0.9,-4.49,M,-33.30,M,,*74


rver: successfully parse sentence at 20:20:3


: SerialDevice: done...

Su: AshtechGPS::processRecord -sample time is 1145305202
: 3 Modules found
pervisor::createTask() - sonardyneServer
: SerialDevice: done...

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

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

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 107382 (1a376)
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

:  odfut

: AshtechGps::processRecord() - $GPGGA,202004.00,3636.79484,N,12152.52422,W,1,10,0.9,-4.37,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,202004.00,3636.79484,N,12152.52422,W,1,10,0.9,-4.37,M,-33.30,M,,*71


: successfully parse sentence at 20:20:4

: AshtechGPS::processRecord -sample time is 1145305203
: 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
: 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
: Parosci.cc -- Initial pressure = 0.068948
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Parosci initial pressure period = 30.138750
: Parosci.cc -- Parosci initial temp period = 5.841921
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
:  d  09, w  00, D  , CmsN=0 D_u  , GleSlniOt=0  uprrxn=1  uprihiett=1  uproeodB=0

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,202005.00,3636.79496,N,12152.52412,W,1,10,0.9,-4.21,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,202005.00,3636.79496,N,12152.52412,W,1,10,0.9,-4.21,M,-33.30,M,,*77


: successfully parse sentence at 20:20:5

: AshtechGPS::processRecord -sample time is 1145305204
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
:  d  09, w  00, D  , CmsN=0 D_u  , GleSlniOt=0  uprrxn=1  uprihiett=1  uproeodB=0

: AshtechGps::processRecord() - $GPGGA,202006.00,3636.79487,N,12152.52408,W,1,10,0.9,-4.07,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202006.00,3636.79487,N,12152.52408,W,1,10,0.9,-4.07,M,-33.30,M,,*7B


: successfully parse sentence at 20:20:6

: AshtechGPS::processRecord -sample time is 1145305205
:  wt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202007.00,3636.79491,N,12152.52395,W,1,10,0.9,-4.04,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202007.00,3636.79491,N,12152.52395,W,1,10,0.9,-4.04,M,-33.30,M,,*7D


: successfully parse sentence at 20:20:7

: AshtechGPS::processRecord -sample time is 1145305206
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
:  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,N2.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,202008.00,3636.79483,N,12152.52385,W,1,10,0.9,-4.06,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,202008.00,3636.79483,N,12152.52385,W,1,10,0.9,-4.06,M,-33.30,M,,*72


: successfully parse sentence at 20:20:8

: AshtechGPS::processRecord -sample time is 1145305207
: Sonardyne - POSD response: 
POSD S-100.0,N2.2,D0,U0,Q0.000000

: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202009.00,3636.79489,N,12152.52374,W,1,10,0.9,-4.23,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,202009.00,3636.79489,N,12152.52374,W,1,10,0.9,-4.23,M,-33.30,M,,*70


: successfully parse sentence at 20:20:9

: AshtechGPS::processRecord -sample time is 1145305208
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202010.00,3636.79492,N,12152.52374,W,1,10,0.9,-4.18,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202010.00,3636.79492,N,12152.52374,W,1,10,0.9,-4.18,M,-33.30,M,,*7A


: successfully parse sentence at 20:20:10

: AshtechGPS::processRecord -sample time is 1145305209
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202011.00,3636.79495,N,12152.52374,W,1,10,0.9,-4.13,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,202011.00,3636.79495,N,12152.52374,W,1,10,0.9,-4.13,M,-33.30,M,,*77


: successfully parse sentence at 20:20:11

: AshtechGPS::processRecord -sample time is 1145305210
: 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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202012.00,3636.79497,N,12152.52373,W,1,10,0.9,-4.11,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,202012.00,3636.79497,N,12152.52373,W,1,10,0.9,-4.11,M,-33.30,M,,*73


: successfully parse sentence at 20:20:12

: AshtechGPS::processRecord -sample time is 1145305211
: Seabird/ctdDriver: sending configure commands...(2336)

: Seabird/ctdDriver: setting scans...

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

: AshtechGps::processRecord() - $GPGGA,202013.00,3636.79501,N,12152.52371,W,1,10,0.9,-4.00,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202013.00,3636.79501,N,12152.52371,W,1,10,0.9,-4.00,M,-33.30,M,,*7E


: successfully parse sentence at 20:20:13

: AshtechGPS::processRecord -sample time is 1145305212
: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202014.00,3636.79493,N,12152.52357,W,1,10,0.9,-3.68,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202014.00,3636.79493,N,12152.52357,W,1,10,0.9,-3.68,M,-33.30,M,,*7E


: successfully parse sentence at 20:20:14

: AshtechGPS::processRecord -sample time is 1145305213
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202015.00,3636.79482,N,12152.52334,W,1,10,0.9,-3.52,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,202015.00,3636.79482,N,12152.52334,W,1,10,0.9,-3.52,M,-33.30,M,,*73


: successfully parse sentence at 20:20:15

: AshtechGPS::processRecord -sample time is 1145305214
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202016.00,3636.79460,N,12152.52324,W,1,10,0.9,-3.61,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202016.00,3636.79460,N,12152.52324,W,1,10,0.9,-3.61,M,-33.30,M,,*7D


: successfully parse sentence at 20:20:16

: AshtechGPS::processRecord -sample time is 1145305215
: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,202017.00,3636.79455,N,12152.52311,W,1,10,0.9,-3.77,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202017.00,3636.79455,N,12152.52311,W,1,10,0.9,-3.77,M,-33.30,M,,*7B


: successfully parse sentence at 20:20:17

: AshtechGPS::processRecord -sample time is 1145305216
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202018.00,3636.79441,N,12152.52302,W,1,10,0.9,-3.92,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,202018.00,3636.79441,N,12152.52302,W,1,10,0.9,-3.92,M,-33.30,M,,*78


: successfully parse sentence at 20:20:18

: AshtechGPS::processRecord -sample time is 1145305217
: 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

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

: AshtechGps::processRecord() - $GPGGA,202019.00,3636.79434,N,12152.52292,W,1,10,0.9,-4.06,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202019.00,3636.79434,N,12152.52292,W,1,10,0.9,-4.06,M,-33.30,M,,*79


: successfully parse sentence at 20:20:19

: AshtechGPS::processRecord -sample time is 1145305218
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202020.00,3636.79437,N,12152.52284,W,1,10,0.9,-4.29,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202020.00,3636.79437,N,12152.52284,W,1,10,0.9,-4.29,M,-33.30,M,,*7A


: successfully parse sentence at 20:20:20

: AshtechGPS::processRecord -sample time is 1145305219
:  wdt = 00892,  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,202021.00,3636.79440,N,12152.52286,W,1,10,0.9,-4.45,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,202021.00,3636.79440,N,12152.52286,W,1,10,0.9,-4.45,M,-33.30,M,,*73


: successfully parse sentence at 20:20:21

: AshtechGPS::processRecord -sample time is 1145305220
: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(2336)

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

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

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

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Seabird/ctdDriver::initialize() - confirming voltage...

: Sonardyne - POSD response: 
POSD S-100.0,N4.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202022.00,3636.79451,N,12152.52288,W,1,10,0.9,-4.58,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,202022.00,3636.79451,N,12152.52288,W,1,10,0.9,-4.58,M,-33.30,M,,*72


: successfully parse sentence at 20:20:22

: AshtechGPS::processRecord -sample time is 1145305221
: Seabird/ctdDriver::initialize() - confirming voltage...

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

: AshtechGps::processRecord() - $GPGGA,202023.00,3636.79453,N,12152.52291,W,1,10,0.9,-4.42,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,202023.00,3636.79453,N,12152.52291,W,1,10,0.9,-4.42,M,-33.30,M,,*72


: successfully parse sentence at 20:20:23

: AshtechGPS::processRecord -sample time is 1145305222
: Seabird/ctdDriver::initialize() - disabling switch...

: Seabird/ctdDriver: sending DS command...

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

: AshtechGps::processRecord() - $GPGGA,202024.00,3636.79459,N,12152.52282,W,1,10,0.9,-4.43,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,202024.00,3636.79459,N,12152.52282,W,1,10,0.9,-4.43,M,-33.30,M,,*7C


: successfully parse sentence at 20:20:24

: AshtechGPS::processRecord -sample time is 1145305223
: BluefinBatt Reply: $aaq0 d- 31.64  3.19 17.77 3.94 3.97 0  2858.78 00:12:57 m

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

: AshtechGps::processRecord() - $GPGGA,202025.00,3636.79465,N,12152.52270,W,1,10,0.9,-4.23,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202025.00,3636.79465,N,12152.52270,W,1,10,0.9,-4.23,M,-33.30,M,,*79


: successfully parse sentence at 20:20:25

: AshtechGPS::processRecord -sample time is 1145305224
: 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

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

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

: AshtechGps::processRecord() - $GPGGA,202026.00,3636.79456,N,12152.52266,W,1,10,0.9,-4.17,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202026.00,3636.79456,N,12152.52266,W,1,10,0.9,-4.17,M,-33.30,M,,*7A


: successfully parse sentence at 20:20:26

: AshtechGPS::processRecord -sample time is 1145305225
: 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
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202027.00,3636.79454,N,12152.52261,W,1,10,0.9,-4.05,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202027.00,3636.79454,N,12152.52261,W,1,10,0.9,-4.05,M,-33.30,M,,*7D


: successfully parse sentence at 20:20:27

: AshtechGPS::processRecord -sample time is 1145305226
: Seabird/ctdDriver::initialize() - starting logging...

: **** 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 ***

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

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

: AshtechGps::processRecord() - $GPGGA,202028.00,3636.79433,N,12152.52254,W,1,10,0.9,-3.80,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202028.00,3636.79433,N,12152.52254,W,1,10,0.9,-3.80,M,-33.30,M,,*7F


: successfully parse sentence at 20:20:28

: AshtechGPS::processRecord -sample time is 1145305227
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202029.00,3636.79408,N,12152.52223,W,1,10,0.9,-3.58,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,202029.00,3636.79408,N,12152.52223,W,1,10,0.9,-3.58,M,-33.30,M,,*73


: successfully parse sentence at 20:20:29

: AshtechGPS::processRecord -sample time is 1145305228
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202030.00,3636.79390,N,12152.52199,W,1,10,0.9,-3.85,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202030.00,3636.79390,N,12152.52199,W,1,10,0.9,-3.85,M,-33.30,M,,*7F


: successfully parse sentence at 20:20:30

: AshtechGPS::processRecord -sample time is 1145305229
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202031.00,3636.79376,N,12152.52186,W,1,10,0.9,-3.95,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202031.00,3636.79376,N,12152.52186,W,1,10,0.9,-3.95,M,-33.30,M,,*79


: successfully parse sentence at 20:20:31

: AshtechGPS::processRecord -sample time is 1145305230
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202032.00,3636.79356,N,12152.52172,W,1,10,0.9,-3.90,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,202032.00,3636.79356,N,12152.52172,W,1,10,0.9,-3.90,M,-33.30,M,,*76


: successfully parse sentence at 20:20:32

: AshtechGPS::processRecord -sample time is 1145305231
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,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,202033.00,3636.79342,N,12152.52154,W,1,10,0.9,-4.23,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202033.00,3636.79342,N,12152.52154,W,1,10,0.9,-4.23,M,-33.30,M,,*79


: successfully parse sentence at 20:20:33

: AshtechGPS::processRecord -sample time is 1145305232
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202034.00,3636.79339,N,12152.52147,W,1,10,0.9,-4.58,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,202034.00,3636.79339,N,12152.52147,W,1,10,0.9,-4.58,M,-33.30,M,,*7C


: successfully parse sentence at 20:20:34

: AshtechGPS::processRecord -sample time is 1145305233
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: BluefinBatt Reply: $aaq0 d- 31.60  3.23 17.77 3.94 3.97 0  2858.58 00:13:07 m

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

: AshtechGps::processRecord() - $GPGGA,202035.00,3636.79347,N,12152.52148,W,1,10,0.9,-4.90,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202035.00,3636.79347,N,12152.52148,W,1,10,0.9,-4.90,M,-33.30,M,,*7F


: successfully parse sentence at 20:20:35

: AshtechGPS::processRecord -sample time is 1145305234
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202036.00,3636.79363,N,12152.52156,W,1,10,0.9,-4.99,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,202036.00,3636.79363,N,12152.52156,W,1,10,0.9,-4.99,M,-33.30,M,,*7C


: successfully parse sentence at 20:20:36

: AshtechGPS::processRecord -sample time is 1145305235
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.999383) Behavior getgps has changed to state Finished

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

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

: AshtechGps::processRecord() - $GPGGA,202037.00,3636.79376,N,12152.52161,W,1,10,0.9,-4.66,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,202037.00,3636.79376,N,12152.52161,W,1,10,0.9,-4.66,M,-33.30,M,,*7D


: successfully parse sentence at 20:20:37

: AshtechGPS::processRecord -sample time is 1145305236
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202038.00,3636.79374,N,12152.52161,W,1,10,0.9,-4.31,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,202038.00,3636.79374,N,12152.52161,W,1,10,0.9,-4.31,M,-33.30,M,,*72


: successfully parse sentence at 20:20:38

: AshtechGPS::processRecord -sample time is 1145305237
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202039.00,3636.79366,N,12152.52150,W,1,10,0.9,-4.00,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,202039.00,3636.79366,N,12152.52150,W,1,10,0.9,-4.00,M,-33.30,M,,*70


: successfully parse sentence at 20:20:39

: AshtechGPS::processRecord -sample time is 1145305238
: 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,202040.00,3636.79360,N,12152.52130,W,1,10,0.9,-3.78,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,202040.00,3636.79360,N,12152.52130,W,1,10,0.9,-3.78,M,-33.30,M,,*76


: successfully parse sentence at 20:20:40

: AshtechGPS::processRecord -sample time is 1145305239
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202041.00,3636.79346,N,12152.52112,W,1,10,0.9,-3.72,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202041.00,3636.79346,N,12152.52112,W,1,10,0.9,-3.72,M,-33.30,M,,*79


: successfully parse sentence at 20:20:41

: AshtechGPS::processRecord -sample time is 1145305240
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202042.00,3636.79344,N,12152.52092,W,1,10,0.9,-3.73,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,202042.00,3636.79344,N,12152.52092,W,1,10,0.9,-3.73,M,-33.30,M,,*70


: successfully parse sentence at 20:20:42

: AshtechGPS::processRecord -sample time is 1145305241
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,202043.00,3636.79341,N,12152.52090,W,1,10,0.9,-4.07,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,202043.00,3636.79341,N,12152.52090,W,1,10,0.9,-4.07,M,-33.30,M,,*72


: successfully parse sentence at 20:20:43

: AshtechGPS::processRecord -sample time is 1145305242
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202044.00,3636.79360,N,12152.52105,W,1,10,0.9,-4.52,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202044.00,3636.79360,N,12152.52105,W,1,10,0.9,-4.52,M,-33.30,M,,*7B


: successfully parse sentence at 20:20:44

: AshtechGPS::processRecord -sample time is 1145305243
: BluefinBatt Reply: $aaq0 d- 31.38  9.30 17.77 3.94 3.97 0  2857.86 00:13:17 m

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

: AshtechGps::processRecord() - $GPGGA,202045.00,3636.79401,N,12152.52141,W,1,10,0.9,-4.70,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202045.00,3636.79401,N,12152.52141,W,1,10,0.9,-4.70,M,-33.30,M,,*7A


: successfully parse sentence at 20:20:45

: AshtechGPS::processRecord -sample time is 1145305244
: batts online 1, min cell voltage 3.940000, mean min cell voltage 3.940000

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

: AshtechGps::processRecord() - $GPGGA,202046.00,3636.79430,N,12152.52183,W,1,10,0.9,-4.54,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,202046.00,3636.79430,N,12152.52183,W,1,10,0.9,-4.54,M,-33.30,M,,*73


: successfully parse sentence at 20:20:46

: AshtechGPS::processRecord -sample time is 1145305245
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,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,202047.00,3636.79454,N,12152.52219,W,1,10,0.9,-4.15,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,202047.00,3636.79454,N,12152.52219,W,1,10,0.9,-4.15,M,-33.30,M,,*75


: successfully parse sentence at 20:20:47

: AshtechGPS::processRecord -sample time is 1145305246
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202048.00,3636.79473,N,12152.52280,W,1,10,0.9,-4.05,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,202048.00,3636.79473,N,12152.52280,W,1,10,0.9,-4.05,M,-33.30,M,,*7E


: successfully parse sentence at 20:20:48

: AshtechGPS::processRecord -sample time is 1145305247
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202049.00,3636.79472,N,12152.52318,W,1,10,0.9,-3.94,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,202049.00,3636.79472,N,12152.52318,W,1,10,0.9,-3.94,M,-33.30,M,,*71


: successfully parse sentence at 20:20:49

: AshtechGPS::processRecord -sample time is 1145305248
: 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 = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202050.00,3636.79459,N,12152.52355,W,1,11,0.8,-2.33,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,202050.00,3636.79459,N,12152.52355,W,1,11,0.8,-2.33,M,-33.30,M,,*75


: successfully parse sentence at 20:20:50

: AshtechGPS::processRecord -sample time is 1145305249
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202051.00,3636.79443,N,12152.52423,W,1,11,0.8,-2.60,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202051.00,3636.79443,N,12152.52423,W,1,11,0.8,-2.60,M,-33.30,M,,*7F


: successfully parse sentence at 20:20:51

: AshtechGPS::processRecord -sample time is 1145305250
: AshtechGps::processRecord() - $GPGGA,202052.00,3636.79419,N,12152.52494,W,1,11,0.8,-2.48,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,202052.00,3636.79419,N,12152.52494,W,1,11,0.8,-2.48,M,-33.30,M,,*75


: successfully parse sentence at 20:20:52

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

: AshtechGPS::processRecord -sample time is 1145305251
: AshtechGps::processRecord() - $GPGGA,202053.00,3636.79408,N,12152.52566,W,1,11,0.8,-2.48,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,202053.00,3636.79408,N,12152.52566,W,1,11,0.8,-2.48,M,-33.30,M,,*78


: successfully parse sentence at 20:20:53

: AshtechGPS::processRecord -sample time is 1145305252
:  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,N3.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202054.00,3636.79396,N,12152.52644,W,1,11,0.8,-2.82,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,202054.00,3636.79396,N,12152.52644,W,1,11,0.8,-2.82,M,-33.30,M,,*7A


: successfully parse sentence at 20:20:54

: AshtechGPS::processRecord -sample time is 1145305253
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34 10.10 17.87 3.90 3.93 0  2857.05 00:13:27 m

: AshtechGps::processRecord() - $GPGGA,202055.00,3636.79391,N,12152.52742,W,1,11,0.8,-2.91,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,202055.00,3636.79391,N,12152.52742,W,1,11,0.8,-2.91,M,-33.30,M,,*79


: successfully parse sentence at 20:20:55

: AshtechGPS::processRecord -sample time is 1145305254
:  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

: AshtechGps::processRecord() - $GPGGA,202056.00,3636.79385,N,12152.52847,W,1,11,0.8,-2.59,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,202056.00,3636.79385,N,12152.52847,W,1,11,0.8,-2.59,M,-33.30,M,,*71


: successfully parse sentence at 20:20:56

: AshtechGPS::processRecord -sample time is 1145305255
:  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,202057.00,3636.79356,N,12152.52933,W,1,11,0.8,-2.33,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,202057.00,3636.79356,N,12152.52933,W,1,11,0.8,-2.33,M,-33.30,M,,*70


: successfully parse sentence at 20:20:57

: AshtechGPS::processRecord -sample time is 1145305256
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202058.00,3636.79329,N,12152.53011,W,1,11,0.8,-2.15,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,202058.00,3636.79329,N,12152.53011,W,1,11,0.8,-2.15,M,-33.30,M,,*7B


: successfully parse sentence at 20:20:58

: AshtechGPS::processRecord -sample time is 1145305257
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202059.00,3636.79285,N,12152.53092,W,1,11,0.8,-1.86,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202059.00,3636.79285,N,12152.53092,W,1,11,0.8,-1.86,M,-33.30,M,,*7F


: successfully parse sentence at 20:20:59

: AshtechGPS::processRecord -sample time is 1145305258
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202100.00,3636.79250,N,12152.53076,W,1,11,0.8,-0.99,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,202100.00,3636.79250,N,12152.53076,W,1,11,0.8,-0.99,M,-33.30,M,,*7F


: successfully parse sentence at 20:21:0

: AshtechGPS::processRecord -sample time is 1145305259
:  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,N5.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202101.00,,,,,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,202102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202102.00,,,,,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,202103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202103.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N13.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N13.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 31.34  8.92 17.87 3.90 3.93 0  2856.10 00:13:37 m

: AshtechGps::processRecord() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R484.29

: Sonardyne - parsing R484.29

: Sonardyne - read R = 484.290000 from 484.29

: Sonardyne - got range only (484.290000), tat = 1100
: Sonardyne - POSD response: 
POSD S120.2,N28.0,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.2,N28.0,D-43,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202106.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202106.00,,,,,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

: LayeredControl::execute() -- (t = 39.197315) Behavior setpoint has changed to state Finished

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

: Descend::execute() - Descend terminating on depth 4.129474 > 4.000000 at time 39.597287

: LayeredControl::execute() -- (t = 39.597287) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 39.60                             (wplog)
  The current location (N,E) = 4052551.6      , 600553.3         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 225.2 Degrees.

: LayeredControl::execute() -- (t = 39.597287) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R485.44

: Sonardyne - parsing R485.44

: Sonardyne - read R = 485.440000 from 485.44

: Sonardyne - got range only (485.440000), tat = 1100
: Sonardyne - POSD response: 
POSD S118.9,N22.1,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.9,N22.1,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202107.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202107.00,,,,,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,202108.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202108.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R482.35

: Sonardyne - parsing R482.35

: Sonardyne - read R = 482.350000 from 482.35

: Sonardyne - got range only (482.350000), tat = 1100
: Sonardyne - POSD response: 
POSD S123.7,N32.7,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.7,N32.7,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R482.78

: Sonardyne - parsing R482.78

: Sonardyne - read R = 482.780000 from 482.78

: Sonardyne - got range only (482.780000), tat = 1100
: Sonardyne - POSD response: 
POSD S119.0,N22.4,D-107,U3,Q0.012829

: Sonardyne - POSD response: 
POSD S119.0,N22.4,D-107,U3,Q0.012829

: AshtechGps::processRecord() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202111.00,,,,,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 R480.05,X-376.52,Y57.93,Z-292.10

: Sonardyne - parsing R480.05,X-376.52,Y57.93,Z-292.10

: Sonardyne - read R = 480.050000 from 480.05,X-376.52,Y57.93,Z-292.10

: Sonardyne - got all data, Vehicle coordinates,
    r=480.050000, x=292.100000, y=-376.520000, z=-57.930000 tat = 1120
: AshtechGps::processRecord() - $GPGGA,202112.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202112.00,,,,,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 R478.40

: Sonardyne - parsing R478.40

: Sonardyne - read R = 478.400000 from 478.40

: Sonardyne - got range only (478.400000), tat = 1090
: Sonardyne - POSD response: 
POSD S121.0,N27.3,D-50,U1,Q0.007526

: Sonardyne - POSD response: 
POSD S121.0,N27.3,D-50,U1,Q0.007526

: AshtechGps::processRecord() - $GPGGA,202113.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202113.00,,,,,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,202114.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202114.00,,,,,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 R476.78,X-329.47,Y82.02,Z-334.72

: Sonardyne - parsing R476.78,X-329.47,Y82.02,Z-334.72

: Sonardyne - read R = 476.780000 from 476.78,X-329.47,Y82.02,Z-334.72

: Sonardyne - got all data, Vehicle coordinates,
    r=476.780000, x=334.720000, y=-329.470000, z=-82.020000 tat = 1120
: BluefinBatt Reply: $aaq0 d- 31.30 10.34 17.87 3.90 3.92 0  2855.29 00:13:47 m

: AshtechGps::processRecord() - $GPGGA,202115.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202115.00,,,,,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 R474.82,X-311.58,Y105.64,Z-342.37

: Sonardyne - parsing R474.82,X-311.58,Y105.64,Z-342.37

: Sonardyne - read R = 474.820000 from 474.82,X-311.58,Y105.64,Z-342.37

: Sonardyne - got all data, Vehicle coordinates,
    r=474.820000, x=342.370000, y=-311.580000, z=-105.640000 tat = 1110
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

: AshtechGps::processRecord() - $GPGGA,202116.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202116.00,,,,,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,202117.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202117.00,,,,,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 R473.18,X-304.43,Y119.67,Z-341.91

: Sonardyne - parsing R473.18,X-304.43,Y119.67,Z-341.91

: Sonardyne - read R = 473.180000 from 473.18,X-304.43,Y119.67,Z-341.91

: Sonardyne - got all data, Vehicle coordinates,
    r=473.180000, x=341.910000, y=-304.430000, z=-119.670000 tat = 1109
: AshtechGps::processRecord() - $GPGGA,202118.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202118.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R471.86,X-299.62,Y129.34,Z-340.81

: Sonardyne - parsing R471.86,X-299.62,Y129.34,Z-340.81

: Sonardyne - read R = 471.860000 from 471.86,X-299.62,Y129.34,Z-340.81

: Sonardyne - got all data, Vehicle coordinates,
    r=471.860000, x=340.810000, y=-299.620000, z=-129.340000 tat = 1110
: AshtechGps::processRecord() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202119.00,,,,,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,202120.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202120.00,,,,,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 R469.65,X-296.93,Y136.98,Z-337.10

: Sonardyne - parsing R469.65,X-296.93,Y136.98,Z-337.10

: Sonardyne - read R = 469.650000 from 469.65,X-296.93,Y136.98,Z-337.10

: Sonardyne - got all data, Vehicle coordinates,
    r=469.650000, x=337.100000, y=-296.930000, z=-136.980000 tat = 1110
: AshtechGps::processRecord() - $GPGGA,202121.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202121.00,,,,,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 R468.18,X-295.97,Y139.92,Z-334.69

: Sonardyne - parsing R468.18,X-295.97,Y139.92,Z-334.69

: Sonardyne - read R = 468.180000 from 468.18,X-295.97,Y139.92,Z-334.69

: Sonardyne - got all data, Vehicle coordinates,
    r=468.180000, x=334.690000, y=-295.970000, z=-139.920000 tat = 1110
: AshtechGps::processRecord() - $GPGGA,202122.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202122.00,,,,,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,202123.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202123.00,,,,,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 R466.65,X-293.09,Y127.95,Z-339.84

: Sonardyne - parsing R466.65,X-293.09,Y127.95,Z-339.84

: Sonardyne - read R = 466.650000 from 466.65,X-293.09,Y127.95,Z-339.84

: Sonardyne - got all data, Vehicle coordinates,
    r=466.650000, x=339.840000, y=-293.090000, z=-127.950000 tat = 1100
: AshtechGps::processRecord() - $GPGGA,202124.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202124.00,,,,,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 R465.15,X-292.21,Y120.97,Z-341.09

: Sonardyne - parsing R465.15,X-292.21,Y120.97,Z-341.09

: Sonardyne - read R = 465.150000 from 465.15,X-292.21,Y120.97,Z-341.09

: Sonardyne - got all data, Vehicle coordinates,
    r=465.150000, x=341.090000, y=-292.210000, z=-120.970000 tat = 1100
: BluefinBatt Reply: $aaq0 d- 31.26 10.24 17.96 3.90 3.92 0  2854.27 00:13:57 m

: AshtechGps::processRecord() - $GPGGA,202125.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202125.00,,,,,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 3.900000, mean min cell voltage 3.900000

: AshtechGps::processRecord() - $GPGGA,202126.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202126.00,,,,,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 R463.52,X-292.89,Y115.79,Z-340.09

: Sonardyne - parsing R463.52,X-292.89,Y115.79,Z-340.09

: Sonardyne - read R = 463.520000 from 463.52,X-292.89,Y115.79,Z-340.09

: Sonardyne - got all data, Vehicle coordinates,
    r=463.520000, x=340.090000, y=-292.890000, z=-115.790000 tat = 1100
: AshtechGps::processRecord() - $GPGGA,202127.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202127.00,,,,,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 R461.52

: Sonardyne - parsing R461.52

: Sonardyne - read R = 461.520000 from 461.52

: Sonardyne - got range only (461.520000), tat = 1070
: Sonardyne - POSD response: 
POSD S115.4,N15.5,D-148,U3,Q0.013616

: Sonardyne - POSD response: 
POSD S115.4,N15.5,D-148,U3,Q0.013616

: AshtechGps::processRecord() - $GPGGA,202128.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202128.00,,,,,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,202129.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202129.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R459.46

: Sonardyne - parsing R459.46

: Sonardyne - read R = 459.460000 from 459.46

: Sonardyne - got range only (459.460000), tat = 1070
: Sonardyne - POSD response: 
POSD S122.3,N31.0,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N31.0,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202130.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202130.00,,,,,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 R457.51

: Sonardyne - parsing R457.51

: Sonardyne - read R = 457.510000 from 457.51

: Sonardyne - got range only (457.510000), tat = 1060
: Sonardyne - POSD response: 
POSD S121.0,N26.8,D31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.0,N26.8,D31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202131.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202131.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,202132.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202132.00,,,,,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 R455.70

: Sonardyne - parsing R455.70

: Sonardyne - read R = 455.700000 from 455.70

: Sonardyne - got range only (455.700000), tat = 1059
: Sonardyne - POSD response: 
POSD S113.2,N17.2,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.2,N17.2,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202133.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202133.00,,,,,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,202134.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202134.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.34  8.66 17.96 3.91 3.93 0  2853.64 00:14:07 m

: AshtechGps::processRecord() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S-100.0,N12.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N12.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202136.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202136.00,,,,,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,202137.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202137.00,,,,,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 R451.15

: Sonardyne - parsing R451.15

: Sonardyne - read R = 451.150000 from 451.15

: Sonardyne - got range only (451.150000), tat = 1050
: Sonardyne - POSD response: 
POSD S122.6,N30.2,D-22,U3,Q0.007300

: Sonardyne - POSD response: 
POSD S122.6,N30.2,D-22,U3,Q0.007300

: AshtechGps::processRecord() - $GPGGA,202138.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202138.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R449.96

: Sonardyne - parsing R449.96

: Sonardyne - read R = 449.960000 from 449.96

: Sonardyne - got range only (449.960000), tat = 1050
: Sonardyne - POSD response: 
POSD S122.1,N31.5,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.1,N31.5,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202139.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202139.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202140.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202140.00,,,,,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 R448.83

: Sonardyne - parsing R448.83

: Sonardyne - read R = 448.830000 from 448.83

: Sonardyne - got range only (448.830000), tat = 1060
: Sonardyne - POSD response: 
POSD S123.0,N32.8,D5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.0,N32.8,D5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202141.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202141.00,,,,,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,202142.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202142.00,,,,,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,202143.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202143.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $aaq0 d- 31.30  9.57 17.96 3.91 3.93 0  2852.68 00:14:17 m

: AshtechGps::processRecord() - $GPGGA,202145.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202145.00,,,,,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 R442.89,X374.40,Y236.60,Z0.00

: Sonardyne - parsing R442.89,X374.40,Y236.60,Z0.00

: Sonardyne - read R = 442.890000 from 442.89,X374.40,Y236.60,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=442.890000, x=0.000000, y=374.400000, z=-236.600000 tat = 1070
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: AshtechGps::processRecord() - $GPGGA,202146.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202146.00,,,,,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 R441.08

: Sonardyne - parsing R441.08

: Sonardyne - read R = 441.080000 from 441.08

: Sonardyne - got range only (441.080000), tat = 1039
: Sonardyne - POSD response: 
POSD S120.3,N27.8,D-10,U2,Q0.015267

: Sonardyne - POSD response: 
POSD S120.3,N27.8,D-10,U2,Q0.015267

: AshtechGps::processRecord() - $GPGGA,202147.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202147.00,,,,,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,202148.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202148.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R439.46

: Sonardyne - parsing R439.46

: Sonardyne - read R = 439.460000 from 439.46

: Sonardyne - got range only (439.460000), tat = 1040
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S115.6,N28.0,D-22,U5,Q0.016119

: Sonardyne - POSD response: 
POSD S115.6,N28.0,D-22,U5,Q0.016119

: AshtechGps::processRecord() - $GPGGA,202149.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202149.00,,,,,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 R439.85

: Sonardyne - parsing R439.85

: Sonardyne - read R = 439.850000 from 439.85

: Sonardyne - got range only (439.850000), tat = 1040
: Sonardyne - POSD response: 
POSD S119.8,N26.4,D129,U1,Q0.008222

: Sonardyne - POSD response: 
POSD S119.8,N26.4,D129,U1,Q0.008222

: AshtechGps::processRecord() - $GPGGA,202150.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202150.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R437.11

: Sonardyne - parsing R437.11

: Sonardyne - read R = 437.110000 from 437.11

: Sonardyne - got range only (437.110000), tat = 1040
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.2,N23.9,D-42,U3,Q0.012481

: Sonardyne - POSD response: 
POSD S120.2,N23.9,D-42,U3,Q0.012481

: AshtechGps::processRecord() - $GPGGA,202152.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202152.00,,,,,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 R436.01

: Sonardyne - parsing R436.01

: Sonardyne - read R = 436.010000 from 436.01

: Sonardyne - got range only (436.010000), tat = 1030
: Sonardyne - POSD response: 
POSD S119.8,N21.5,D-10,U3,Q0.013459

: Sonardyne - POSD response: 
POSD S119.8,N21.5,D-10,U3,Q0.013459

: AshtechGps::processRecord() - $GPGGA,202153.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202153.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R434.49

: Sonardyne - parsing R434.49

: Sonardyne - read R = 434.490000 from 434.49

: Sonardyne - got range only (434.490000), tat = 1030
: Sonardyne - POSD response: 
POSD S120.0,N25.2,D2,U1,Q0.013098

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

: Sonardyne - POSD response: 
POSD S120.0,N25.2,D2,U1,Q0.013098

: BluefinBatt Reply: $aaq0 d- 31.30  9.36 17.96 3.90 3.93 0  2852.04 00:14:27 m

: AshtechGps::processRecord() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R433.32

: Sonardyne - parsing R433.32

: Sonardyne - read R = 433.320000 from 433.32

: Sonardyne - got range only (433.320000), tat = 1030
: Sonardyne - POSD response: 
POSD S115.5,N26.6,D-47,U1,Q0.019270

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

: Sonardyne - POSD response: 
POSD S115.5,N26.6,D-47,U1,Q0.019270

: AshtechGps::processRecord() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202156.00,,,,,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,202157.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202157.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R431.90

: Sonardyne - parsing R431.90

: Sonardyne - read R = 431.900000 from 431.90

: Sonardyne - got range only (431.900000), tat = 1030
: Sonardyne - POSD response: 
POSD S116.1,N22.2,D-62,U3,Q0.017165

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

: Sonardyne - POSD response: 
POSD S116.1,N22.2,D-62,U3,Q0.017165

: AshtechGps::processRecord() - $GPGGA,202158.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202158.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R430.58

: Sonardyne - parsing R430.58

: Sonardyne - read R = 430.580000 from 430.58

: Sonardyne - got range only (430.580000), tat = 1030
: Sonardyne - POSD response: 
POSD S121.2,N24.5,D-31,U5,Q0.019385

: Sonardyne - POSD response: 
POSD S121.2,N24.5,D-31,U5,Q0.019385

: AshtechGps::processRecord() - $GPGGA,202159.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202159.00,,,,,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,202200.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202200.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R429.06

: Sonardyne - parsing R429.06

: Sonardyne - read R = 429.060000 from 429.06

: Sonardyne - got range only (429.060000), tat = 1020
: Sonardyne - POSD response: 
POSD S119.9,N31.7,D-28,U2,Q0.017937

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

: Sonardyne - POSD response: 
POSD S119.9,N31.7,D-28,U2,Q0.017937

: AshtechGps::processRecord() - $GPGGA,202201.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202201.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,202202.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202202.00,,,,,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,202203.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202203.00,,,,,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 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,202204.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202204.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.30  9.13 18.06 3.90 3.93 0  2851.02 00:14:37 m

: AshtechGps::processRecord() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202205.00,,,,,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 3.900000, mean min cell voltage 3.900000

: AshtechGps::processRecord() - $GPGGA,202206.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202206.00,,,,,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,202207.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202207.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R421.47,X338.68,Y250.87,Z0.00

: Sonardyne - parsing R421.47,X338.68,Y250.87,Z0.00

: Sonardyne - read R = 421.470000 from 421.47,X338.68,Y250.87,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=421.470000, x=0.000000, y=338.680000, z=-250.870000 tat = 1040
: AshtechGps::processRecord() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202210.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202210.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R420.45

: Sonardyne - parsing R420.45

: Sonardyne - read R = 420.450000 from 420.45

: Sonardyne - got range only (420.450000), tat = 1010
: Sonardyne - POSD response: 
POSD S124.6,N31.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.6,N31.9,D-6,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,202211.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202211.00,,,,,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 R419.01

: Sonardyne - parsing R419.01

: Sonardyne - read R = 419.010000 from 419.01

: Sonardyne - got range only (419.010000), tat = 1010
: Sonardyne - POSD response: 
POSD S122.9,N24.4,D-56,U1,Q0.017937

: Sonardyne - POSD response: 
POSD S122.9,N24.4,D-56,U1,Q0.017937

: AshtechGps::processRecord() - $GPGGA,202212.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202212.00,,,,,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,202213.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202213.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R417.44

: Sonardyne - parsing R417.44

: Sonardyne - read R = 417.440000 from 417.44

: Sonardyne - got range only (417.440000), tat = 1010
: Sonardyne - POSD response: 
POSD S123.1,N29.1,D-22,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S123.1,N29.1,D-22,U1,Q0.019270

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

: AshtechGps::processRecord() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202214.00,,,,,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 R415.84

: Sonardyne - parsing R415.84

: Sonardyne - read R = 415.840000 from 415.84

: Sonardyne - got range only (415.840000), tat = 1010
: Sonardyne - POSD response: 
POSD S119.9,N28.2,D-16,U1,Q0.019363

: Sonardyne - POSD response: 
POSD S119.9,N28.2,D-16,U1,Q0.019363

: BluefinBatt Reply: $aaq0 d- 31.30  9.87 18.06 3.91 3.93 0  2850.33 00:14:47 m

: AshtechGps::processRecord() - $GPGGA,202215.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202215.00,,,,,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 3.910000, mean min cell voltage 3.910000

: AshtechGps::processRecord() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R414.26

: Sonardyne - parsing R414.26

: Sonardyne - read R = 414.260000 from 414.26

: Sonardyne - got range only (414.260000), tat = 1009
: Sonardyne - POSD response: 
POSD S116.0,N19.0,D-99,U4,Q0.010587

: Sonardyne - POSD response: 
POSD S116.0,N19.0,D-99,U4,Q0.010587

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

: AshtechGps::processRecord() - $GPGGA,202217.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202217.00,,,,,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 R412.81

: Sonardyne - parsing R412.81

: Sonardyne - read R = 412.810000 from 412.81

: Sonardyne - got range only (412.810000), tat = 1000
: Sonardyne - POSD response: 
POSD S123.4,N29.1,D-28,U2,Q0.019862

: Sonardyne - POSD response: 
POSD S123.4,N29.1,D-28,U2,Q0.019862

: AshtechGps::processRecord() - $GPGGA,202218.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202218.00,,,,,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,202219.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202219.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R412.29

: Sonardyne - parsing R412.29

: Sonardyne - read R = 412.290000 from 412.29

: Sonardyne - got range only (412.290000), tat = 1000
: Sonardyne - POSD response: 
POSD S119.7,N27.8,D-32,U5,Q0.018014

: Sonardyne - POSD response: 
POSD S119.7,N27.8,D-32,U5,Q0.018014

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

: AshtechGps::processRecord() - $GPGGA,202220.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202220.00,,,,,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 R410.59,X-350.46,Y60.28,Z-205.25

: Sonardyne - parsing R410.59,X-350.46,Y60.28,Z-205.25

: Sonardyne - read R = 410.590000 from 410.59,X-350.46,Y60.28,Z-205.25

: Sonardyne - got all data, Vehicle coordinates,
    r=410.590000, x=205.250000, y=-350.460000, z=-60.280000 tat = 1030
: AshtechGps::processRecord() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202221.00,,,,,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,202222.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202222.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R409.42,X-346.42,Y45.23,Z-213.46

: Sonardyne - parsing R409.42,X-346.42,Y45.23,Z-213.46

: Sonardyne - read R = 409.420000 from 409.42,X-346.42,Y45.23,Z-213.46

: Sonardyne - got all data, Vehicle coordinates,
    r=409.420000, x=213.460000, y=-346.420000, z=-45.230000 tat = 1030
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202223.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202223.00,,,,,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,202224.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202224.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.30  9.30 18.06 3.91 3.93 0  2849.36 00:14:57 m

: AshtechGps::processRecord() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202225.00,,,,,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
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: 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,202226.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202226.00,,,,,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,202227.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202227.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R404.85

: Sonardyne - parsing R404.85

: Sonardyne - read R = 404.850000 from 404.85

: Sonardyne - got range only (404.850000), tat = 990
: Sonardyne - POSD response: 
POSD S122.7,N28.7,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.7,N28.7,D-31,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,202228.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202228.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R403.48

: Sonardyne - parsing R403.48

: Sonardyne - read R = 403.480000 from 403.48

: Sonardyne - got range only (403.480000), tat = 990
: Sonardyne - POSD response: 
POSD S120.4,N21.3,D-76,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.4,N21.3,D-76,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202229.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202229.00,,,,,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,202230.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R402.09

: Sonardyne - parsing R402.09

: Sonardyne - read R = 402.090000 from 402.09

: Sonardyne - got range only (402.090000), tat = 989
: Sonardyne - POSD response: 
POSD S120.5,N29.7,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N29.7,D-29,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,202231.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202231.00,,,,,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 R400.94

: Sonardyne - parsing R400.94

: Sonardyne - read R = 400.940000 from 400.94

: Sonardyne - got range only (400.940000), tat = 990
: Sonardyne - POSD response: 
POSD S119.0,N30.6,D17,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S119.0,N30.6,D17,U1,Q0.019270

: AshtechGps::processRecord() - $GPGGA,202232.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202232.00,,,,,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,202233.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202233.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R399.80

: Sonardyne - parsing R399.80

: Sonardyne - read R = 399.800000 from 399.80

: Sonardyne - got range only (399.800000), tat = 1030
: Sonardyne - POSD response: 
POSD S122.3,N24.2,D-27,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S122.3,N24.2,D-27,U1,Q0.016109

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

: AshtechGps::processRecord() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202234.00,,,,,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 R398.82

: Sonardyne - parsing R398.82

: Sonardyne - read R = 398.820000 from 398.82

: Sonardyne - got range only (398.820000), tat = 980
: Sonardyne - POSD response: 
POSD S117.4,N23.0,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.4,N23.0,D1,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.34  8.28 18.06 3.91 3.93 0  2848.70 00:15:07 m

: AshtechGps::processRecord() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C


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

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

: AshtechGps::processRecord() - $GPGGA,202236.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202236.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R397.87

: Sonardyne - parsing R397.87

: Sonardyne - read R = 397.870000 from 397.87

: Sonardyne - got range only (397.870000), tat = 980
: Sonardyne - POSD response: 
POSD S125.6,N35.1,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N35.1,D12,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,202237.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202237.00,,,,,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 R396.51

: Sonardyne - parsing R396.51

: Sonardyne - read R = 396.510000 from 396.51

: Sonardyne - got range only (396.510000), tat = 980
: Sonardyne - POSD response: 
POSD S120.9,N31.1,D-30,U4,Q0.012254

: Sonardyne - POSD response: 
POSD S120.9,N31.1,D-30,U4,Q0.012254

: AshtechGps::processRecord() - $GPGGA,202238.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202238.00,,,,,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,202239.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202239.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R395.38

: Sonardyne - parsing R395.38

: Sonardyne - read R = 395.380000 from 395.38

: Sonardyne - got range only (395.380000), tat = 980
: Sonardyne - POSD response: 
POSD S119.0,N29.8,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.0,N29.8,D2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202240.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202240.00,,,,,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 R394.02

: Sonardyne - parsing R394.02

: Sonardyne - read R = 394.020000 from 394.02

: Sonardyne - got range only (394.020000), tat = 980
: Sonardyne - POSD response: 
POSD S121.3,N25.9,D-57,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.3,N25.9,D-57,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202241.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202241.00,,,,,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,202242.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202242.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R392.96

: Sonardyne - parsing R392.96

: Sonardyne - read R = 392.960000 from 392.96

: Sonardyne - got range only (392.960000), tat = 980
: Sonardyne - POSD response: 
POSD S124.5,N24.2,D15,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S124.5,N24.2,D15,U1,Q0.013937

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

: AshtechGps::processRecord() - $GPGGA,202243.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202243.00,,,,,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 R391.94

: Sonardyne - parsing R391.94

: Sonardyne - read R = 391.940000 from 391.94

: Sonardyne - got range only (391.940000), tat = 980
: Sonardyne - POSD response: 
POSD S123.8,N27.9,D7,U2,Q0.014122

: Sonardyne - POSD response: 
POSD S123.8,N27.9,D7,U2,Q0.014122

: AshtechGps::processRecord() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202244.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.26  9.73 18.06 3.91 3.93 0  2847.79 00:15:17 m

: AshtechGps::processRecord() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R390.38

: Sonardyne - parsing R390.38

: Sonardyne - read R = 390.380000 from 390.38

: Sonardyne - got range only (390.380000), tat = 969
: Sonardyne - POSD response: 
POSD S123.5,N30.3,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.5,N30.3,D3,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202246.00,,,,,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 R388.90

: Sonardyne - parsing R388.90

: Sonardyne - read R = 388.900000 from 388.90

: Sonardyne - got range only (388.900000), tat = 970
: Sonardyne - POSD response: 
POSD S120.5,N24.0,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N24.0,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202247.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202247.00,,,,,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,202248.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202248.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R388.22

: Sonardyne - parsing R388.22

: Sonardyne - read R = 388.220000 from 388.22

: Sonardyne - got range only (388.220000), tat = 970
: Sonardyne - POSD response: 
POSD S123.1,N33.2,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.1,N33.2,D-12,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,202249.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202249.00,,,,,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 R388.69

: Sonardyne - parsing R388.69

: Sonardyne - read R = 388.690000 from 388.69

: Sonardyne - got range only (388.690000), tat = 970
: Sonardyne - POSD response: 
POSD S120.0,N29.1,D-33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.0,N29.1,D-33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202250.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202250.00,,,,,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,202251.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R386.41

: Sonardyne - parsing R386.41

: Sonardyne - read R = 386.410000 from 386.41

: Sonardyne - got range only (386.410000), tat = 970
: Sonardyne - POSD response: 
POSD S121.7,N28.1,D-42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N28.1,D-42,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,202252.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202252.00,,,,,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 R385.36

: Sonardyne - parsing R385.36

: Sonardyne - read R = 385.360000 from 385.36

: Sonardyne - got range only (385.360000), tat = 970
: Sonardyne - POSD response: 
POSD S118.9,N23.1,D73,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.9,N23.1,D73,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202253.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202253.00,,,,,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,202254.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202254.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R384.15

: Sonardyne - parsing R384.15

: Sonardyne - read R = 384.150000 from 384.15

: Sonardyne - got range only (384.150000), tat = 960
: Sonardyne - POSD response: 
POSD S120.2,N25.2,D33,U5,Q0.000413

: Sonardyne - POSD response: 
POSD S120.2,N25.2,D33,U5,Q0.000413

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

: BluefinBatt Reply: $aaq0 d- 31.30  9.60 18.06 3.89 3.92 0  2847.14 00:15:27 m

: AshtechGps::processRecord() - $GPGGA,202255.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202255.00,,,,,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 R382.66

: Sonardyne - parsing R382.66

: Sonardyne - read R = 382.660000 from 382.66

: Sonardyne - got range only (382.660000), tat = 960
: Sonardyne - POSD response: 
POSD S119.4,N24.5,D-55,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.4,N24.5,D-55,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202257.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202257.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R381.58

: Sonardyne - parsing R381.58

: Sonardyne - read R = 381.580000 from 381.58

: Sonardyne - got range only (381.580000), tat = 960
: Sonardyne - POSD response: 
POSD S125.2,N29.6,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.2,N29.6,D-23,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,202258.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202258.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R380.34

: Sonardyne - parsing R380.34

: Sonardyne - read R = 380.340000 from 380.34

: Sonardyne - got range only (380.340000), tat = 960
: Sonardyne - POSD response: 
POSD S119.5,N25.4,D-57,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.5,N25.4,D-57,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202259.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202259.00,,,,,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,202300.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202300.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R379.55

: Sonardyne - parsing R379.55

: Sonardyne - read R = 379.550000 from 379.55

: Sonardyne - got range only (379.550000), tat = 959
: Sonardyne - POSD response: 
POSD S122.5,N31.3,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N31.3,D-29,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,202301.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202301.00,,,,,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 R379.05

: Sonardyne - parsing R379.05

: Sonardyne - read R = 379.050000 from 379.05

: Sonardyne - got range only (379.050000), tat = 960
: Sonardyne - POSD response: 
POSD S117.5,N24.5,D-80,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.5,N24.5,D-80,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202302.00,,,,,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,202303.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202303.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R378.44

: Sonardyne - parsing R378.44

: Sonardyne - read R = 378.440000 from 378.44

: Sonardyne - got range only (378.440000), tat = 960
: Sonardyne - POSD response: 
POSD S120.4,N31.1,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.4,N31.1,D14,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,202304.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202304.00,,,,,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 R377.73

: Sonardyne - parsing R377.73

: Sonardyne - read R = 377.730000 from 377.73

: Sonardyne - got range only (377.730000), tat = 960
: Sonardyne - POSD response: 
POSD S118.3,N28.5,D11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.3,N28.5,D11,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.26  9.43 18.06 3.89 3.92 0  2846.14 00:15:37 m

: AshtechGps::processRecord() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202305.00,,,,,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 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R376.76

: Sonardyne - parsing R376.76

: Sonardyne - read R = 376.760000 from 376.76

: Sonardyne - got range only (376.760000), tat = 950
: Sonardyne - POSD response: 
POSD S121.2,N31.6,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.2,N31.6,D13,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,202307.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202307.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R375.53

: Sonardyne - parsing R375.53

: Sonardyne - read R = 375.530000 from 375.53

: Sonardyne - got range only (375.530000), tat = 950
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S122.0,N29.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.0,N29.1,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202308.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202308.00,,,,,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,202309.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202309.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R374.44

: Sonardyne - parsing R374.44

: Sonardyne - read R = 374.440000 from 374.44

: Sonardyne - got range only (374.440000), tat = 950
: Sonardyne - POSD response: 
POSD S120.5,N31.7,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N31.7,D-3,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,202310.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202310.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R373.57

: Sonardyne - parsing R373.57

: Sonardyne - read R = 373.570000 from 373.57

: Sonardyne - got range only (373.570000), tat = 950
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.3,N26.8,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.3,N26.8,D-31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R373.38

: Sonardyne - parsing R373.38

: Sonardyne - read R = 373.380000 from 373.38

: Sonardyne - got range only (373.380000), tat = 950
: Sonardyne - POSD response: 
POSD S121.5,N32.5,D11,U4,Q0.011328

: Sonardyne - POSD response: 
POSD S121.5,N32.5,D11,U4,Q0.011328

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

: AshtechGps::processRecord() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R372.91

: Sonardyne - parsing R372.91

: Sonardyne - read R = 372.910000 from 372.91

: Sonardyne - got range only (372.910000), tat = 950
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.6,N30.7,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.6,N30.7,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202314.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.26  9.67 18.06 3.90 3.92 0  2845.47 00:15:47 m

: AshtechGps::processRecord() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R371.98

: Sonardyne - parsing R371.98

: Sonardyne - read R = 371.980000 from 371.98

: Sonardyne - got range only (371.980000), tat = 950
: Sonardyne - POSD response: 
POSD S117.9,N27.1,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.9,N27.1,D3,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R370.86

: Sonardyne - parsing R370.86

: Sonardyne - read R = 370.860000 from 370.86

: Sonardyne - got range only (370.860000), tat = 950
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S122.1,N25.7,D14,U3,Q0.017645

: Sonardyne - POSD response: 
POSD S122.1,N25.7,D14,U3,Q0.017645

: AshtechGps::processRecord() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202317.00,,,,,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,202318.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202318.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R369.56

: Sonardyne - parsing R369.56

: Sonardyne - read R = 369.560000 from 369.56

: Sonardyne - got range only (369.560000), tat = 940
: Sonardyne - POSD response: 
POSD S121.9,N27.2,D132,U3,Q0.002499

: Sonardyne - POSD response: 
POSD S121.9,N27.2,D132,U3,Q0.002499

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

: AshtechGps::processRecord() - $GPGGA,202319.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202319.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R369.23

: Sonardyne - parsing R369.23

: Sonardyne - read R = 369.230000 from 369.23

: Sonardyne - got range only (369.230000), tat = 950
: Sonardyne - POSD response: 
POSD S122.8,N29.0,D2,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S122.8,N29.0,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202320.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202320.00,,,,,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,202321.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202321.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R368.55

: Sonardyne - parsing R368.55

: Sonardyne - read R = 368.550000 from 368.55

: Sonardyne - got range only (368.550000), tat = 940
: Sonardyne - POSD response: 
POSD S121.5,N27.3,D-64,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.5,N27.3,D-64,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,202322.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202322.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R367.97

: Sonardyne - parsing R367.97

: Sonardyne - read R = 367.970000 from 367.97

: Sonardyne - got range only (367.970000), tat = 940
: Sonardyne - POSD response: 
POSD S119.4,N29.9,D11,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S119.4,N29.9,D11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202323.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202323.00,,,,,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,202324.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202324.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R367.58

: Sonardyne - parsing R367.58

: Sonardyne - read R = 367.580000 from 367.58

: Sonardyne - got range only (367.580000), tat = 940
: Sonardyne - POSD response: 
POSD S119.3,N27.8,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.3,N27.8,D-40,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.26  9.33 18.06 3.90 3.92 0  2844.54 00:15:57 m

: AshtechGps::processRecord() - $GPGGA,202325.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202325.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R368.37

: Sonardyne - parsing R368.37

: Sonardyne - read R = 368.370000 from 368.37

: Sonardyne - got range only (368.370000), tat = 940
: Sonardyne - POSD response: 
POSD S114.7,N15.5,D-10,U1,Q0.015386

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

: Sonardyne - POSD response: 
POSD S114.7,N15.5,D-10,U1,Q0.015386

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

: AshtechGps::processRecord() - $GPGGA,202326.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202326.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,202327.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202327.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R366.13

: Sonardyne - parsing R366.13

: Sonardyne - read R = 366.130000 from 366.13

: Sonardyne - got range only (366.130000), tat = 940
: Sonardyne - POSD response: 
POSD S120.8,N26.4,D27,U1,Q0.015625

: Sonardyne - POSD response: 
POSD S120.8,N26.4,D27,U1,Q0.015625

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

: AshtechGps::processRecord() - $GPGGA,202328.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202328.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R365.15

: Sonardyne - parsing R365.15

: Sonardyne - read R = 365.150000 from 365.15

: Sonardyne - got range only (365.150000), tat = 939
: Sonardyne - POSD response: 
POSD S118.4,N22.7,D-67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.4,N22.7,D-67,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,202329.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202329.00,,,,,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,202330.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202330.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R364.21

: Sonardyne - parsing R364.21

: Sonardyne - read R = 364.210000 from 364.21

: Sonardyne - got range only (364.210000), tat = 940
: Sonardyne - POSD response: 
POSD S124.1,N33.0,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N33.0,D-11,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,202331.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202331.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R363.59

: Sonardyne - parsing R363.59

: Sonardyne - read R = 363.590000 from 363.59

: Sonardyne - got range only (363.590000), tat = 940
: Sonardyne - POSD response: 
POSD S120.0,N30.0,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.0,N30.0,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202332.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202332.00,,,,,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,202333.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202333.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R362.87

: Sonardyne - parsing R362.87

: Sonardyne - read R = 362.870000 from 362.87

: Sonardyne - got range only (362.870000), tat = 940
: Sonardyne - POSD response: 
POSD S122.6,N31.2,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N31.2,D13,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,202334.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202334.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 186.80                                          (wplog)

: Vehicle Position is error is (-0.2, 0.5)

: LayeredControl::execute() -- (t = 186.797204) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 186.80                            (wplog)
  The current location (N,E) = 4052381.6      , 600381.1         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.0 Degrees.

: LayeredControl::execute() -- (t = 186.807203) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R362.34

: Sonardyne - parsing R362.34

: Sonardyne - read R = 362.340000 from 362.34

: Sonardyne - got range only (362.340000), tat = 940
: Sonardyne - POSD response: 
POSD S119.3,N26.4,D52,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.3,N26.4,D52,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.30  8.22 18.06 3.89 3.92 0  2843.85 00:16:07 m

: AshtechGps::processRecord() - $GPGGA,202335.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202335.00,,,,,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,202336.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202336.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R361.35

: Sonardyne - parsing R361.35

: Sonardyne - read R = 361.350000 from 361.35

: Sonardyne - got range only (361.350000), tat = 930
: Sonardyne - POSD response: 
POSD S115.2,N23.3,D-90,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.2,N23.3,D-90,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,202337.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202337.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R359.97

: Sonardyne - parsing R359.97

: Sonardyne - read R = 359.970000 from 359.97

: Sonardyne - got range only (359.970000), tat = 930
: Sonardyne - POSD response: 
POSD S126.6,N28.3,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N28.3,D-4,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,202338.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202338.00,,,,,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,202339.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202339.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R358.33,X-224.62,Y44.10,Z-275.68

: Sonardyne - parsing R358.33,X-224.62,Y44.10,Z-275.68

: Sonardyne - read R = 358.330000 from 358.33,X-224.62,Y44.10,Z-275.68

: Sonardyne - got all data, Vehicle coordinates,
    r=358.330000, x=275.680000, y=-224.620000, z=-44.100000 tat = 960
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202340.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202340.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R357.16,X-168.81,Y19.41,Z-314.15

: Sonardyne - parsing R357.16,X-168.81,Y19.41,Z-314.15

: Sonardyne - read R = 357.160000 from 357.16,X-168.81,Y19.41,Z-314.15

: Sonardyne - got all data, Vehicle coordinates,
    r=357.160000, x=314.150000, y=-168.810000, z=-19.410000 tat = 950
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202341.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202341.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R355.84,X-103.42,Y1.57,Z-340.47

: Sonardyne - parsing R355.84,X-103.42,Y1.57,Z-340.47

: Sonardyne - read R = 355.840000 from 355.84,X-103.42,Y1.57,Z-340.47

: Sonardyne - got all data, Vehicle coordinates,
    r=355.840000, x=340.470000, y=-103.420000, z=-1.570000 tat = 950
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202342.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202342.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R354.53,X-30.12,Y-6.92,Z-353.18

: Sonardyne - parsing R354.53,X-30.12,Y-6.92,Z-353.18

: Sonardyne - read R = 354.530000 from 354.53,X-30.12,Y-6.92,Z-353.18

: Sonardyne - got all data, Vehicle coordinates,
    r=354.530000, x=353.180000, y=-30.120000, z=6.920000 tat = 950
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202343.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202343.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R353.23,X29.48,Y-20.14,Z-351.42

: Sonardyne - parsing R353.23,X29.48,Y-20.14,Z-351.42

: Sonardyne - read R = 353.230000 from 353.23,X29.48,Y-20.14,Z-351.42

: Sonardyne - got all data, Vehicle coordinates,
    r=353.230000, x=351.420000, y=29.480000, z=20.140000 tat = 949
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202344.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202344.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R351.94,X93.08,Y-23.39,Z-338.60

: Sonardyne - parsing R351.94,X93.08,Y-23.39,Z-338.60

: Sonardyne - read R = 351.940000 from 351.94,X93.08,Y-23.39,Z-338.60

: Sonardyne - got all data, Vehicle coordinates,
    r=351.940000, x=338.600000, y=93.080000, z=23.390000 tat = 950
: BluefinBatt Reply: $aaq0 d- 31.26  9.16 18.06 3.89 3.92 0  2842.90 00:16:17 m

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

: AshtechGps::processRecord() - $GPGGA,202345.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202345.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R350.75,X140.33,Y-22.77,Z-320.65

: Sonardyne - parsing R350.75,X140.33,Y-22.77,Z-320.65

: Sonardyne - read R = 350.750000 from 350.75,X140.33,Y-22.77,Z-320.65

: Sonardyne - got all data, Vehicle coordinates,
    r=350.750000, x=320.650000, y=140.330000, z=22.770000 tat = 950
: 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,202346.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202346.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R349.59,X170.66,Y-6.71,Z-305.03

: Sonardyne - parsing R349.59,X170.66,Y-6.71,Z-305.03

: Sonardyne - read R = 349.590000 from 349.59,X170.66,Y-6.71,Z-305.03

: Sonardyne - got all data, Vehicle coordinates,
    r=349.590000, x=305.030000, y=170.660000, z=6.710000 tat = 940
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202347.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202347.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R348.26,X179.22,Y-34.82,Z-296.57

: Sonardyne - parsing R348.26,X179.22,Y-34.82,Z-296.57

: Sonardyne - read R = 348.260000 from 348.26,X179.22,Y-34.82,Z-296.57

: Sonardyne - got all data, Vehicle coordinates,
    r=348.260000, x=296.570000, y=179.220000, z=34.820000 tat = 940
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202348.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202348.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R346.67

: Sonardyne - parsing R346.67

: Sonardyne - read R = 346.670000 from 346.67

: Sonardyne - got range only (346.670000), tat = 910
: Sonardyne - POSD response: 
POSD S129.2,N25.2,D37,U3,Q0.008970

: Sonardyne - POSD response: 
POSD S129.2,N25.2,D37,U3,Q0.008970

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

: AshtechGps::processRecord() - $GPGGA,202349.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202349.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R344.50,X179.86,Y-13.99,Z-293.48

: Sonardyne - parsing R344.50,X179.86,Y-13.99,Z-293.48

: Sonardyne - read R = 344.500000 from 344.50,X179.86,Y-13.99,Z-293.48

: Sonardyne - got all data, Vehicle coordinates,
    r=344.500000, x=293.480000, y=179.860000, z=13.990000 tat = 940
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202350.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202350.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R343.19

: Sonardyne - parsing R343.19

: Sonardyne - read R = 343.190000 from 343.19

: Sonardyne - got range only (343.190000), tat = 910
: Sonardyne - POSD response: 
POSD S119.1,N18.7,D-69,U5,Q0.004789

: Sonardyne - POSD response: 
POSD S119.1,N18.7,D-69,U5,Q0.004789

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

: AshtechGps::processRecord() - $GPGGA,202351.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202351.00,,,,,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,202352.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202352.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R341.46,X169.88,Y-4.40,Z-296.17

: Sonardyne - parsing R341.46,X169.88,Y-4.40,Z-296.17

: Sonardyne - read R = 341.460000 from 341.46,X169.88,Y-4.40,Z-296.17

: Sonardyne - got all data, Vehicle coordinates,
    r=341.460000, x=296.170000, y=169.880000, z=4.400000 tat = 930
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202353.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202353.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R340.51,X168.72,Y2.32,Z-295.76

: Sonardyne - parsing R340.51,X168.72,Y2.32,Z-295.76

: Sonardyne - read R = 340.510000 from 340.51,X168.72,Y2.32,Z-295.76

: Sonardyne - got all data, Vehicle coordinates,
    r=340.510000, x=295.760000, y=168.720000, z=-2.320000 tat = 930
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202354.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202354.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R339.48,X165.10,Y28.90,Z-295.22

: Sonardyne - parsing R339.48,X165.10,Y28.90,Z-295.22

: Sonardyne - read R = 339.480000 from 339.48,X165.10,Y28.90,Z-295.22

: Sonardyne - got all data, Vehicle coordinates,
    r=339.480000, x=295.220000, y=165.100000, z=-28.900000 tat = 930
: BluefinBatt Reply: $aaq0 d- 31.23  9.60 18.06 3.89 3.92 0  2842.17 00:16:27 m

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

: AshtechGps::processRecord() - $GPGGA,202355.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202355.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R338.39,X157.46,Y10.31,Z-299.34

: Sonardyne - parsing R338.39,X157.46,Y10.31,Z-299.34

: Sonardyne - read R = 338.390000 from 338.39,X157.46,Y10.31,Z-299.34

: Sonardyne - got all data, Vehicle coordinates,
    r=338.390000, x=299.340000, y=157.460000, z=-10.310000 tat = 930
: 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,202356.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202356.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R337.31,X151.11,Y19.19,Z-300.96

: Sonardyne - parsing R337.31,X151.11,Y19.19,Z-300.96

: Sonardyne - read R = 337.310000 from 337.31,X151.11,Y19.19,Z-300.96

: Sonardyne - got all data, Vehicle coordinates,
    r=337.310000, x=300.960000, y=151.110000, z=-19.190000 tat = 930
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202357.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202357.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R335.89,X144.64,Y23.37,Z-302.24

: Sonardyne - parsing R335.89,X144.64,Y23.37,Z-302.24

: Sonardyne - read R = 335.890000 from 335.89,X144.64,Y23.37,Z-302.24

: Sonardyne - got all data, Vehicle coordinates,
    r=335.890000, x=302.240000, y=144.640000, z=-23.370000 tat = 920
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202358.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202358.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R334.26,X138.05,Y19.64,Z-303.78

: Sonardyne - parsing R334.26,X138.05,Y19.64,Z-303.78

: Sonardyne - read R = 334.260000 from 334.26,X138.05,Y19.64,Z-303.78

: Sonardyne - got all data, Vehicle coordinates,
    r=334.260000, x=303.780000, y=138.050000, z=-19.640000 tat = 919
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202359.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202359.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R332.90,X132.87,Y53.24,Z-300.55

: Sonardyne - parsing R332.90,X132.87,Y53.24,Z-300.55

: Sonardyne - read R = 332.900000 from 332.90,X132.87,Y53.24,Z-300.55

: Sonardyne - got all data, Vehicle coordinates,
    r=332.900000, x=300.550000, y=132.870000, z=-53.240000 tat = 920
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202400.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202400.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R330.67,X124.78,Y22.13,Z-305.42

: Sonardyne - parsing R330.67,X124.78,Y22.13,Z-305.42

: Sonardyne - read R = 330.670000 from 330.67,X124.78,Y22.13,Z-305.42

: Sonardyne - got all data, Vehicle coordinates,
    r=330.670000, x=305.420000, y=124.780000, z=-22.130000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202401.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202401.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R330.15

: Sonardyne - parsing R330.15

: Sonardyne - read R = 330.150000 from 330.15

: Sonardyne - got range only (330.150000), tat = 890
: Sonardyne - POSD response: 
POSD S129.7,N25.7,D34,U2,Q0.016261

: Sonardyne - POSD response: 
POSD S129.7,N25.7,D34,U2,Q0.016261

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

: AshtechGps::processRecord() - $GPGGA,202402.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202402.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R327.70

: Sonardyne - parsing R327.70

: Sonardyne - read R = 327.700000 from 327.70

: Sonardyne - got range only (327.700000), tat = 890
: Sonardyne - POSD response: 
POSD S134.4,N20.1,D-45,U1,Q0.000072

: Sonardyne - POSD response: 
POSD S134.4,N20.1,D-45,U1,Q0.000072

: AshtechGps::processRecord() - $GPGGA,202403.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202403.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,202404.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202404.00,,,,,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 R323.83,X91.65,Y-0.23,Z-310.59

: Sonardyne - parsing R323.83,X91.65,Y-0.23,Z-310.59

: Sonardyne - read R = 323.830000 from 323.83,X91.65,Y-0.23,Z-310.59

: Sonardyne - got all data, Vehicle coordinates,
    r=323.830000, x=310.590000, y=91.650000, z=0.230000 tat = 910
: BluefinBatt Reply: $aaq0 d- 31.23  9.83 18.06 3.89 3.92 0  2841.19 00:16:37 m

: AshtechGps::processRecord() - $GPGGA,202405.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202405.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R322.51,X86.31,Y2.32,Z-310.74

: Sonardyne - parsing R322.51,X86.31,Y2.32,Z-310.74

: Sonardyne - read R = 322.510000 from 322.51,X86.31,Y2.32,Z-310.74

: Sonardyne - got all data, Vehicle coordinates,
    r=322.510000, x=310.740000, y=86.310000, z=-2.320000 tat = 900
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202406.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202406.00,,,,,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 R321.25,X80.21,Y0.50,Z-311.07

: Sonardyne - parsing R321.25,X80.21,Y0.50,Z-311.07

: Sonardyne - read R = 321.250000 from 321.25,X80.21,Y0.50,Z-311.07

: Sonardyne - got all data, Vehicle coordinates,
    r=321.250000, x=311.070000, y=80.210000, z=-0.500000 tat = 900
: AshtechGps::processRecord() - $GPGGA,202407.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202407.00,,,,,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 R319.96,X75.33,Y7.26,Z-310.88

: Sonardyne - parsing R319.96,X75.33,Y7.26,Z-310.88

: Sonardyne - read R = 319.960000 from 319.96,X75.33,Y7.26,Z-310.88

: Sonardyne - got all data, Vehicle coordinates,
    r=319.960000, x=310.880000, y=75.330000, z=-7.260000 tat = 900
: AshtechGps::processRecord() - $GPGGA,202408.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202408.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R318.76,X67.27,Y15.13,Z-311.21

: Sonardyne - parsing R318.76,X67.27,Y15.13,Z-311.21

: Sonardyne - read R = 318.760000 from 318.76,X67.27,Y15.13,Z-311.21

: Sonardyne - got all data, Vehicle coordinates,
    r=318.760000, x=311.210000, y=67.270000, z=-15.130000 tat = 900
: AshtechGps::processRecord() - $GPGGA,202409.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202409.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R317.35,X57.97,Y10.52,Z-311.84

: Sonardyne - parsing R317.35,X57.97,Y10.52,Z-311.84

: Sonardyne - read R = 317.350000 from 317.35,X57.97,Y10.52,Z-311.84

: Sonardyne - got all data, Vehicle coordinates,
    r=317.350000, x=311.840000, y=57.970000, z=-10.520000 tat = 900
: AshtechGps::processRecord() - $GPGGA,202410.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202410.00,,,,,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 R316.55,X57.79,Y93.34,Z-296.90

: Sonardyne - parsing R316.55,X57.79,Y93.34,Z-296.90

: Sonardyne - read R = 316.550000 from 316.55,X57.79,Y93.34,Z-296.90

: Sonardyne - got all data, Vehicle coordinates,
    r=316.550000, x=296.900000, y=57.790000, z=-93.340000 tat = 900
: AshtechGps::processRecord() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202411.00,,,,,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 R314.44,X40.59,Y17.85,Z-311.30

: Sonardyne - parsing R314.44,X40.59,Y17.85,Z-311.30

: Sonardyne - read R = 314.440000 from 314.44,X40.59,Y17.85,Z-311.30

: Sonardyne - got all data, Vehicle coordinates,
    r=314.440000, x=311.300000, y=40.590000, z=-17.850000 tat = 890
: AshtechGps::processRecord() - $GPGGA,202412.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202412.00,,,,,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 R312.21

: Sonardyne - parsing R312.21

: Sonardyne - read R = 312.210000 from 312.21

: Sonardyne - got range only (312.210000), tat = 870
: Sonardyne - POSD response: 
POSD S131.1,N24.1,D97,U3,Q0.000094

: Sonardyne - POSD response: 
POSD S131.1,N24.1,D97,U3,Q0.000094

: AshtechGps::processRecord() - $GPGGA,202413.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202413.00,,,,,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 R310.31,X30.30,Y0.44,Z-308.83

: Sonardyne - parsing R310.31,X30.30,Y0.44,Z-308.83

: Sonardyne - read R = 310.310000 from 310.31,X30.30,Y0.44,Z-308.83

: Sonardyne - got all data, Vehicle coordinates,
    r=310.310000, x=308.830000, y=30.300000, z=-0.440000 tat = 889
: AshtechGps::processRecord() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202414.00,,,,,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 R309.15,X28.95,Y46.07,Z-304.32

: Sonardyne - parsing R309.15,X28.95,Y46.07,Z-304.32

: Sonardyne - read R = 309.150000 from 309.15,X28.95,Y46.07,Z-304.32

: Sonardyne - got all data, Vehicle coordinates,
    r=309.150000, x=304.320000, y=28.950000, z=-46.070000 tat = 890
: BluefinBatt Reply: $aaq0 d- 31.26  8.25 18.16 3.89 3.92 0  2840.51 00:16:47 m

: AshtechGps::processRecord() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R306.64,X24.49,Y-1.14,Z-305.65

: Sonardyne - parsing R306.64,X24.49,Y-1.14,Z-305.65

: Sonardyne - read R = 306.640000 from 306.64,X24.49,Y-1.14,Z-305.65

: Sonardyne - got all data, Vehicle coordinates,
    r=306.640000, x=305.650000, y=24.490000, z=1.140000 tat = 880
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202416.00,,,,,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 R304.77,X21.58,Y-6.44,Z-303.94

: Sonardyne - parsing R304.77,X21.58,Y-6.44,Z-303.94

: Sonardyne - read R = 304.770000 from 304.77,X21.58,Y-6.44,Z-303.94

: Sonardyne - got all data, Vehicle coordinates,
    r=304.770000, x=303.940000, y=21.580000, z=6.440000 tat = 880
: AshtechGps::processRecord() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202417.00,,,,,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 R303.01

: Sonardyne - parsing R303.01

: Sonardyne - read R = 303.010000 from 303.01

: Sonardyne - got range only (303.010000), tat = 860
: Sonardyne - POSD response: 
POSD S130.3,N21.8,D133,U4,Q0.000086

: Sonardyne - POSD response: 
POSD S130.3,N21.8,D133,U4,Q0.000086

: AshtechGps::processRecord() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R302.72

: Sonardyne - parsing R302.72

: Sonardyne - read R = 302.720000 from 302.72

: Sonardyne - got range only (302.720000), tat = 860
: Sonardyne - POSD response: 
POSD S130.8,N28.2,D26,U5,Q0.000107

: Sonardyne - POSD response: 
POSD S130.8,N28.2,D26,U5,Q0.000107

: AshtechGps::processRecord() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R299.60,X18.93,Y2.19,Z-298.99

: Sonardyne - parsing R299.60,X18.93,Y2.19,Z-298.99

: Sonardyne - read R = 299.600000 from 299.60,X18.93,Y2.19,Z-298.99

: Sonardyne - got all data, Vehicle coordinates,
    r=299.600000, x=298.990000, y=18.930000, z=-2.190000 tat = 870
: AshtechGps::processRecord() - $GPGGA,202420.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202420.00,,,,,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 R298.04,X16.56,Y2.30,Z-297.57

: Sonardyne - parsing R298.04,X16.56,Y2.30,Z-297.57

: Sonardyne - read R = 298.040000 from 298.04,X16.56,Y2.30,Z-297.57

: Sonardyne - got all data, Vehicle coordinates,
    r=298.040000, x=297.570000, y=16.560000, z=-2.300000 tat = 870
: AshtechGps::processRecord() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202421.00,,,,,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 R296.45,X13.81,Y9.86,Z-295.97

: Sonardyne - parsing R296.45,X13.81,Y9.86,Z-295.97

: Sonardyne - read R = 296.450000 from 296.45,X13.81,Y9.86,Z-295.97

: Sonardyne - got all data, Vehicle coordinates,
    r=296.450000, x=295.970000, y=13.810000, z=-9.860000 tat = 870
: AshtechGps::processRecord() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202422.00,,,,,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 R294.81

: Sonardyne - parsing R294.81

: Sonardyne - read R = 294.810000 from 294.81

: Sonardyne - got range only (294.810000), tat = 890
: Sonardyne - POSD response: 
POSD S138.5,N28.1,D28,U4,Q0.000065

: Sonardyne - POSD response: 
POSD S138.5,N28.1,D28,U4,Q0.000065

: AshtechGps::processRecord() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202423.00,,,,,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 R296.13

: Sonardyne - parsing R296.13

: Sonardyne - read R = 296.130000 from 296.13

: Sonardyne - got range only (296.130000), tat = 850
: Sonardyne - POSD response: 
POSD S132.9,N31.6,D-30,U1,Q0.012799

: Sonardyne - POSD response: 
POSD S132.9,N31.6,D-30,U1,Q0.012799

: AshtechGps::processRecord() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202424.00,,,,,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 R291.67,X8.39,Y36.98,Z-289.20

: Sonardyne - parsing R291.67,X8.39,Y36.98,Z-289.20

: Sonardyne - read R = 291.670000 from 291.67,X8.39,Y36.98,Z-289.20

: Sonardyne - got all data, Vehicle coordinates,
    r=291.670000, x=289.200000, y=8.390000, z=-36.980000 tat = 860
: BluefinBatt Reply: $aaq0 d- 31.23  8.86 18.16 3.89 3.92 0  2839.57 00:16:57 m

: AshtechGps::processRecord() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202425.00,,,,,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 R289.66,X6.49,Y27.52,Z-288.28

: Sonardyne - parsing R289.66,X6.49,Y27.52,Z-288.28

: Sonardyne - read R = 289.660000 from 289.66,X6.49,Y27.52,Z-288.28

: Sonardyne - got all data, Vehicle coordinates,
    r=289.660000, x=288.280000, y=6.490000, z=-27.520000 tat = 860
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202426.00,,,,,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 R288.20,X4.63,Y16.17,Z-287.71

: Sonardyne - parsing R288.20,X4.63,Y16.17,Z-287.71

: Sonardyne - read R = 288.200000 from 288.20,X4.63,Y16.17,Z-287.71

: Sonardyne - got all data, Vehicle coordinates,
    r=288.200000, x=287.710000, y=4.630000, z=-16.170000 tat = 860
: AshtechGps::processRecord() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202427.00,,,,,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 R286.46,X3.16,Y6.01,Z-286.37

: Sonardyne - parsing R286.46,X3.16,Y6.01,Z-286.37

: Sonardyne - read R = 286.460000 from 286.46,X3.16,Y6.01,Z-286.37

: Sonardyne - got all data, Vehicle coordinates,
    r=286.460000, x=286.370000, y=3.160000, z=-6.010000 tat = 859
: AshtechGps::processRecord() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202428.00,,,,,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 R284.85,X2.68,Y23.78,Z-283.84

: Sonardyne - parsing R284.85,X2.68,Y23.78,Z-283.84

: Sonardyne - read R = 284.850000 from 284.85,X2.68,Y23.78,Z-283.84

: Sonardyne - got all data, Vehicle coordinates,
    r=284.850000, x=283.840000, y=2.680000, z=-23.780000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R283.39,X6.04,Y39.22,Z-280.60

: Sonardyne - parsing R283.39,X6.04,Y39.22,Z-280.60

: Sonardyne - read R = 283.390000 from 283.39,X6.04,Y39.22,Z-280.60

: Sonardyne - got all data, Vehicle coordinates,
    r=283.390000, x=280.600000, y=6.040000, z=-39.220000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202430.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202430.00,,,,,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 R281.05,X1.41,Y5.73,Z-280.99

: Sonardyne - parsing R281.05,X1.41,Y5.73,Z-280.99

: Sonardyne - read R = 281.050000 from 281.05,X1.41,Y5.73,Z-280.99

: Sonardyne - got all data, Vehicle coordinates,
    r=281.050000, x=280.990000, y=1.410000, z=-5.730000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R279.07,X0.16,Y20.70,Z-278.30

: Sonardyne - parsing R279.07,X0.16,Y20.70,Z-278.30

: Sonardyne - read R = 279.070000 from 279.07,X0.16,Y20.70,Z-278.30

: Sonardyne - got all data, Vehicle coordinates,
    r=279.070000, x=278.300000, y=0.160000, z=-20.700000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202432.00,,,,,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 R277.31,X-1.44,Y-5.10,Z-277.26

: Sonardyne - parsing R277.31,X-1.44,Y-5.10,Z-277.26

: Sonardyne - read R = 277.310000 from 277.31,X-1.44,Y-5.10,Z-277.26

: Sonardyne - got all data, Vehicle coordinates,
    r=277.310000, x=277.260000, y=-1.440000, z=5.100000 tat = 850
: AshtechGps::processRecord() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202433.00,,,,,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 R275.36,X-3.10,Y-9.44,Z-275.18

: Sonardyne - parsing R275.36,X-3.10,Y-9.44,Z-275.18

: Sonardyne - read R = 275.360000 from 275.36,X-3.10,Y-9.44,Z-275.18

: Sonardyne - got all data, Vehicle coordinates,
    r=275.360000, x=275.180000, y=-3.100000, z=9.440000 tat = 840
: AshtechGps::processRecord() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202434.00,,,,,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 R273.87,X0.81,Y18.47,Z-273.25

: Sonardyne - parsing R273.87,X0.81,Y18.47,Z-273.25

: Sonardyne - read R = 273.870000 from 273.87,X0.81,Y18.47,Z-273.25

: Sonardyne - got all data, Vehicle coordinates,
    r=273.870000, x=273.250000, y=0.810000, z=-18.470000 tat = 840
: BluefinBatt Reply: $aaq0 d- 31.23  9.23 18.16 3.89 3.92 0  2838.90 00:17:07 m

: AshtechGps::processRecord() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202435.00,,,,,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 R272.58,X2.90,Y23.75,Z-271.53

: Sonardyne - parsing R272.58,X2.90,Y23.75,Z-271.53

: Sonardyne - read R = 272.580000 from 272.58,X2.90,Y23.75,Z-271.53

: Sonardyne - got all data, Vehicle coordinates,
    r=272.580000, x=271.530000, y=2.900000, z=-23.750000 tat = 840
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R270.84

: Sonardyne - parsing R270.84

: Sonardyne - read R = 270.840000 from 270.84

: Sonardyne - got range only (270.840000), tat = 810
: Sonardyne - POSD response: 
POSD S133.5,N20.1,D69,U3,Q0.000375

: Sonardyne - POSD response: 
POSD S133.5,N20.1,D69,U3,Q0.000375

: AshtechGps::processRecord() - $GPGGA,202437.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202437.00,,,,,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 R269.51,X5.31,Y4.75,Z-269.41

: Sonardyne - parsing R269.51,X5.31,Y4.75,Z-269.41

: Sonardyne - read R = 269.510000 from 269.51,X5.31,Y4.75,Z-269.41

: Sonardyne - got all data, Vehicle coordinates,
    r=269.510000, x=269.410000, y=5.310000, z=-4.750000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202438.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202438.00,,,,,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 R268.00,X4.88,Y2.14,Z-267.95

: Sonardyne - parsing R268.00,X4.88,Y2.14,Z-267.95

: Sonardyne - read R = 268.000000 from 268.00,X4.88,Y2.14,Z-267.95

: Sonardyne - got all data, Vehicle coordinates,
    r=268.000000, x=267.950000, y=4.880000, z=-2.140000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202439.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202439.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R266.89,X5.61,Y21.15,Z-265.99

: Sonardyne - parsing R266.89,X5.61,Y21.15,Z-265.99

: Sonardyne - read R = 266.890000 from 266.89,X5.61,Y21.15,Z-265.99

: Sonardyne - got all data, Vehicle coordinates,
    r=266.890000, x=265.990000, y=5.610000, z=-21.150000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202440.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202440.00,,,,,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 R265.13,X6.70,Y26.91,Z-263.68

: Sonardyne - parsing R265.13,X6.70,Y26.91,Z-263.68

: Sonardyne - read R = 265.130000 from 265.13,X6.70,Y26.91,Z-263.68

: Sonardyne - got all data, Vehicle coordinates,
    r=265.130000, x=263.680000, y=6.700000, z=-26.910000 tat = 830
: AshtechGps::processRecord() - $GPGGA,202441.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202441.00,,,,,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,202442.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202442.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 254.79                                          (wplog)

: Vehicle Position is error is (-0.1, -0.5)

: LayeredControl::execute() -- (t = 254.792546) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 254.79                            (wplog)
  The current location (N,E) = 4052292.3      , 600427.2         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.3 Degrees.

: WaypointHoming: The Usbl has aquired the transponder
  at t = 254.80          Seconds.
:   The vehicle position is (4052292.3, 600427.2)

: LayeredControl::execute() -- (t = 254.802545) Behavior waypoint_homing 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,202443.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202443.00,,,,,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 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,202444.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202444.00,,,,,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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 256.99          Seconds.
:   The vehicle position is is (4052288.5, 600428.6)

: BluefinBatt Reply: $aaq0 d- 31.34  6.43 18.16 3.89 3.92 0  2838.01 00:17:17 m

: AshtechGps::processRecord() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R256.41

: Sonardyne - parsing R256.41

: Sonardyne - read R = 256.410000 from 256.41

: Sonardyne - got range only (256.410000), tat = 790
: Sonardyne - POSD response: 
POSD S130.9,N20.7,D27,U1,Q0.000409

: Sonardyne - POSD response: 
POSD S130.9,N20.7,D27,U1,Q0.000409

:  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 3.890000, mean min cell voltage 3.890000

: AshtechGps::processRecord() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R255.21,X-56.00,Y43.27,Z-245.20

: Sonardyne - parsing R255.21,X-56.00,Y43.27,Z-245.20

: Sonardyne - read R = 255.210000 from 255.21,X-56.00,Y43.27,Z-245.20

: Sonardyne - got all data, Vehicle coordinates,
    r=255.210000, x=245.200000, y=-56.000000, z=-43.270000 tat = 820
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder
  at t = 259.19          Seconds.
:   The vehicle position is (4052284.8, 600429.7)

: AshtechGps::processRecord() - $GPGGA,202447.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202447.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R253.11,X-57.21,Y9.56,Z-246.38

: Sonardyne - parsing R253.11,X-57.21,Y9.56,Z-246.38

: Sonardyne - read R = 253.110000 from 253.11,X-57.21,Y9.56,Z-246.38

: Sonardyne - got all data, Vehicle coordinates,
    r=253.110000, x=246.380000, y=-57.210000, z=-9.560000 tat = 810
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202448.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202448.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R251.87,X-53.70,Y4.17,Z-246.04

: Sonardyne - parsing R251.87,X-53.70,Y4.17,Z-246.04

: Sonardyne - read R = 251.870000 from 251.87,X-53.70,Y4.17,Z-246.04

: Sonardyne - got all data, Vehicle coordinates,
    r=251.870000, x=246.040000, y=-53.700000, z=-4.170000 tat = 810
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R250.89,X-49.16,Y6.35,Z-245.94

: Sonardyne - parsing R250.89,X-49.16,Y6.35,Z-245.94

: Sonardyne - read R = 250.890000 from 250.89,X-49.16,Y6.35,Z-245.94

: Sonardyne - got all data, Vehicle coordinates,
    r=250.890000, x=245.940000, y=-49.160000, z=-6.350000 tat = 810
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.81,X-40.92,Y29.35,Z-244.68

: Sonardyne - parsing R249.81,X-40.92,Y29.35,Z-244.68

: Sonardyne - read R = 249.810000 from 249.81,X-40.92,Y29.35,Z-244.68

: Sonardyne - got all data, Vehicle coordinates,
    r=249.810000, x=244.680000, y=-40.920000, z=-29.350000 tat = 810
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.31,X-33.47,Y19.14,Z-245.30

: Sonardyne - parsing R248.31,X-33.47,Y19.14,Z-245.30

: Sonardyne - read R = 248.310000 from 248.31,X-33.47,Y19.14,Z-245.30

: Sonardyne - got all data, Vehicle coordinates,
    r=248.310000, x=245.300000, y=-33.470000, z=-19.140000 tat = 810
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202452.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202452.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.46,X-24.65,Y26.71,Z-244.78

: Sonardyne - parsing R247.46,X-24.65,Y26.71,Z-244.78

: Sonardyne - read R = 247.460000 from 247.46,X-24.65,Y26.71,Z-244.78

: Sonardyne - got all data, Vehicle coordinates,
    r=247.460000, x=244.780000, y=-24.650000, z=-26.710000 tat = 810
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R245.97,X-18.01,Y13.38,Z-244.95

: Sonardyne - parsing R245.97,X-18.01,Y13.38,Z-244.95

: Sonardyne - read R = 245.970000 from 245.97,X-18.01,Y13.38,Z-244.95

: Sonardyne - got all data, Vehicle coordinates,
    r=245.970000, x=244.950000, y=-18.010000, z=-13.380000 tat = 800
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202454.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202454.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.73,X-11.43,Y20.59,Z-243.59

: Sonardyne - parsing R244.73,X-11.43,Y20.59,Z-243.59

: Sonardyne - read R = 244.730000 from 244.73,X-11.43,Y20.59,Z-243.59

: Sonardyne - got all data, Vehicle coordinates,
    r=244.730000, x=243.590000, y=-11.430000, z=-20.590000 tat = 800
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.23 18.26 3.91 3.93 0  2837.59 00:17:27 m

: AshtechGps::processRecord() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.60,X-7.63,Y8.55,Z-243.33

: Sonardyne - parsing R243.60,X-7.63,Y8.55,Z-243.33

: Sonardyne - read R = 243.600000 from 243.60,X-7.63,Y8.55,Z-243.33

: Sonardyne - got all data, Vehicle coordinates,
    r=243.600000, x=243.330000, y=-7.630000, z=-8.550000 tat = 800
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R242.29,X-3.06,Y11.13,Z-242.01

: Sonardyne - parsing R242.29,X-3.06,Y11.13,Z-242.01

: Sonardyne - read R = 242.290000 from 242.29,X-3.06,Y11.13,Z-242.01

: Sonardyne - got all data, Vehicle coordinates,
    r=242.290000, x=242.010000, y=-3.060000, z=-11.130000 tat = 800
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R247.26

: Sonardyne - parsing R247.26

: Sonardyne - read R = 247.260000 from 247.26

: Sonardyne - got range only (247.260000), tat = 780
: Sonardyne - POSD response: 
POSD S123.8,N24.7,D36,U2,Q0.007450

: Sonardyne - POSD response: 
POSD S123.8,N24.7,D36,U2,Q0.007450

:  wdt = 00897,  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 = 270.20          Seconds.
:   The vehicle position is is (4052270.8, 600432.5)

: AshtechGps::processRecord() - $GPGGA,202458.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202458.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R243.69

: Sonardyne - parsing R243.69

: Sonardyne - read R = 243.690000 from 243.69

: Sonardyne - got range only (243.690000), tat = 780
: Sonardyne - POSD response: 
POSD S133.3,N28.1,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.3,N28.1,D-21,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,202459.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202459.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.37,X3.53,Y3.51,Z-238.32

: Sonardyne - parsing R238.37,X3.53,Y3.51,Z-238.32

: Sonardyne - read R = 238.370000 from 238.37,X3.53,Y3.51,Z-238.32

: Sonardyne - got all data, Vehicle coordinates,
    r=238.370000, x=238.320000, y=3.530000, z=-3.510000 tat = 790
: WaypointHoming: The Usbl has aquired the transponder
  at t = 272.00          Seconds.
:   The vehicle position is (4052268.7, 600433.3)

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

: AshtechGps::processRecord() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R237.35,X6.20,Y3.84,Z-237.24

: Sonardyne - parsing R237.35,X6.20,Y3.84,Z-237.24

: Sonardyne - read R = 237.350000 from 237.35,X6.20,Y3.84,Z-237.24

: Sonardyne - got all data, Vehicle coordinates,
    r=237.350000, x=237.240000, y=6.200000, z=-3.840000 tat = 790
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.47,X8.90,Y14.87,Z-235.83

: Sonardyne - parsing R236.47,X8.90,Y14.87,Z-235.83

: Sonardyne - read R = 236.470000 from 236.47,X8.90,Y14.87,Z-235.83

: Sonardyne - got all data, Vehicle coordinates,
    r=236.470000, x=235.830000, y=8.900000, z=-14.870000 tat = 790
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R235.17,X10.29,Y12.85,Z-234.59

: Sonardyne - parsing R235.17,X10.29,Y12.85,Z-234.59

: Sonardyne - read R = 235.170000 from 235.17,X10.29,Y12.85,Z-234.59

: Sonardyne - got all data, Vehicle coordinates,
    r=235.170000, x=234.590000, y=10.290000, z=-12.850000 tat = 790
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R234.52,X11.56,Y6.65,Z-234.14

: Sonardyne - parsing R234.52,X11.56,Y6.65,Z-234.14

: Sonardyne - read R = 234.520000 from 234.52,X11.56,Y6.65,Z-234.14

: Sonardyne - got all data, Vehicle coordinates,
    r=234.520000, x=234.140000, y=11.560000, z=-6.650000 tat = 790
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.98,X16.21,Y15.19,Z-231.92

: Sonardyne - parsing R232.98,X16.21,Y15.19,Z-231.92

: Sonardyne - read R = 232.980000 from 232.98,X16.21,Y15.19,Z-231.92

: Sonardyne - got all data, Vehicle coordinates,
    r=232.980000, x=231.920000, y=16.210000, z=-15.190000 tat = 780
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  5.89 18.16 3.91 3.93 0  2837.00 00:17:37 m

: AshtechGps::processRecord() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R232.19,X19.72,Y9.96,Z-231.13

: Sonardyne - parsing R232.19,X19.72,Y9.96,Z-231.13

: Sonardyne - read R = 232.190000 from 232.19,X19.72,Y9.96,Z-231.13

: Sonardyne - got all data, Vehicle coordinates,
    r=232.190000, x=231.130000, y=19.720000, z=-9.960000 tat = 780
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R230.89,X23.57,Y9.21,Z-229.49

: Sonardyne - parsing R230.89,X23.57,Y9.21,Z-229.49

: Sonardyne - read R = 230.890000 from 230.89,X23.57,Y9.21,Z-229.49

: Sonardyne - got all data, Vehicle coordinates,
    r=230.890000, x=229.490000, y=23.570000, z=-9.210000 tat = 780
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202507.00,,,,,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,202508.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202508.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 282.60          Seconds.
:   The vehicle position is is (4052257.9, 600437.9)

: AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202510.00,,,,,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 R225.96,X41.06,Y9.62,Z-221.99

: Sonardyne - parsing R225.96,X41.06,Y9.62,Z-221.99

: Sonardyne - read R = 225.960000 from 225.96,X41.06,Y9.62,Z-221.99

: Sonardyne - got all data, Vehicle coordinates,
    r=225.960000, x=221.990000, y=41.060000, z=-9.620000 tat = 770
: WaypointHoming: The Usbl has aquired the transponder
  at t = 283.60          Seconds.
:   The vehicle position is (4052257.0, 600438.5)

: AshtechGps::processRecord() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202511.00,,,,,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 R225.24,X43.73,Y10.43,Z-220.71

: Sonardyne - parsing R225.24,X43.73,Y10.43,Z-220.71

: Sonardyne - read R = 225.240000 from 225.24,X43.73,Y10.43,Z-220.71

: Sonardyne - got all data, Vehicle coordinates,
    r=225.240000, x=220.710000, y=43.730000, z=-10.430000 tat = 780
: AshtechGps::processRecord() - $GPGGA,202512.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202512.00,,,,,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 R224.37,X48.21,Y16.05,Z-218.54

: Sonardyne - parsing R224.37,X48.21,Y16.05,Z-218.54

: Sonardyne - read R = 224.370000 from 224.37,X48.21,Y16.05,Z-218.54

: Sonardyne - got all data, Vehicle coordinates,
    r=224.370000, x=218.540000, y=48.210000, z=-16.050000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202513.00,,,,,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 R222.82,X50.61,Y13.32,Z-216.59

: Sonardyne - parsing R222.82,X50.61,Y13.32,Z-216.59

: Sonardyne - read R = 222.820000 from 222.82,X50.61,Y13.32,Z-216.59

: Sonardyne - got all data, Vehicle coordinates,
    r=222.820000, x=216.590000, y=50.610000, z=-13.320000 tat = 770
: AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202514.00,,,,,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- 31.34  6.40 18.16 3.91 3.93 0  2836.57 00:17:47 m

: AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49


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

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

: AshtechGps::processRecord() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 290.00          Seconds.
:   The vehicle position is is (4052250.4, 600442.8)

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

: AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R217.52,X63.46,Y9.87,Z-207.82

: Sonardyne - parsing R217.52,X63.46,Y9.87,Z-207.82

: Sonardyne - read R = 217.520000 from 217.52,X63.46,Y9.87,Z-207.82

: Sonardyne - got all data, Vehicle coordinates,
    r=217.520000, x=207.820000, y=63.460000, z=-9.870000 tat = 760
: WaypointHoming: The Usbl has aquired the transponder
  at t = 291.00          Seconds.
:   The vehicle position is (4052249.5, 600443.4)

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

: AshtechGps::processRecord() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R216.58,X67.11,Y10.52,Z-205.65

: Sonardyne - parsing R216.58,X67.11,Y10.52,Z-205.65

: Sonardyne - read R = 216.580000 from 216.58,X67.11,Y10.52,Z-205.65

: Sonardyne - got all data, Vehicle coordinates,
    r=216.580000, x=205.650000, y=67.110000, z=-10.520000 tat = 760
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R215.77,X70.59,Y5.17,Z-203.83

: Sonardyne - parsing R215.77,X70.59,Y5.17,Z-203.83

: Sonardyne - read R = 215.770000 from 215.77,X70.59,Y5.17,Z-203.83

: Sonardyne - got all data, Vehicle coordinates,
    r=215.770000, x=203.830000, y=70.590000, z=-5.170000 tat = 760
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R215.33,X74.28,Y14.49,Z-201.59

: Sonardyne - parsing R215.33,X74.28,Y14.49,Z-201.59

: Sonardyne - read R = 215.330000 from 215.33,X74.28,Y14.49,Z-201.59

: Sonardyne - got all data, Vehicle coordinates,
    r=215.330000, x=201.590000, y=74.280000, z=-14.490000 tat = 760
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R214.12,X75.56,Y12.26,Z-199.96

: Sonardyne - parsing R214.12,X75.56,Y12.26,Z-199.96

: Sonardyne - read R = 214.120000 from 214.12,X75.56,Y12.26,Z-199.96

: Sonardyne - got all data, Vehicle coordinates,
    r=214.120000, x=199.960000, y=75.560000, z=-12.260000 tat = 760
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R213.42,X76.65,Y7.69,Z-199.03

: Sonardyne - parsing R213.42,X76.65,Y7.69,Z-199.03

: Sonardyne - read R = 213.420000 from 213.42,X76.65,Y7.69,Z-199.03

: Sonardyne - got all data, Vehicle coordinates,
    r=213.420000, x=199.030000, y=76.650000, z=-7.690000 tat = 760
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R212.33,X78.45,Y14.46,Z-196.77

: Sonardyne - parsing R212.33,X78.45,Y14.46,Z-196.77

: Sonardyne - read R = 212.330000 from 212.33,X78.45,Y14.46,Z-196.77

: Sonardyne - got all data, Vehicle coordinates,
    r=212.330000, x=196.770000, y=78.450000, z=-14.460000 tat = 760
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.73 18.16 3.91 3.93 0  2835.93 00:17:57 m

: AshtechGps::processRecord() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R211.20,X78.92,Y13.86,Z-195.41

: Sonardyne - parsing R211.20,X78.92,Y13.86,Z-195.41

: Sonardyne - read R = 211.200000 from 211.20,X78.92,Y13.86,Z-195.41

: Sonardyne - got all data, Vehicle coordinates,
    r=211.200000, x=195.410000, y=78.920000, z=-13.860000 tat = 760
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R210.00,X78.76,Y14.96,Z-194.10

: Sonardyne - parsing R210.00,X78.76,Y14.96,Z-194.10

: Sonardyne - read R = 210.000000 from 210.00,X78.76,Y14.96,Z-194.10

: Sonardyne - got all data, Vehicle coordinates,
    r=210.000000, x=194.100000, y=78.760000, z=-14.960000 tat = 749
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.79,X79.35,Y16.54,Z-192.41

: Sonardyne - parsing R208.79,X79.35,Y16.54,Z-192.41

: Sonardyne - read R = 208.790000 from 208.79,X79.35,Y16.54,Z-192.41

: Sonardyne - got all data, Vehicle coordinates,
    r=208.790000, x=192.410000, y=79.350000, z=-16.540000 tat = 750
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R208.17,X79.58,Y12.69,Z-191.94

: Sonardyne - parsing R208.17,X79.58,Y12.69,Z-191.94

: Sonardyne - read R = 208.170000 from 208.17,X79.58,Y12.69,Z-191.94

: Sonardyne - got all data, Vehicle coordinates,
    r=208.170000, x=191.940000, y=79.580000, z=-12.690000 tat = 750
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R206.74,X81.22,Y9.69,Z-189.87

: Sonardyne - parsing R206.74,X81.22,Y9.69,Z-189.87

: Sonardyne - read R = 206.740000 from 206.74,X81.22,Y9.69,Z-189.87

: Sonardyne - got all data, Vehicle coordinates,
    r=206.740000, x=189.870000, y=81.220000, z=-9.690000 tat = 750
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R206.16,X83.01,Y9.46,Z-188.47

: Sonardyne - parsing R206.16,X83.01,Y9.46,Z-188.47

: Sonardyne - read R = 206.160000 from 206.16,X83.01,Y9.46,Z-188.47

: Sonardyne - got all data, Vehicle coordinates,
    r=206.160000, x=188.470000, y=83.010000, z=-9.460000 tat = 750
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R204.77,X84.14,Y7.99,Z-186.51

: Sonardyne - parsing R204.77,X84.14,Y7.99,Z-186.51

: Sonardyne - read R = 204.770000 from 204.77,X84.14,Y7.99,Z-186.51

: Sonardyne - got all data, Vehicle coordinates,
    r=204.770000, x=186.510000, y=84.140000, z=-7.990000 tat = 750
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R206.64,X80.50,Y-32.55,Z-187.51

: Sonardyne - parsing R206.64,X80.50,Y-32.55,Z-187.51

: Sonardyne - read R = 206.640000 from 206.64,X80.50,Y-32.55,Z-187.51

: Sonardyne - got all data, Vehicle coordinates,
    r=206.640000, x=187.510000, y=80.500000, z=32.550000 tat = 750
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R202.79,X84.80,Y6.97,Z-184.08

: Sonardyne - parsing R202.79,X84.80,Y6.97,Z-184.08

: Sonardyne - read R = 202.790000 from 202.79,X84.80,Y6.97,Z-184.08

: Sonardyne - got all data, Vehicle coordinates,
    r=202.790000, x=184.080000, y=84.800000, z=-6.970000 tat = 740
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R201.94,X87.93,Y8.71,Z-181.58

: Sonardyne - parsing R201.94,X87.93,Y8.71,Z-181.58

: Sonardyne - read R = 201.940000 from 201.94,X87.93,Y8.71,Z-181.58

: Sonardyne - got all data, Vehicle coordinates,
    r=201.940000, x=181.580000, y=87.930000, z=-8.710000 tat = 740
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  5.39 18.16 3.91 3.93 0  2835.52 00:18:07 m

: AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B


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

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

: AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 310.40          Seconds.
:   The vehicle position is is (4052234.9, 600457.8)

: AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202538.00,,,,,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 R197.83,X89.77,Y14.37,Z-175.71

: Sonardyne - parsing R197.83,X89.77,Y14.37,Z-175.71

: Sonardyne - read R = 197.830000 from 197.83,X89.77,Y14.37,Z-175.71

: Sonardyne - got all data, Vehicle coordinates,
    r=197.830000, x=175.710000, y=89.770000, z=-14.370000 tat = 740
: WaypointHoming: The Usbl has aquired the transponder
  at t = 311.60          Seconds.
:   The vehicle position is (4052234.1, 600458.8)

: AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R196.86,X88.91,Y10.09,Z-175.34

: Sonardyne - parsing R196.86,X88.91,Y10.09,Z-175.34

: Sonardyne - read R = 196.860000 from 196.86,X88.91,Y10.09,Z-175.34

: Sonardyne - got all data, Vehicle coordinates,
    r=196.860000, x=175.340000, y=88.910000, z=-10.090000 tat = 740
: AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202540.00,,,,,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 R195.84,X89.04,Y16.67,Z-173.63

: Sonardyne - parsing R195.84,X89.04,Y16.67,Z-173.63

: Sonardyne - read R = 195.840000 from 195.84,X89.04,Y16.67,Z-173.63

: Sonardyne - got all data, Vehicle coordinates,
    r=195.840000, x=173.630000, y=89.040000, z=-16.670000 tat = 739
: AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202541.00,,,,,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 R194.91,X88.86,Y9.12,Z-173.24

: Sonardyne - parsing R194.91,X88.86,Y9.12,Z-173.24

: Sonardyne - read R = 194.910000 from 194.91,X88.86,Y9.12,Z-173.24

: Sonardyne - got all data, Vehicle coordinates,
    r=194.910000, x=173.240000, y=88.860000, z=-9.120000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202542.00,,,,,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 R194.03,X88.81,Y11.37,Z-172.14

: Sonardyne - parsing R194.03,X88.81,Y11.37,Z-172.14

: Sonardyne - read R = 194.030000 from 194.03,X88.81,Y11.37,Z-172.14

: Sonardyne - got all data, Vehicle coordinates,
    r=194.030000, x=172.140000, y=88.810000, z=-11.370000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.97,X87.52,Y3.20,Z-171.95

: Sonardyne - parsing R192.97,X87.52,Y3.20,Z-171.95

: Sonardyne - read R = 192.970000 from 192.97,X87.52,Y3.20,Z-171.95

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

: Sonardyne - got all data, Vehicle coordinates,
    r=192.970000, x=171.950000, y=87.520000, z=-3.200000 tat = 730
: AshtechGps::processRecord() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R191.85,X87.78,Y6.49,Z-170.47

: Sonardyne - parsing R191.85,X87.78,Y6.49,Z-170.47

: Sonardyne - read R = 191.850000 from 191.85,X87.78,Y6.49,Z-170.47

: Sonardyne - got all data, Vehicle coordinates,
    r=191.850000, x=170.470000, y=87.780000, z=-6.490000 tat = 730
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  5.92 18.16 3.91 3.93 0  2834.87 00:18:17 m

: AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.75,X88.40,Y6.40,Z-168.91

: Sonardyne - parsing R190.75,X88.40,Y6.40,Z-168.91

: Sonardyne - read R = 190.750000 from 190.75,X88.40,Y6.40,Z-168.91

: Sonardyne - got all data, Vehicle coordinates,
    r=190.750000, x=168.910000, y=88.400000, z=-6.400000 tat = 730
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.81,X87.67,Y1.75,Z-168.35

: Sonardyne - parsing R189.81,X87.67,Y1.75,Z-168.35

: Sonardyne - read R = 189.810000 from 189.81,X87.67,Y1.75,Z-168.35

: Sonardyne - got all data, Vehicle coordinates,
    r=189.810000, x=168.350000, y=87.670000, z=-1.750000 tat = 730
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.99,X88.24,Y-0.31,Z-167.13

: Sonardyne - parsing R188.99,X88.24,Y-0.31,Z-167.13

: Sonardyne - read R = 188.990000 from 188.99,X88.24,Y-0.31,Z-167.13

: Sonardyne - got all data, Vehicle coordinates,
    r=188.990000, x=167.130000, y=88.240000, z=0.310000 tat = 730
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.32,X88.42,Y-0.74,Z-166.27

: Sonardyne - parsing R188.32,X88.42,Y-0.74,Z-166.27

: Sonardyne - read R = 188.320000 from 188.32,X88.42,Y-0.74,Z-166.27

: Sonardyne - got all data, Vehicle coordinates,
    r=188.320000, x=166.270000, y=88.420000, z=0.740000 tat = 720
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.67,X90.14,Y5.87,Z-164.50

: Sonardyne - parsing R187.67,X90.14,Y5.87,Z-164.50

: Sonardyne - read R = 187.670000 from 187.67,X90.14,Y5.87,Z-164.50

: Sonardyne - got all data, Vehicle coordinates,
    r=187.670000, x=164.500000, y=90.140000, z=-5.870000 tat = 720
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.13,X91.42,Y10.90,Z-162.91

: Sonardyne - parsing R187.13,X91.42,Y10.90,Z-162.91

: Sonardyne - read R = 187.130000 from 187.13,X91.42,Y10.90,Z-162.91

: Sonardyne - got all data, Vehicle coordinates,
    r=187.130000, x=162.910000, y=91.420000, z=-10.900000 tat = 720
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.27,X91.46,Y7.38,Z-162.11

: Sonardyne - parsing R186.27,X91.46,Y7.38,Z-162.11

: Sonardyne - read R = 186.270000 from 186.27,X91.46,Y7.38,Z-162.11

: Sonardyne - got all data, Vehicle coordinates,
    r=186.270000, x=162.110000, y=91.460000, z=-7.380000 tat = 720
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R185.34,X89.31,Y7.42,Z-162.24

: Sonardyne - parsing R185.34,X89.31,Y7.42,Z-162.24

: Sonardyne - read R = 185.340000 from 185.34,X89.31,Y7.42,Z-162.24

: Sonardyne - got all data, Vehicle coordinates,
    r=185.340000, x=162.240000, y=89.310000, z=-7.420000 tat = 720
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R184.17,X87.47,Y11.44,Z-161.66

: Sonardyne - parsing R184.17,X87.47,Y11.44,Z-161.66

: Sonardyne - read R = 184.170000 from 184.17,X87.47,Y11.44,Z-161.66

: Sonardyne - got all data, Vehicle coordinates,
    r=184.170000, x=161.660000, y=87.470000, z=-11.440000 tat = 720
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R182.92,X85.64,Y10.47,Z-161.30

: Sonardyne - parsing R182.92,X85.64,Y10.47,Z-161.30

: Sonardyne - read R = 182.920000 from 182.92,X85.64,Y10.47,Z-161.30

: Sonardyne - got all data, Vehicle coordinates,
    r=182.920000, x=161.300000, y=85.640000, z=-10.470000 tat = 720
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  5.52 18.16 3.91 3.93 0  2834.44 00:18:27 m

: AshtechGps::processRecord() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R181.84,X84.84,Y11.88,Z-160.39

: Sonardyne - parsing R181.84,X84.84,Y11.88,Z-160.39

: Sonardyne - read R = 181.840000 from 181.84,X84.84,Y11.88,Z-160.39

: Sonardyne - got all data, Vehicle coordinates,
    r=181.840000, x=160.390000, y=84.840000, z=-11.880000 tat = 720
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R180.95,X83.38,Y11.08,Z-160.21

: Sonardyne - parsing R180.95,X83.38,Y11.08,Z-160.21

: Sonardyne - read R = 180.950000 from 180.95,X83.38,Y11.08,Z-160.21

: Sonardyne - got all data, Vehicle coordinates,
    r=180.950000, x=160.210000, y=83.380000, z=-11.080000 tat = 720
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R180.01,X84.58,Y6.74,Z-158.75

: Sonardyne - parsing R180.01,X84.58,Y6.74,Z-158.75

: Sonardyne - read R = 180.010000 from 180.01,X84.58,Y6.74,Z-158.75

: Sonardyne - got all data, Vehicle coordinates,
    r=180.010000, x=158.750000, y=84.580000, z=-6.740000 tat = 710
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R179.26,X84.38,Y2.38,Z-158.15

: Sonardyne - parsing R179.26,X84.38,Y2.38,Z-158.15

: Sonardyne - read R = 179.260000 from 179.26,X84.38,Y2.38,Z-158.15

: Sonardyne - got all data, Vehicle coordinates,
    r=179.260000, x=158.150000, y=84.380000, z=-2.380000 tat = 710
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R178.62,X84.91,Y2.10,Z-157.14

: Sonardyne - parsing R178.62,X84.91,Y2.10,Z-157.14

: Sonardyne - read R = 178.620000 from 178.62,X84.91,Y2.10,Z-157.14

: Sonardyne - got all data, Vehicle coordinates,
    r=178.620000, x=157.140000, y=84.910000, z=-2.100000 tat = 710
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R178.77,X86.37,Y34.88,Z-152.58

: Sonardyne - parsing R178.77,X86.37,Y34.88,Z-152.58

: Sonardyne - read R = 178.770000 from 178.77,X86.37,Y34.88,Z-152.58

: Sonardyne - got all data, Vehicle coordinates,
    r=178.770000, x=152.580000, y=86.370000, z=-34.880000 tat = 710
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R177.04,X85.72,Y11.48,Z-154.47

: Sonardyne - parsing R177.04,X85.72,Y11.48,Z-154.47

: Sonardyne - read R = 177.040000 from 177.04,X85.72,Y11.48,Z-154.47

: Sonardyne - got all data, Vehicle coordinates,
    r=177.040000, x=154.470000, y=85.720000, z=-11.480000 tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R176.18,X84.16,Y6.22,Z-154.65

: Sonardyne - parsing R176.18,X84.16,Y6.22,Z-154.65

: Sonardyne - read R = 176.180000 from 176.18,X84.16,Y6.22,Z-154.65

: Sonardyne - got all data, Vehicle coordinates,
    r=176.180000, x=154.650000, y=84.160000, z=-6.220000 tat = 710
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R175.11,X84.10,Y10.65,Z-153.22

: Sonardyne - parsing R175.11,X84.10,Y10.65,Z-153.22

: Sonardyne - read R = 175.110000 from 175.11,X84.10,Y10.65,Z-153.22

: Sonardyne - got all data, Vehicle coordinates,
    r=175.110000, x=153.220000, y=84.100000, z=-10.650000 tat = 710
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R173.89,X82.49,Y11.39,Z-152.66

: Sonardyne - parsing R173.89,X82.49,Y11.39,Z-152.66

: Sonardyne - read R = 173.890000 from 173.89,X82.49,Y11.39,Z-152.66

: Sonardyne - got all data, Vehicle coordinates,
    r=173.890000, x=152.660000, y=82.490000, z=-11.390000 tat = 760
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.03 18.16 3.91 3.93 0  2833.86 00:18:37 m

: AshtechGps::processRecord() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R173.78,X80.83,Y40.14,Z-148.50

: Sonardyne - parsing R173.78,X80.83,Y40.14,Z-148.50

: Sonardyne - read R = 173.780000 from 173.78,X80.83,Y40.14,Z-148.50

: Sonardyne - got all data, Vehicle coordinates,
    r=173.780000, x=148.500000, y=80.830000, z=-40.140000 tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R171.94,X80.07,Y7.25,Z-151.98

: Sonardyne - parsing R171.94,X80.07,Y7.25,Z-151.98

: Sonardyne - read R = 171.940000 from 171.94,X80.07,Y7.25,Z-151.98

: Sonardyne - got all data, Vehicle coordinates,
    r=171.940000, x=151.980000, y=80.070000, z=-7.250000 tat = 700
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R171.09,X79.86,Y6.66,Z-151.16

: Sonardyne - parsing R171.09,X79.86,Y6.66,Z-151.16

: Sonardyne - read R = 171.090000 from 171.09,X79.86,Y6.66,Z-151.16

: Sonardyne - got all data, Vehicle coordinates,
    r=171.090000, x=151.160000, y=79.860000, z=-6.660000 tat = 700
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R170.38,X80.84,Y5.64,Z-149.88

: Sonardyne - parsing R170.38,X80.84,Y5.64,Z-149.88

: Sonardyne - read R = 170.380000 from 170.38,X80.84,Y5.64,Z-149.88

: Sonardyne - got all data, Vehicle coordinates,
    r=170.380000, x=149.880000, y=80.840000, z=-5.640000 tat = 700
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R169.69,X82.09,Y7.84,Z-148.31

: Sonardyne - parsing R169.69,X82.09,Y7.84,Z-148.31

: Sonardyne - read R = 169.690000 from 169.69,X82.09,Y7.84,Z-148.31

: Sonardyne - got all data, Vehicle coordinates,
    r=169.690000, x=148.310000, y=82.090000, z=-7.840000 tat = 699
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R168.82,X82.04,Y3.12,Z-147.52

: Sonardyne - parsing R168.82,X82.04,Y3.12,Z-147.52

: Sonardyne - read R = 168.820000 from 168.82,X82.04,Y3.12,Z-147.52

: Sonardyne - got all data, Vehicle coordinates,
    r=168.820000, x=147.520000, y=82.040000, z=-3.120000 tat = 700
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R167.84,X81.90,Y6.72,Z-146.35

: Sonardyne - parsing R167.84,X81.90,Y6.72,Z-146.35

: Sonardyne - read R = 167.840000 from 167.84,X81.90,Y6.72,Z-146.35

: Sonardyne - got all data, Vehicle coordinates,
    r=167.840000, x=146.350000, y=81.900000, z=-6.720000 tat = 700
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R166.84,X81.31,Y5.88,Z-145.56

: Sonardyne - parsing R166.84,X81.31,Y5.88,Z-145.56

: Sonardyne - read R = 166.840000 from 166.84,X81.31,Y5.88,Z-145.56

: Sonardyne - got all data, Vehicle coordinates,
    r=166.840000, x=145.560000, y=81.310000, z=-5.880000 tat = 700
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R165.76,X80.00,Y5.58,Z-145.07

: Sonardyne - parsing R165.76,X80.00,Y5.58,Z-145.07

: Sonardyne - read R = 165.760000 from 165.76,X80.00,Y5.58,Z-145.07

: Sonardyne - got all data, Vehicle coordinates,
    r=165.760000, x=145.070000, y=80.000000, z=-5.580000 tat = 690
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R164.66,X79.58,Y8.79,Z-143.88

: Sonardyne - parsing R164.66,X79.58,Y8.79,Z-143.88

: Sonardyne - read R = 164.660000 from 164.66,X79.58,Y8.79,Z-143.88

: Sonardyne - got all data, Vehicle coordinates,
    r=164.660000, x=143.880000, y=79.580000, z=-8.790000 tat = 690
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.23 18.16 3.91 3.93 0  2833.42 00:18:47 m

: AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.64,X81.42,Y7.20,Z-141.77

: Sonardyne - parsing R163.64,X81.42,Y7.20,Z-141.77

: Sonardyne - read R = 163.640000 from 163.64,X81.42,Y7.20,Z-141.77

: Sonardyne - got all data, Vehicle coordinates,
    r=163.640000, x=141.770000, y=81.420000, z=-7.200000 tat = 690
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R164.15,X80.09,Y41.31,Z-137.20

: Sonardyne - parsing R164.15,X80.09,Y41.31,Z-137.20

: Sonardyne - read R = 164.150000 from 164.15,X80.09,Y41.31,Z-137.20

: Sonardyne - got all data, Vehicle coordinates,
    r=164.150000, x=137.200000, y=80.090000, z=-41.310000 tat = 690
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.21,X80.40,Y8.07,Z-140.65

: Sonardyne - parsing R162.21,X80.40,Y8.07,Z-140.65

: Sonardyne - read R = 162.210000 from 162.21,X80.40,Y8.07,Z-140.65

: Sonardyne - got all data, Vehicle coordinates,
    r=162.210000, x=140.650000, y=80.400000, z=-8.070000 tat = 690
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R161.50,X81.71,Y5.87,Z-139.18

: Sonardyne - parsing R161.50,X81.71,Y5.87,Z-139.18

: Sonardyne - read R = 161.500000 from 161.50,X81.71,Y5.87,Z-139.18

: Sonardyne - got all data, Vehicle coordinates,
    r=161.500000, x=139.180000, y=81.710000, z=-5.870000 tat = 690
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.65,X81.49,Y2.44,Z-138.43

: Sonardyne - parsing R160.65,X81.49,Y2.44,Z-138.43

: Sonardyne - read R = 160.650000 from 160.65,X81.49,Y2.44,Z-138.43

: Sonardyne - got all data, Vehicle coordinates,
    r=160.650000, x=138.430000, y=81.490000, z=-2.440000 tat = 690
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R162.63

: Sonardyne - parsing R162.63

: Sonardyne - read R = 162.630000 from 162.63

: Sonardyne - got range only (162.630000), tat = 670
: Sonardyne - POSD response: 
POSD S137.9,N29.5,D-41,U2,Q0.008014

: Sonardyne - POSD response: 
POSD S137.9,N29.5,D-41,U2,Q0.008014

:  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 = 353.60          Seconds.
:   The vehicle position is is (4052202.8, 600492.4)

: AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.65,X82.46,Y10.36,Z-135.14

: Sonardyne - parsing R158.65,X82.46,Y10.36,Z-135.14

: Sonardyne - read R = 158.650000 from 158.65,X82.46,Y10.36,Z-135.14

: Sonardyne - got all data, Vehicle coordinates,
    r=158.650000, x=135.140000, y=82.460000, z=-10.360000 tat = 690
: WaypointHoming: The Usbl has aquired the transponder
  at t = 354.40          Seconds.
:   The vehicle position is (4052202.1, 600492.9)

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

: AshtechGps::processRecord() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.47

: Sonardyne - parsing R160.47

: Sonardyne - read R = 160.470000 from 160.47

: Sonardyne - got range only (160.470000), tat = 660
: Sonardyne - POSD response: 
POSD S134.8,N25.9,D-77,U2,Q0.008117

: Sonardyne - POSD response: 
POSD S134.8,N25.9,D-77,U2,Q0.008117

:  wdt = 00892,  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 = 355.60          Seconds.
:   The vehicle position is is (4052201.2, 600493.8)

: AshtechGps::processRecord() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.78,X83.00,Y1.54,Z-133.00

: Sonardyne - parsing R156.78,X83.00,Y1.54,Z-133.00

: Sonardyne - read R = 156.780000 from 156.78,X83.00,Y1.54,Z-133.00

: Sonardyne - got all data, Vehicle coordinates,
    r=156.780000, x=133.000000, y=83.000000, z=-1.540000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder
  at t = 356.40          Seconds.
:   The vehicle position is (4052200.6, 600494.3)

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

: AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R155.91,X83.12,Y3.70,Z-131.86

: Sonardyne - parsing R155.91,X83.12,Y3.70,Z-131.86

: Sonardyne - read R = 155.910000 from 155.91,X83.12,Y3.70,Z-131.86

: Sonardyne - got all data, Vehicle coordinates,
    r=155.910000, x=131.860000, y=83.120000, z=-3.700000 tat = 680
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.26 18.26 3.91 3.93 0  2832.80 00:18:57 m

: AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.88,X82.41,Y3.13,Z-131.10

: Sonardyne - parsing R154.88,X82.41,Y3.13,Z-131.10

: Sonardyne - read R = 154.880000 from 154.88,X82.41,Y3.13,Z-131.10

: Sonardyne - got all data, Vehicle coordinates,
    r=154.880000, x=131.100000, y=82.410000, z=-3.130000 tat = 680
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R154.39

: Sonardyne - parsing R154.39

: Sonardyne - read R = 154.390000 from 154.39

: Sonardyne - got range only (154.390000), tat = 660
: Sonardyne - POSD response: 
POSD S129.8,N24.5,D116,U5,Q0.006257

: Sonardyne - POSD response: 
POSD S129.8,N24.5,D116,U5,Q0.006257

:  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 = 359.60          Seconds.
:   The vehicle position is is (4052197.9, 600496.6)

: AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.58,X80.68,Y0.24,Z-130.69

: Sonardyne - parsing R153.58,X80.68,Y0.24,Z-130.69

: Sonardyne - read R = 153.580000 from 153.58,X80.68,Y0.24,Z-130.69

: Sonardyne - got all data, Vehicle coordinates,
    r=153.580000, x=130.690000, y=80.680000, z=-0.240000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder
  at t = 360.40          Seconds.
:   The vehicle position is (4052197.3, 600497.2)

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

: AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.36

: Sonardyne - parsing R153.36

: Sonardyne - read R = 153.360000 from 153.36

: Sonardyne - got range only (153.360000), tat = 650
: Sonardyne - POSD response: 
POSD S133.8,N28.8,D0,U2,Q0.006036

: Sonardyne - POSD response: 
POSD S133.8,N28.8,D0,U2,Q0.006036

:  wdt = 00896,  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 = 361.60          Seconds.
:   The vehicle position is is (4052196.3, 600498.1)

: AshtechGps::processRecord() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R152.36,X89.77,Y37.74,Z-117.18

: Sonardyne - parsing R152.36,X89.77,Y37.74,Z-117.18

: Sonardyne - read R = 152.360000 from 152.36,X89.77,Y37.74,Z-117.18

: Sonardyne - got all data, Vehicle coordinates,
    r=152.360000, x=117.180000, y=89.770000, z=-37.740000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder
  at t = 362.40          Seconds.
:   The vehicle position is (4052195.6, 600498.8)

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

: AshtechGps::processRecord() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R153.29,X87.36,Y-14.10,Z-125.16

: Sonardyne - parsing R153.29,X87.36,Y-14.10,Z-125.16

: Sonardyne - read R = 153.290000 from 153.29,X87.36,Y-14.10,Z-125.16

: Sonardyne - got all data, Vehicle coordinates,
    r=153.290000, x=125.160000, y=87.360000, z=14.100000 tat = 680
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R149.68

: Sonardyne - parsing R149.68

: Sonardyne - read R = 149.680000 from 149.68

: Sonardyne - got range only (149.680000), tat = 650
: Sonardyne - POSD response: 
POSD S137.4,N28.0,D-80,U4,Q0.012118

: Sonardyne - POSD response: 
POSD S137.4,N28.0,D-80,U4,Q0.012118

:  wdt = 00893,  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 = 364.60          Seconds.
:   The vehicle position is is (4052193.9, 600500.5)

: AshtechGps::processRecord() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R148.95

: Sonardyne - parsing R148.95

: Sonardyne - read R = 148.950000 from 148.95

: Sonardyne - got range only (148.950000), tat = 650
: Sonardyne - POSD response: 
POSD S140.1,N26.9,D-106,U5,Q0.012388

: Sonardyne - POSD response: 
POSD S140.1,N26.9,D-106,U5,Q0.012388

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

: AshtechGps::processRecord() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R149.42,X90.05,Y40.96,Z-111.99

: Sonardyne - parsing R149.42,X90.05,Y40.96,Z-111.99

: Sonardyne - read R = 149.420000 from 149.42,X90.05,Y40.96,Z-111.99

: Sonardyne - got all data, Vehicle coordinates,
    r=149.420000, x=111.990000, y=90.050000, z=-40.960000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder
  at t = 366.39          Seconds.
:   The vehicle position is (4052192.7, 600501.8)

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

: AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R148.42,X90.90,Y30.61,Z-113.27

: Sonardyne - parsing R148.42,X90.90,Y30.61,Z-113.27

: Sonardyne - read R = 148.420000 from 148.42,X90.90,Y30.61,Z-113.27

: Sonardyne - got all data, Vehicle coordinates,
    r=148.420000, x=113.270000, y=90.900000, z=-30.610000 tat = 670
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  6.03 18.16 3.91 3.93 0  2832.38 00:19:07 m

: AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R149.70

: Sonardyne - parsing R149.70

: Sonardyne - read R = 149.700000 from 149.70

: Sonardyne - got range only (149.700000), tat = 650
: Sonardyne - POSD response: 
POSD S131.3,N29.1,D61,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.3,N29.1,D61,U0,Q0.000000

:  wdt = 00899,  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 = 368.59          Seconds.
:   The vehicle position is is (4052191.2, 600503.4)

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

: AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.99

: Sonardyne - parsing R145.99

: Sonardyne - read R = 145.990000 from 145.99

: Sonardyne - got range only (145.990000), tat = 650
: Sonardyne - POSD response: 
POSD S139.0,N25.9,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.0,N25.9,D-16,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,202637.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.01

: Sonardyne - parsing R145.01

: Sonardyne - read R = 145.010000 from 145.01

: Sonardyne - got range only (145.010000), tat = 640
: Sonardyne - POSD response: 
POSD S135.0,N20.4,D-21,U5,Q0.014354

: Sonardyne - POSD response: 
POSD S135.0,N20.4,D-21,U5,Q0.014354

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

: AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R144.11

: Sonardyne - parsing R144.11

: Sonardyne - read R = 144.110000 from 144.11

: Sonardyne - got range only (144.110000), tat = 639
: Sonardyne - POSD response: 
POSD S138.5,N25.3,D82,U1,Q0.014719

: Sonardyne - POSD response: 
POSD S138.5,N25.3,D82,U1,Q0.014719

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

: AshtechGps::processRecord() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,202640.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202640.00,,,,,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,202641.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202642.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202642.00,,,,,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 R140.34

: Sonardyne - parsing R140.34

: Sonardyne - read R = 140.340000 from 140.34

: Sonardyne - got range only (140.340000), tat = 640
: Sonardyne - POSD response: 
POSD S136.8,N25.4,D-49,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S136.8,N25.4,D-49,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R139.63,X-124.58,Y63.07,Z0.00

: Sonardyne - parsing R139.63,X-124.58,Y63.07,Z0.00

: Sonardyne - read R = 139.630000 from 139.63,X-124.58,Y63.07,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=139.630000, x=0.000000, y=-124.580000, z=-63.070000 tat = 660
: AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 376.99          Seconds.
:   The vehicle position is (4052184.7, 600510.3)

:  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 R138.86

: BluefinBatt Reply: $aaq0 d- 31.30  6.43 18.16 3.91 3.93 0  2831.68 00:19:17 m

: Sonardyne - parsing R138.86

: Sonardyne - read R = 138.860000 from 138.86

: Sonardyne - got range only (138.860000), tat = 630
: Sonardyne - POSD response: 
POSD S138.5,N28.9,D-22,U2,Q0.015864

: AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S138.5,N28.9,D-22,U2,Q0.015864

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 377.99          Seconds.
:   The vehicle position is is (4052184.0, 600511.1)

:  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 R138.09

: Sonardyne - parsing R138.09

: Sonardyne - read R = 138.090000 from 138.09

: Sonardyne - got range only (138.090000), tat = 630
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S138.8,N26.6,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S138.8,N26.6,D17,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R137.43

: Sonardyne - parsing R137.43

: Sonardyne - read R = 137.430000 from 137.43

: Sonardyne - got range only (137.430000), tat = 630
: Sonardyne - POSD response: 
POSD S140.1,N28.2,D-31,U2,Q0.013161

: AshtechGps::processRecord() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S140.1,N28.2,D-31,U2,Q0.013161

:  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 R136.84

: Sonardyne - parsing R136.84

: Sonardyne - read R = 136.840000 from 136.84

: Sonardyne - got range only (136.840000), tat = 630
: Sonardyne - POSD response: 
POSD S140.9,N29.1,D-16,U1,Q0.020187

: AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S140.9,N29.1,D-16,U1,Q0.020187

:  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 R136.17

: Sonardyne - parsing R136.17

: Sonardyne - read R = 136.170000 from 136.17

: Sonardyne - got range only (136.170000), tat = 630
: Sonardyne - POSD response: 
POSD S134.3,N18.4,D-86,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S134.3,N18.4,D-86,U0,Q0.000000

:  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 R135.57

: Sonardyne - parsing R135.57

: Sonardyne - read R = 135.570000 from 135.57

: Sonardyne - got range only (135.570000), tat = 630
: Sonardyne - POSD response: 
POSD S140.4,N29.4,D-18,U1,Q0.013758

: AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S140.4,N29.4,D-18,U1,Q0.013758

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

: Sonardyne - POS response: 
POS V4,1 R134.71

: Sonardyne - parsing R134.71

: Sonardyne - read R = 134.710000 from 134.71

: Sonardyne - got range only (134.710000), tat = 630
: Sonardyne - POSD response: 
POSD S138.1,N20.2,D-89,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S138.1,N20.2,D-89,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R134.00

: Sonardyne - parsing R134.00

: Sonardyne - read R = 134.000000 from 134.00

: Sonardyne - got range only (134.000000), tat = 630
: Sonardyne - POSD response: 
POSD S139.8,N31.1,D9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49


: Sonardyne - POSD response: 
POSD S139.8,N31.1,D9,U0,Q0.000000

: 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 R133.19

: Sonardyne - parsing R133.19

: Sonardyne - read R = 133.190000 from 133.19

: Sonardyne - got range only (133.190000), tat = 629
: Sonardyne - POSD response: 
POSD S141.0,N24.8,D41,U3,Q0.004450

: AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S141.0,N24.8,D41,U3,Q0.004450

:  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 R132.33

: Sonardyne - parsing R132.33

: Sonardyne - read R = 132.330000 from 132.33

: Sonardyne - got range only (132.330000), tat = 630
: Sonardyne - POSD response: 
POSD S142.4,N32.7,D-6,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S142.4,N32.7,D-6,U0,Q0.000000

:  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 R131.28

: Sonardyne - parsing R131.28

: Sonardyne - read R = 131.280000 from 131.28

: Sonardyne - got range only (131.280000), tat = 620
: BluefinBatt Reply: $aaq0 d- 31.30  6.77 18.16 3.91 3.93 0  2831.28 00:19:27 m

: Sonardyne - POSD response: 
POSD S140.7,N30.8,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S140.7,N30.8,D-30,U0,Q0.000000

:  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 R130.34

: Sonardyne - parsing R130.34

: Sonardyne - read R = 130.340000 from 130.34

: Sonardyne - got range only (130.340000), tat = 620
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S139.9,N30.8,D-35,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - POSD response: 
POSD S139.9,N30.8,D-35,U0,Q0.000000

: 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 R129.54

: Sonardyne - parsing R129.54

: Sonardyne - read R = 129.540000 from 129.54

: Sonardyne - got range only (129.540000), tat = 620
: Sonardyne - POSD response: 
POSD S138.4,N29.4,D2,U1,Q0.007238

: AshtechGps::processRecord() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C


: Sonardyne - POSD response: 
POSD S138.4,N29.4,D2,U1,Q0.007238

: 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 R128.79

: Sonardyne - parsing R128.79

: Sonardyne - read R = 128.790000 from 128.79

: Sonardyne - got range only (128.790000), tat = 620
: Sonardyne - POSD response: 
POSD S138.7,N29.4,D8,U1,Q0.007238

: Sonardyne - POSD response: 
POSD S138.7,N29.4,D8,U1,Q0.007238

: AshtechGps::processRecord() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R128.18,X73.89,Y104.74,Z0.00

: Sonardyne - parsing R128.18,X73.89,Y104.74,Z0.00

: Sonardyne - read R = 128.180000 from 128.18,X73.89,Y104.74,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=128.180000, x=0.000000, y=73.890000, z=-104.740000 tat = 640
: AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 391.99          Seconds.
:   The vehicle position is (4052173.6, 600522.9)

: Sonardyne - POS response: 
POS V4,1 R127.77

: Sonardyne - parsing R127.77

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

: Sonardyne - read R = 127.770000 from 127.77

: Sonardyne - got range only (127.770000), tat = 620
: Sonardyne - POSD response: 
POSD S139.5,N28.5,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.5,N28.5,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 392.99          Seconds.
:   The vehicle position is is (4052173.1, 600523.6)

: Sonardyne - POS response: 
POS V4,1 R127.26

: Sonardyne - parsing R127.26

: Sonardyne - read R = 127.260000 from 127.26

: Sonardyne - got range only (127.260000), tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S139.1,N32.3,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S139.1,N32.3,D-21,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R126.69

: Sonardyne - parsing R126.69

: Sonardyne - read R = 126.690000 from 126.69

: Sonardyne - got range only (126.690000), tat = 620
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S137.1,N32.0,D0,U1,Q0.012799

: AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - POSD response: 
POSD S137.1,N32.0,D0,U1,Q0.012799

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R126.26

: Sonardyne - parsing R126.26

: Sonardyne - read R = 126.260000 from 126.26

: Sonardyne - got range only (126.260000), tat = 620
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.1,N22.1,D-58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.1,N22.1,D-58,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R128.39

: Sonardyne - parsing R128.39

: Sonardyne - read R = 128.390000 from 128.39

: Sonardyne - got range only (128.390000), tat = 620
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S118.5,N22.8,D-36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.5,N22.8,D-36,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R124.58

: Sonardyne - parsing R124.58

: Sonardyne - read R = 124.580000 from 124.58

: Sonardyne - got range only (124.580000), tat = 610
: BluefinBatt Reply: $aaq0 d- 31.34  6.57 18.16 3.91 3.93 0  2830.66 00:19:37 m

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

: Sonardyne - POSD response: 
POSD S131.8,N23.3,D-9,U1,Q0.014719

: Sonardyne - POSD response: 
POSD S131.8,N23.3,D-9,U1,Q0.014719

: AshtechGps::processRecord() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.82

: Sonardyne - parsing R123.82

: Sonardyne - read R = 123.820000 from 123.82

: Sonardyne - got range only (123.820000), tat = 610
: 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 - POSD response: 
POSD S131.1,N25.6,D-36,U1,Q0.004568

: Sonardyne - POSD response: 
POSD S131.1,N25.6,D-36,U1,Q0.004568

: AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.90

: Sonardyne - parsing R122.90

: Sonardyne - read R = 122.900000 from 122.90

: Sonardyne - got range only (122.900000), tat = 610
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S140.4,N32.4,D7,U2,Q0.000766

: Sonardyne - POSD response: 
POSD S140.4,N32.4,D7,U2,Q0.000766

: AshtechGps::processRecord() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.89

: Sonardyne - parsing R121.89

: Sonardyne - read R = 121.890000 from 121.89

: Sonardyne - got range only (121.890000), tat = 609
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S138.8,N33.9,D-15,U1,Q0.005415

: Sonardyne - POSD response: 
POSD S138.8,N33.9,D-15,U1,Q0.005415

: AshtechGps::processRecord() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.98

: Sonardyne - parsing R120.98

: Sonardyne - read R = 120.980000 from 120.98

: Sonardyne - got range only (120.980000), tat = 610
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.2,N29.9,D10,U1,Q0.011843

: Sonardyne - POSD response: 
POSD S134.2,N29.9,D10,U1,Q0.011843

: AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.29

: Sonardyne - parsing R120.29

: Sonardyne - read R = 120.290000 from 120.29

: Sonardyne - got range only (120.290000), tat = 610
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S138.1,N31.8,D-26,U1,Q0.005904

: AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S138.1,N31.8,D-26,U1,Q0.005904

: Sonardyne - POS response: 
POS V4,1 R119.72

: Sonardyne - parsing R119.72

: Sonardyne - read R = 119.720000 from 119.72

: Sonardyne - got range only (119.720000), tat = 610
: Sonardyne - POSD response: 
POSD S134.9,N24.9,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S134.9,N24.9,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.23

: Sonardyne - parsing R119.23

: Sonardyne - read R = 119.230000 from 119.23

: Sonardyne - got range only (119.230000), tat = 610
: Sonardyne - POSD response: 
POSD S136.6,N23.9,D-15,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S136.6,N23.9,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.68

: Sonardyne - parsing R118.68

: Sonardyne - read R = 118.680000 from 118.68

: Sonardyne - got range only (118.680000), tat = 610
: Sonardyne - POSD response: 
POSD S136.0,N24.9,D-24,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S136.0,N24.9,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.37

: Sonardyne - parsing R118.37

: Sonardyne - read R = 118.370000 from 118.37

: Sonardyne - got range only (118.370000), tat = 610
: Sonardyne - POSD response: 
POSD S138.6,N22.6,D-139,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S138.6,N22.6,D-139,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.75

: Sonardyne - parsing R117.75

: Sonardyne - read R = 117.750000 from 117.75

: Sonardyne - got range only (117.750000), tat = 610
: BluefinBatt Reply: $aaq0 d- 31.34  6.26 18.16 3.91 3.93 0  2830.22 00:19:47 m

: Sonardyne - POSD response: 
POSD S132.4,N22.6,D23,U1,Q0.011384

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

: Sonardyne - POSD response: 
POSD S132.4,N22.6,D23,U1,Q0.011384

: AshtechGps::processRecord() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.00

: Sonardyne - parsing R120.00

: Sonardyne - read R = 120.000000 from 120.00

: Sonardyne - got range only (120.000000), tat = 610
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S125.5,N21.7,D35,U1,Q0.002827

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

: AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48


: Sonardyne - POSD response: 
POSD S125.5,N21.7,D35,U1,Q0.002827

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.74

: Sonardyne - parsing R116.74

: Sonardyne - read R = 116.740000 from 116.74

: Sonardyne - got range only (116.740000), tat = 600
: Sonardyne - POSD response: 
POSD S139.1,N23.4,D-66,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S139.1,N23.4,D-66,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.22

: Sonardyne - parsing R116.22

: Sonardyne - read R = 116.220000 from 116.22

: Sonardyne - got range only (116.220000), tat = 600
: Sonardyne - POSD response: 
POSD S142.2,N29.2,D39,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S142.2,N29.2,D39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.55

: Sonardyne - parsing R115.55

: Sonardyne - read R = 115.550000 from 115.55

: Sonardyne - got range only (115.550000), tat = 600
: Sonardyne - POSD response: 
POSD S139.8,N29.8,D-39,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S139.8,N29.8,D-39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.07

: Sonardyne - parsing R115.07

: Sonardyne - read R = 115.070000 from 115.07

: Sonardyne - got range only (115.070000), tat = 600
: Sonardyne - POSD response: 
POSD S141.1,N31.7,D-40,U1,Q0.008539

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

: Sonardyne - POSD response: 
POSD S141.1,N31.7,D-40,U1,Q0.008539

: AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.32

: Sonardyne - parsing R114.32

: Sonardyne - read R = 114.320000 from 114.32

: Sonardyne - got range only (114.320000), tat = 600
: Sonardyne - POSD response: 
POSD S140.3,N31.4,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.3,N31.4,D-1,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,202721.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R113.78

: Sonardyne - parsing R113.78

: Sonardyne - read R = 113.780000 from 113.78

: Sonardyne - got range only (113.780000), tat = 600
: Sonardyne - POSD response: 
POSD S140.1,N35.5,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.1,N35.5,D-3,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,202722.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R113.36

: Sonardyne - parsing R113.36

: Sonardyne - read R = 113.360000 from 113.36

: Sonardyne - got range only (113.360000), tat = 600
: Sonardyne - POSD response: 
POSD S142.1,N29.1,D24,U2,Q0.000767

: Sonardyne - POSD response: 
POSD S142.1,N29.1,D24,U2,Q0.000767

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

: AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.63

: Sonardyne - parsing R112.63

: Sonardyne - read R = 112.630000 from 112.63

: Sonardyne - got range only (112.630000), tat = 600
: Sonardyne - POSD response: 
POSD S137.5,N23.6,D23,U1,Q0.011042

: Sonardyne - POSD response: 
POSD S137.5,N23.6,D23,U1,Q0.011042

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

: AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.80

: Sonardyne - parsing R111.80

: Sonardyne - read R = 111.800000 from 111.80

: Sonardyne - got range only (111.800000), tat = 600
: BluefinBatt Reply: $aaq0 d- 31.34  5.96 18.26 3.91 3.93 0  2829.58 00:19:57 m

: Sonardyne - POSD response: 
POSD S136.8,N23.1,D-58,U1,Q0.011042

: Sonardyne - POSD response: 
POSD S136.8,N23.1,D-58,U1,Q0.011042

: AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202725.00,,,,,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 R110.93

: Sonardyne - parsing R110.93

: Sonardyne - read R = 110.930000 from 110.93

: Sonardyne - got range only (110.930000), tat = 600
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S128.6,N20.6,D-89,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.6,N20.6,D-89,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202726.00,,,,,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 R110.95

: Sonardyne - parsing R110.95

: Sonardyne - read R = 110.950000 from 110.95

: Sonardyne - got range only (110.950000), tat = 600
: Sonardyne - POSD response: 
POSD S138.6,N29.3,D35,U1,Q0.005721

: Sonardyne - POSD response: 
POSD S138.6,N29.3,D35,U1,Q0.005721

: AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202727.00,,,,,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 R109.71

: Sonardyne - parsing R109.71

: Sonardyne - read R = 109.710000 from 109.71

: Sonardyne - got range only (109.710000), tat = 590
: Sonardyne - POSD response: 
POSD S130.9,N18.7,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.9,N18.7,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R109.24

: Sonardyne - parsing R109.24

: Sonardyne - read R = 109.240000 from 109.24

: Sonardyne - got range only (109.240000), tat = 590
: Sonardyne - POSD response: 
POSD S136.3,N28.5,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.3,N28.5,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R108.88

: Sonardyne - parsing R108.88

: Sonardyne - read R = 108.880000 from 108.88

: Sonardyne - got range only (108.880000), tat = 590
: Sonardyne - POSD response: 
POSD S140.4,N30.3,D-12,U1,Q0.004134

: Sonardyne - POSD response: 
POSD S140.4,N30.3,D-12,U1,Q0.004134

: AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202730.00,,,,,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 R108.50

: Sonardyne - parsing R108.50

: Sonardyne - read R = 108.500000 from 108.50

: Sonardyne - got range only (108.500000), tat = 590
: Sonardyne - POSD response: 
POSD S137.2,N28.4,D-41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.2,N28.4,D-41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202731.00,,,,,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 R107.88

: Sonardyne - parsing R107.88

: Sonardyne - read R = 107.880000 from 107.88

: Sonardyne - got range only (107.880000), tat = 590
: Sonardyne - POSD response: 
POSD S133.4,N26.3,D-18,U2,Q0.008789

: Sonardyne - POSD response: 
POSD S133.4,N26.3,D-18,U2,Q0.008789

: AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202732.00,,,,,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 R107.37

: Sonardyne - parsing R107.37

: Sonardyne - read R = 107.370000 from 107.37

: Sonardyne - got range only (107.370000), tat = 590
: Sonardyne - POSD response: 
POSD S127.8,N21.8,D66,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.8,N21.8,D66,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202733.00,,,,,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 R107.42

: Sonardyne - parsing R107.42

: Sonardyne - read R = 107.420000 from 107.42

: Sonardyne - got range only (107.420000), tat = 590
: Sonardyne - POSD response: 
POSD S131.0,N22.7,D-134,U1,Q0.000950

: Sonardyne - POSD response: 
POSD S131.0,N22.7,D-134,U1,Q0.000950

: AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202734.00,,,,,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 R106.26

: Sonardyne - parsing R106.26

: Sonardyne - read R = 106.260000 from 106.26

: Sonardyne - got range only (106.260000), tat = 590
: BluefinBatt Reply: $aaq0 d- 31.30  6.67 18.26 3.91 3.93 0  2829.16 00:20:07 m

: Sonardyne - POSD response: 
POSD S137.0,N30.6,D31,U1,Q0.007897

: Sonardyne - POSD response: 
POSD S137.0,N30.6,D31,U1,Q0.007897

: AshtechGps::processRecord() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202735.00,,,,,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 R105.84

: Sonardyne - parsing R105.84

: Sonardyne - read R = 105.840000 from 105.84

: Sonardyne - got range only (105.840000), tat = 590
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S138.8,N29.4,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.8,N29.4,D-31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202736.00,,,,,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 R105.22

: Sonardyne - parsing R105.22

: Sonardyne - read R = 105.220000 from 105.22

: Sonardyne - got range only (105.220000), tat = 589
: Sonardyne - POSD response: 
POSD S140.5,N23.3,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.5,N23.3,D-36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202737.00,,,,,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 R104.65

: Sonardyne - parsing R104.65

: Sonardyne - read R = 104.650000 from 104.65

: Sonardyne - got range only (104.650000), tat = 590
: Sonardyne - POSD response: 
POSD S142.8,N25.6,D-37,U1,Q0.006179

: Sonardyne - POSD response: 
POSD S142.8,N25.6,D-37,U1,Q0.006179

: AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R104.14

: Sonardyne - parsing R104.14

: Sonardyne - read R = 104.140000 from 104.14

: Sonardyne - got range only (104.140000), tat = 590
: Sonardyne - POSD response: 
POSD S143.5,N31.8,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.5,N31.8,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R103.68

: Sonardyne - parsing R103.68

: Sonardyne - read R = 103.680000 from 103.68

: Sonardyne - got range only (103.680000), tat = 590
: Sonardyne - POSD response: 
POSD S143.0,N30.8,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.0,N30.8,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202740.00,,,,,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 R103.14

: Sonardyne - parsing R103.14

: Sonardyne - read R = 103.140000 from 103.14

: Sonardyne - got range only (103.140000), tat = 590
: Sonardyne - POSD response: 
POSD S142.2,N35.7,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.2,N35.7,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202741.00,,,,,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 R102.67

: Sonardyne - parsing R102.67

: Sonardyne - read R = 102.670000 from 102.67

: Sonardyne - got range only (102.670000), tat = 590
: Sonardyne - POSD response: 
POSD S145.1,N30.1,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.1,N30.1,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202742.00,,,,,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 R102.20

: Sonardyne - parsing R102.20

: Sonardyne - read R = 102.200000 from 102.20

: Sonardyne - got range only (102.200000), tat = 580
: Sonardyne - POSD response: 
POSD S142.1,N31.8,D-11,U2,Q0.002024

: Sonardyne - POSD response: 
POSD S142.1,N31.8,D-11,U2,Q0.002024

: AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202743.00,,,,,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 R101.65

: Sonardyne - parsing R101.65

: Sonardyne - read R = 101.650000 from 101.65

: Sonardyne - got range only (101.650000), tat = 580
: Sonardyne - POSD response: 
POSD S143.0,N33.3,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.0,N33.3,D-26,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202744.00,,,,,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 R101.20

: Sonardyne - parsing R101.20

: Sonardyne - read R = 101.200000 from 101.20

: Sonardyne - got range only (101.200000), tat = 580
: BluefinBatt Reply: $aaq0 d- 31.34  5.42 18.16 3.91 3.93 0  2828.54 00:20:17 m

: Sonardyne - POSD response: 
POSD S143.0,N32.7,D-23,U1,Q0.003693

: Sonardyne - POSD response: 
POSD S143.0,N32.7,D-23,U1,Q0.003693

: AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202745.00,,,,,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 R100.73

: Sonardyne - parsing R100.73

: Sonardyne - read R = 100.730000 from 100.73

: Sonardyne - got range only (100.730000), tat = 580
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S141.7,N30.8,D-11,U1,Q0.007137

: Sonardyne - POSD response: 
POSD S141.7,N30.8,D-11,U1,Q0.007137

: AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202746.00,,,,,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 R100.36

: Sonardyne - parsing R100.36

: Sonardyne - read R = 100.360000 from 100.36

: Sonardyne - got range only (100.360000), tat = 580
: Sonardyne - POSD response: 
POSD S139.7,N36.7,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.7,N36.7,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R99.99

: Sonardyne - parsing R99.99

: Sonardyne - read R = 99.990000 from 99.99

: Sonardyne - got range only (99.990000), tat = 580
: Sonardyne - POSD response: 
POSD S138.8,N31.5,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.8,N31.5,D-14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R106.79

: Sonardyne - parsing R106.79

: Sonardyne - read R = 106.790000 from 106.79

: Sonardyne - got range only (106.790000), tat = 590
: Sonardyne - POSD response: 
POSD S118.6,N18.3,D28,U2,Q0.005414

: Sonardyne - POSD response: 
POSD S118.6,N18.3,D28,U2,Q0.005414

: AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  WaypointHoming has set the state to finished.

: WaypointHoming (4052136.3, 600561.4), 
  reached at t = 441.80                                          (wplog)

: Vehicle Position error is (0.5, 0.3)

: LayeredControl::execute() -- (t = 441.809734) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 441.81                            (wplog)
  The current location (N,E) = 4052135.8      , 600561.1         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 27.9 Degrees.

: LayeredControl::execute() -- (t = 441.809734) Behavior waypoint has changed to state Active

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

: Sonardyne - POS response: 
POS V4,1 R99.32

: Sonardyne - parsing R99.32

: Sonardyne - read R = 99.320000 from 99.32

: Sonardyne - got range only (99.320000), tat = 580
: Sonardyne - POSD response: 
POSD S141.2,N32.2,D-33,U1,Q0.003832

: Sonardyne - POSD response: 
POSD S141.2,N32.2,D-33,U1,Q0.003832

: AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202750.00,,,,,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 R98.86

: Sonardyne - parsing R98.86

: Sonardyne - read R = 98.860000 from 98.86

: Sonardyne - got range only (98.860000), tat = 580
: Sonardyne - POSD response: 
POSD S136.5,N30.5,D-1,U1,Q0.006268

: Sonardyne - POSD response: 
POSD S136.5,N30.5,D-1,U1,Q0.006268

: AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202751.00,,,,,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 R98.49

: Sonardyne - parsing R98.49

: Sonardyne - read R = 98.490000 from 98.49

: Sonardyne - got range only (98.490000), tat = 579
: Sonardyne - POSD response: 
POSD S135.9,N28.2,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.9,N28.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202752.00,,,,,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 R98.36,X92.86,Y-18.34,Z-26.74

: Sonardyne - parsing R98.36,X92.86,Y-18.34,Z-26.74

: Sonardyne - read R = 98.360000 from 98.36,X92.86,Y-18.34,Z-26.74

: Sonardyne - got all data, Vehicle coordinates,
    r=98.360000, x=26.740000, y=92.860000, z=18.340000 tat = 600
: AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202753.00,,,,,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 R98.55,X96.47,Y-20.14,Z0.00

: Sonardyne - parsing R98.55,X96.47,Y-20.14,Z0.00

: Sonardyne - read R = 98.550000 from 98.55,X96.47,Y-20.14,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=98.550000, x=0.000000, y=96.470000, z=20.140000 tat = 600
: AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,202754.00,,,,,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 R98.87

: Sonardyne - parsing R98.87

: Sonardyne - read R = 98.870000 from 98.87

: Sonardyne - got range only (98.870000), tat = 580
: BluefinBatt Reply: $aaq0 d- 31.19  9.97 18.26 3.91 3.93 0  2828.05 00:20:27 m

: Sonardyne - POSD response: 
POSD S125.9,N23.4,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N23.4,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,202755.00,,,,,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 R99.34

: Sonardyne - parsing R99.34

: Sonardyne - read R = 99.340000 from 99.34

: Sonardyne - got range only (99.340000), tat = 580
: batts online 1, min cell voltage 3.910000, mean min cell voltage 3.910000

: Sonardyne - POSD response: 
POSD S126.3,N37.3,D-9,U1,Q0.003373

: Sonardyne - POSD response: 
POSD S126.3,N37.3,D-9,U1,Q0.003373

: AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202756.00,,,,,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,202757.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202758.00,,,,,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,202759.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

:  Waypoint has set the state to finished.

: Waypoint (4052136.3, 600561.4), 
  reached at t = 452.40                                          (wplog)

: Vehicle Position is error is (5.9, -11.3)

: LayeredControl::execute() -- (t = 452.399009) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 452.40                            (wplog)
  The current location (N,E) = 4052130.5      , 600572.7         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 331.8 Degrees.

: LayeredControl::execute() -- (t = 452.409008) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202800.00,,,,,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,202801.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202801.00,,,,,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,202802.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202802.00,,,,,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,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44


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

: BluefinBatt Reply: $aaq0 d- 31.19 10.48 18.26 3.91 3.93 0  2826.94 00:20:37 m

: AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45


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

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

: AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202807.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R110.06

: Sonardyne - parsing R110.06

: Sonardyne - read R = 110.060000 from 110.06

: Sonardyne - got range only (110.060000), tat = 600
: Sonardyne - POSD response: 
POSD S129.1,N29.6,D25,U5,Q0.003641

: Sonardyne - POSD response: 
POSD S129.1,N29.6,D25,U5,Q0.003641

: AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202809.00,,,,,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,202810.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202811.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R111.24

: Sonardyne - parsing R111.24

: Sonardyne - read R = 111.240000 from 111.24

: Sonardyne - got range only (111.240000), tat = 600
: Sonardyne - POSD response: 
POSD S125.9,N28.9,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.9,N28.9,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R111.65

: Sonardyne - parsing R111.65

: Sonardyne - read R = 111.650000 from 111.65

: Sonardyne - got range only (111.650000), tat = 600
: Sonardyne - POSD response: 
POSD S124.8,N31.2,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.8,N31.2,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202813.00,,,,,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 R111.97

: Sonardyne - parsing R111.97

: Sonardyne - read R = 111.970000 from 111.97

: Sonardyne - got range only (111.970000), tat = 600
: Sonardyne - POSD response: 
POSD S116.6,N20.1,D86,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.6,N20.1,D86,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45


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

: BluefinBatt Reply: $aaq0 d- 31.12 11.49 18.26 3.89 3.91 0  2826.19 00:20:47 m

: AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44


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

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

: AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202816.00,,,,,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,202817.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N10.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202819.00,,,,,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,202820.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,202821.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202822.00,,,,,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,202823.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.15  9.80 18.26 3.89 3.91 0  2825.09 00:20:57 m

: AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202825.00,,,,,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 R122.03

: Sonardyne - parsing R122.03

: Sonardyne - read R = 122.030000 from 122.03

: Sonardyne - got range only (122.030000), tat = 610
: Sonardyne - POSD response: 
POSD S116.7,N25.8,D131,U3,Q0.015462

: Sonardyne - POSD response: 
POSD S116.7,N25.8,D131,U3,Q0.015462

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

: AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202827.00,,,,,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,202828.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202828.00,,,,,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,N8.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202829.00,,,,,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,202830.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202830.00,,,,,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,202831.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202831.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 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,202833.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47


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

: BluefinBatt Reply: $aaq0 d- 31.15 10.48 18.26 3.89 3.91 0  2824.48 00:21:07 m

: AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202835.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: 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,202836.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202837.00,,,,,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,202838.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202838.00,,,,,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,202839.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202839.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,N5.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,202841.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202841.00,,,,,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,202842.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202842.00,,,,,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

: 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,202843.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202844.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.19  8.96 18.26 3.89 3.91 0  2823.53 00:21:17 m

: AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41


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

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

: AshtechGps::processRecord() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202846.00,,,,,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
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,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,202847.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202847.00,,,,,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,202848.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202848.00,,,,,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,202849.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202849.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202850.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202850.00,,,,,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,202851.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202851.00,,,,,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,202852.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202852.00,,,,,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,202853.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202853.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $aaq0 d- 31.19  9.23 18.26 3.89 3.91 0  2822.82 00:21:27 m

: AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40


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

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

: AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202856.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202857.00,,,,,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,202858.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202858.00,,,,,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,202859.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202859.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,202900.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202900.00,,,,,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,N3.8,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,202901.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202901.00,,,,,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,202902.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202902.00,,,,,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,202903.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202903.00,,,,,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,N-0.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45


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

: BluefinBatt Reply: $aaq0 d- 31.19  8.01 18.26 3.89 3.91 0  2821.83 00:21:37 m

: AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44


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

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

: AshtechGps::processRecord() - $GPGGA,202906.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202906.00,,,,,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,202907.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,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,202908.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,202909.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202909.00,,,,,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,202910.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202910.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,202911.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202911.00,,,,,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,202912.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202913.00,,,,,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,202914.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202914.00,,,,,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,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.19  8.12 18.26 3.89 3.91 0  2821.21 00:21:47 m

: AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45


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

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

: AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202916.00,,,,,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,202917.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47


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

: 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,202918.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,202919.00,,,,,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,202920.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202920.00,,,,,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,202921.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202921.00,,,,,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,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,202922.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202922.00,,,,,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,202923.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: BluefinBatt Reply: $aaq0 d- 31.15  9.87 18.26 3.89 3.91 0  2820.27 00:21:57 m

: 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,202925.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202925.00,,,,,0,00,,,M,,M,,*46


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

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

: AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,202927.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202927.00,,,,,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,202928.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202928.00,,,,,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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,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,202929.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202929.00,,,,,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,202930.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202930.00,,,,,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,202931.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 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,202932.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202932.00,,,,,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,202933.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 31.12  9.87 18.26 3.89 3.91 0  2819.67 00:22:07 m

: AshtechGps::processRecord() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202937.00,,,,,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,202938.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,202938.00,,,,,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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,202939.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,202939.00,,,,,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,202940.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202940.00,,,,,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,202941.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202941.00,,,,,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,202942.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202942.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202943.00,,,,,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,202944.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41


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

: BluefinBatt Reply: $aaq0 d- 31.19  8.76 18.26 3.89 3.91 0  2818.74 00:22:17 m

: AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

: 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,202946.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202947.00,,,,,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,202948.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202948.00,,,,,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,202949.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202949.00,,,,,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 = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,202951.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,202951.00,,,,,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,202952.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,202952.00,,,,,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

: 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,202953.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,202953.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,202954.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.15  8.89 18.26 3.89 3.91 0  2818.09 00:22:27 m

: AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41


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

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

: AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,202956.00,,,,,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,N5.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,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,202957.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,202957.00,,,,,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,202958.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,202958.00,,,,,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,202959.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,202959.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203000.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203000.00,,,,,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,203001.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203001.00,,,,,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,203002.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203002.00,,,,,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,203003.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203003.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203004.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.12  9.23 18.26 3.89 3.91 0  2817.14 00:22:37 m

: AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203005.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203006.00,,,,,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 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,203007.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203007.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203009.00,,,,,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,203010.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203010.00,,,,,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,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,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,203011.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203011.00,,,,,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,203012.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203012.00,,,,,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,203013.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203013.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203014.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.15  8.49 18.26 3.88 3.91 0  2816.49 00:22:47 m

: AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D


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

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

: AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203016.00,,,,,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,203017.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203017.00,,,,,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,N4.5,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203018.00,,,,,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,203019.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203019.00,,,,,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,203020.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203021.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203021.00,,,,,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,203022.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203022.00,,,,,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,203023.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203023.00,,,,,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,203024.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203024.00,,,,,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,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.15  8.96 18.26 3.88 3.91 0  2815.56 00:22:57 m

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

: AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203025.00,,,,,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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203026.00,,,,,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,203027.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203027.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,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,203028.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203028.00,,,,,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,203029.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203029.00,,,,,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,203030.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203030.00,,,,,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,203031.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203031.00,,,,,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,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,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,203032.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203033.00,,,,,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,203034.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203034.00,,,,,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
: BluefinBatt Reply: $aaq0 d- 31.12  9.70 18.26 3.88 3.91 0  2814.91 00:23:07 m

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

: AshtechGps::processRecord() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203035.00,,,,,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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203036.00,,,,,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,203037.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203037.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,203038.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203038.00,,,,,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,N4.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.1,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,203039.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,203040.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203040.00,,,,,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,203041.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203041.00,,,,,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,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203042.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203042.00,,,,,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,203043.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203043.00,,,,,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,203044.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  9.06 18.26 3.88 3.91 0  2813.96 00:23:17 m

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

: AshtechGps::processRecord() - $GPGGA,203045.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203045.00,,,,,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,N5.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203046.00,,,,,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,203047.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203048.00,,,,,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

: 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,203049.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203049.00,,,,,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,203050.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,203051.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203051.00,,,,,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,203052.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203052.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203053.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203053.00,,,,,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,203054.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203054.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.15  8.66 18.26 3.88 3.91 0  2813.32 00:23:27 m

: AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203055.00,,,,,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
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: 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,203056.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203056.00,,,,,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,203057.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203057.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,203058.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,203058.00,,,,,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,203059.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203100.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203100.00,,,,,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,203101.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203101.00,,,,,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,203102.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203102.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,203103.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203103.00,,,,,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,203104.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203104.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.15  9.26 18.26 3.88 3.91 0  2812.37 00:23:37 m

: AshtechGps::processRecord() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203105.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203106.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 639.40                                          (wplog)

: Vehicle Position is error is (-0.1, 0.1)

: LayeredControl::execute() -- (t = 639.396198) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 639.406198) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,203107.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203107.00,,,,,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,203108.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203108.00,,,,,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,203109.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203109.00,,,,,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,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,203110.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203110.00,,,,,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,203111.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203111.00,,,,,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,203112.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203112.00,,,,,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,203113.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203113.00,,,,,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,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203114.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.19  7.68 18.26 3.88 3.91 0  2811.76 00:23:47 m

: AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203115.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203117.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203117.00,,,,,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,203118.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,203118.00,,,,,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,203119.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,203119.00,,,,,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,203120.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203120.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203121.00,,,,,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 R393.34

: Sonardyne - parsing R393.34

: Sonardyne - read R = 393.340000 from 393.34

: Sonardyne - got range only (393.340000), tat = 980
: Sonardyne - POSD response: 
POSD S134.0,N39.3,D-4,U1,Q0.012799

: Sonardyne - POSD response: 
POSD S134.0,N39.3,D-4,U1,Q0.012799

: AshtechGps::processRecord() - $GPGGA,203122.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203122.00,,,,,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,203123.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203123.00,,,,,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 R392.32,X179.29,Y-81.88,Z-339.22

: Sonardyne - parsing R392.32,X179.29,Y-81.88,Z-339.22

: Sonardyne - read R = 392.320000 from 392.32,X179.29,Y-81.88,Z-339.22

: Sonardyne - got all data, Vehicle coordinates,
    r=392.320000, x=339.220000, y=179.290000, z=81.880000 tat = 1000
: AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203124.00,,,,,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 R390.70,X76.51,Y-96.16,Z-370.88

: Sonardyne - parsing R390.70,X76.51,Y-96.16,Z-370.88

: Sonardyne - read R = 390.700000 from 390.70,X76.51,Y-96.16,Z-370.88

: Sonardyne - got all data, Vehicle coordinates,
    r=390.700000, x=370.880000, y=76.510000, z=96.160000 tat = 1000
: BluefinBatt Reply: $aaq0 d- 31.15  8.82 18.35 3.88 3.91 0  2810.84 00:23:57 m

: AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203125.00,,,,,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

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

: AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203126.00,,,,,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 R388.83,X-29.99,Y-104.93,Z-373.20

: Sonardyne - parsing R388.83,X-29.99,Y-104.93,Z-373.20

: Sonardyne - read R = 388.830000 from 388.83,X-29.99,Y-104.93,Z-373.20

: Sonardyne - got all data, Vehicle coordinates,
    r=388.830000, x=373.200000, y=-29.990000, z=104.930000 tat = 1000
: AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203127.00,,,,,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 R386.96

: Sonardyne - parsing R386.96

: Sonardyne - read R = 386.960000 from 386.96

: Sonardyne - got range only (386.960000), tat = 970
: Sonardyne - POSD response: 
POSD S125.1,N30.0,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.1,N30.0,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203128.00,,,,,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,203129.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R386.21

: Sonardyne - parsing R386.21

: Sonardyne - read R = 386.210000 from 386.21

: Sonardyne - got range only (386.210000), tat = 970
: Sonardyne - POSD response: 
POSD S117.8,N15.6,D57,U1,Q0.017836

: Sonardyne - POSD response: 
POSD S117.8,N15.6,D57,U1,Q0.017836

: AshtechGps::processRecord() - $GPGGA,203130.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,203130.00,,,,,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

: LayeredControl::execute() -- (t = 663.194568) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 663.194568) Behavior getgps has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R383.36,X358.77,Y135.09,Z0.00

: Sonardyne - parsing R383.36,X358.77,Y135.09,Z0.00

: Sonardyne - read R = 383.360000 from 383.36,X358.77,Y135.09,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=383.360000, x=0.000000, y=358.770000, z=-135.090000 tat = 989
: AshtechGps::processRecord() - $GPGGA,203131.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,203131.00,,,,,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 R384.41

: Sonardyne - parsing R384.41

: Sonardyne - read R = 384.410000 from 384.41

: Sonardyne - got range only (384.410000), tat = 960
: Sonardyne - POSD response: 
POSD S121.7,N24.7,D-50,U2,Q0.007351

: Sonardyne - POSD response: 
POSD S121.7,N24.7,D-50,U2,Q0.007351

: AshtechGps::processRecord() - $GPGGA,203132.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,203132.00,,,,,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,203133.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,203134.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.34  3.16 18.35 3.88 3.91 0  2810.19 00:24:07 m

: AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,203135.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203136.00,,,,,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 R381.09,X-345.73,Y-4.97,Z-160.22

: Sonardyne - parsing R381.09,X-345.73,Y-4.97,Z-160.22

: Sonardyne - read R = 381.090000 from 381.09,X-345.73,Y-4.97,Z-160.22

: Sonardyne - got all data, Vehicle coordinates,
    r=381.090000, x=160.220000, y=-345.730000, z=4.970000 tat = 990
: AshtechGps::processRecord() - $GPGGA,203137.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203137.00,,,,,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,203138.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,203138.00,,,,,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,203139.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203140.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,203140.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,203141.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,203141.00,,,,,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,203142.00,3636.73216,N,12152.61070,W,1,06,2.1,2.05,M,-33.30,M,,*50

: GpsUtils::parseFix() - $GPGGA,203142.00,3636.73216,N,12152.61070,W,1,06,2.1,2.05,M,-33.30,M,,*50


: successfully parse sentence at 20:31:42

: AshtechGPS::processRecord -sample time is 1145305901
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203143.00,3636.73159,N,12152.61110,W,1,06,2.1,2.35,M,-33.30,M,,*5D

: GpsUtils::parseFix() - $GPGGA,203143.00,3636.73159,N,12152.61110,W,1,06,2.1,2.35,M,-33.30,M,,*5D


: successfully parse sentence at 20:31:43

: AshtechGPS::processRecord -sample time is 1145305902
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-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,203144.00,3636.73186,N,12152.61144,W,1,06,2.1,0.87,M,-33.30,M,,*52

: GpsUtils::parseFix() - $GPGGA,203144.00,3636.73186,N,12152.61144,W,1,06,2.1,0.87,M,-33.30,M,,*52


: successfully parse sentence at 20:31:44

: AshtechGPS::processRecord -sample time is 1145305903
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.38  2.49 18.35 3.88 3.91 0  2809.87 00:24:17 m

: AshtechGps::processRecord() - $GPGGA,203145.00,3636.73211,N,12152.61187,W,1,06,2.1,0.42,M,-33.30,M,,*58

: GpsUtils::parseFix() - $GPGGA,203145.00,3636.73211,N,12152.61187,W,1,06,2.1,0.42,M,-33.30,M,,*58


: successfully parse sentence at 20:31:45

: AshtechGPS::processRecord -sample time is 1145305904
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203146.00,3636.73166,N,12152.61204,W,1,06,2.1,1.61,M,-33.30,M,,*50

: GpsUtils::parseFix() - $GPGGA,203146.00,3636.73166,N,12152.61204,W,1,06,2.1,1.61,M,-33.30,M,,*50


: successfully parse sentence at 20:31:46

: AshtechGPS::processRecord -sample time is 1145305905
: GetGPS::execute() -- Got a new GPS hit: 5 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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-0.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203147.00,3636.73157,N,12152.61230,W,1,06,2.1,1.34,M,-33.30,M,,*54

: GpsUtils::parseFix() - $GPGGA,203147.00,3636.73157,N,12152.61230,W,1,06,2.1,1.34,M,-33.30,M,,*54


: successfully parse sentence at 20:31:47

: AshtechGPS::processRecord -sample time is 1145305906
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203148.00,3636.73198,N,12152.61262,W,1,06,2.1,-1.34,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203148.00,3636.73198,N,12152.61262,W,1,06,2.1,-1.34,M,-33.30,M,,*72


: successfully parse sentence at 20:31:48

: AshtechGPS::processRecord -sample time is 1145305907
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203149.00,3636.73172,N,12152.61290,W,1,08,1.3,-0.79,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203149.00,3636.73172,N,12152.61290,W,1,08,1.3,-0.79,M,-33.30,M,,*7D


: successfully parse sentence at 20:31:49

: AshtechGPS::processRecord -sample time is 1145305908
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203150.00,3636.73191,N,12152.61318,W,1,09,1.0,-1.18,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203150.00,3636.73191,N,12152.61318,W,1,09,1.0,-1.18,M,-33.30,M,,*7D


: successfully parse sentence at 20:31:50

: AshtechGPS::processRecord -sample time is 1145305909
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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,203151.00,3636.73186,N,12152.61342,W,1,10,0.9,-1.29,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,203151.00,3636.73186,N,12152.61342,W,1,10,0.9,-1.29,M,-33.30,M,,*77


: successfully parse sentence at 20:31:51

: AshtechGPS::processRecord -sample time is 1145305910
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 683.993143) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

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

: LayeredControl::execute() -- (t = 684.193130) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 684.193130) Behavior missionTimer has changed to state Active

: AshtechGps::processRecord() - $GPGGA,203152.00,3636.73187,N,12152.61376,W,1,10,0.9,-0.86,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,203152.00,3636.73187,N,12152.61376,W,1,10,0.9,-0.86,M,-33.30,M,,*76


: successfully parse sentence at 20:31:52

: AshtechGPS::processRecord -sample time is 1145305911
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203153.00,3636.73181,N,12152.61392,W,1,10,0.9,-1.14,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,203153.00,3636.73181,N,12152.61392,W,1,10,0.9,-1.14,M,-33.30,M,,*71


: successfully parse sentence at 20:31:53

: AshtechGPS::processRecord -sample time is 1145305912
:  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,203154.00,3636.73139,N,12152.61402,W,1,10,0.9,-1.58,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203154.00,3636.73139,N,12152.61402,W,1,10,0.9,-1.58,M,-33.30,M,,*73


: successfully parse sentence at 20:31:54

: AshtechGPS::processRecord -sample time is 1145305913
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.34  3.30 18.26 3.91 3.93 0  2809.66 00:24:27 m

: AshtechGps::processRecord() - $GPGGA,203155.00,3636.73152,N,12152.61420,W,1,10,0.9,-2.07,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,203155.00,3636.73152,N,12152.61420,W,1,10,0.9,-2.07,M,-33.30,M,,*76


: successfully parse sentence at 20:31:55

: AshtechGPS::processRecord -sample time is 1145305914
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203156.00,3636.73106,N,12152.61446,W,1,10,0.9,-1.87,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203156.00,3636.73106,N,12152.61446,W,1,10,0.9,-1.87,M,-33.30,M,,*7F


: successfully parse sentence at 20:31:56

: AshtechGPS::processRecord -sample time is 1145305915
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203157.00,3636.73123,N,12152.61464,W,1,10,0.9,-2.46,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,203157.00,3636.73123,N,12152.61464,W,1,10,0.9,-2.46,M,-33.30,M,,*77


: successfully parse sentence at 20:31:57

: AshtechGPS::processRecord -sample time is 1145305916
:  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,N1.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203158.00,3636.73132,N,12152.61490,W,1,10,0.9,-2.60,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,203158.00,3636.73132,N,12152.61490,W,1,10,0.9,-2.60,M,-33.30,M,,*77


: successfully parse sentence at 20:31:58

: AshtechGPS::processRecord -sample time is 1145305917
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203159.00,3636.73136,N,12152.61523,W,1,10,0.9,-2.49,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,203159.00,3636.73136,N,12152.61523,W,1,10,0.9,-2.49,M,-33.30,M,,*70


: successfully parse sentence at 20:31:59

: AshtechGPS::processRecord -sample time is 1145305918
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203200.00,3636.73147,N,12152.61543,W,1,10,0.9,-2.50,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,203200.00,3636.73147,N,12152.61543,W,1,10,0.9,-2.50,M,-33.30,M,,*77


: successfully parse sentence at 20:32:0

: AshtechGPS::processRecord -sample time is 1145305919
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203201.00,3636.73152,N,12152.61557,W,1,10,0.9,-2.47,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,203201.00,3636.73152,N,12152.61557,W,1,10,0.9,-2.47,M,-33.30,M,,*71


: successfully parse sentence at 20:32:1

: AshtechGPS::processRecord -sample time is 1145305920
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203202.00,3636.73157,N,12152.61574,W,1,10,0.9,-2.43,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203202.00,3636.73157,N,12152.61574,W,1,10,0.9,-2.43,M,-33.30,M,,*72


: successfully parse sentence at 20:32:2

: AshtechGPS::processRecord -sample time is 1145305921
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203203.00,3636.73159,N,12152.61590,W,1,10,0.9,-2.30,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203203.00,3636.73159,N,12152.61590,W,1,10,0.9,-2.30,M,-33.30,M,,*73


: successfully parse sentence at 20:32:3

: AshtechGPS::processRecord -sample time is 1145305922
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203204.00,3636.73156,N,12152.61614,W,1,10,0.9,-2.38,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203204.00,3636.73156,N,12152.61614,W,1,10,0.9,-2.38,M,-33.30,M,,*7C


: successfully parse sentence at 20:32:4

: AshtechGPS::processRecord -sample time is 1145305923
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.38  2.49 18.35 3.91 3.93 0  2809.38 00:24:37 m

: AshtechGps::processRecord() - $GPGGA,203205.00,3636.73166,N,12152.61638,W,1,10,0.9,-2.52,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203205.00,3636.73166,N,12152.61638,W,1,10,0.9,-2.52,M,-33.30,M,,*7C


: successfully parse sentence at 20:32:5

: AshtechGPS::processRecord -sample time is 1145305924
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203206.00,3636.73162,N,12152.61654,W,1,10,0.9,-2.11,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,203206.00,3636.73162,N,12152.61654,W,1,10,0.9,-2.11,M,-33.30,M,,*76


: successfully parse sentence at 20:32:6

: AshtechGPS::processRecord -sample time is 1145305925
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203207.00,3636.73144,N,12152.61650,W,1,10,0.9,-1.78,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203207.00,3636.73144,N,12152.61650,W,1,10,0.9,-1.78,M,-33.30,M,,*7B


: successfully parse sentence at 20:32:7

: AshtechGPS::processRecord -sample time is 1145305926
:  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,N2.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203208.00,3636.73125,N,12152.61648,W,1,10,0.9,-1.93,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203208.00,3636.73125,N,12152.61648,W,1,10,0.9,-1.93,M,-33.30,M,,*7F


: successfully parse sentence at 20:32:8

: AshtechGPS::processRecord -sample time is 1145305927
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203209.00,3636.73113,N,12152.61651,W,1,10,0.9,-2.26,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203209.00,3636.73113,N,12152.61651,W,1,10,0.9,-2.26,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:9

: AshtechGPS::processRecord -sample time is 1145305928
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203210.00,3636.73101,N,12152.61658,W,1,10,0.9,-2.38,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203210.00,3636.73101,N,12152.61658,W,1,10,0.9,-2.38,M,-33.30,M,,*73


: successfully parse sentence at 20:32:10

: AshtechGPS::processRecord -sample time is 1145305929
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203211.00,3636.73104,N,12152.61671,W,1,10,0.9,-2.64,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203211.00,3636.73104,N,12152.61671,W,1,10,0.9,-2.64,M,-33.30,M,,*75


: successfully parse sentence at 20:32:11

: AshtechGPS::processRecord -sample time is 1145305930
: 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
:  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,N4.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203212.00,3636.73109,N,12152.61697,W,1,10,0.9,-2.87,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203212.00,3636.73109,N,12152.61697,W,1,10,0.9,-2.87,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:12

: AshtechGPS::processRecord -sample time is 1145305931
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203213.00,3636.73131,N,12152.61720,W,1,10,0.9,-2.96,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,203213.00,3636.73131,N,12152.61720,W,1,10,0.9,-2.96,M,-33.30,M,,*79


: successfully parse sentence at 20:32:13

: AshtechGPS::processRecord -sample time is 1145305932
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203214.00,3636.73160,N,12152.61747,W,1,10,0.9,-2.89,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203214.00,3636.73160,N,12152.61747,W,1,10,0.9,-2.89,M,-33.30,M,,*75


: successfully parse sentence at 20:32:14

: AshtechGPS::processRecord -sample time is 1145305933
:  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
: BluefinBatt Reply: $aaq0 d- 31.38  2.45 18.26 3.91 3.94 0  2809.19 00:24:47 m

: 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,203215.00,3636.73165,N,12152.61772,W,1,10,0.9,-2.46,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203215.00,3636.73165,N,12152.61772,W,1,10,0.9,-2.46,M,-33.30,M,,*74


: successfully parse sentence at 20:32:15

: AshtechGPS::processRecord -sample time is 1145305934
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203216.00,3636.73169,N,12152.61772,W,1,10,0.9,-2.07,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203216.00,3636.73169,N,12152.61772,W,1,10,0.9,-2.07,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:16

: AshtechGPS::processRecord -sample time is 1145305935
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203217.00,3636.73148,N,12152.61767,W,1,10,0.9,-1.75,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203217.00,3636.73148,N,12152.61767,W,1,10,0.9,-1.75,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:17

: AshtechGPS::processRecord -sample time is 1145305936
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203218.00,3636.73130,N,12152.61758,W,1,10,0.9,-1.79,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203218.00,3636.73130,N,12152.61758,W,1,10,0.9,-1.79,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:18

: AshtechGPS::processRecord -sample time is 1145305937
: 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
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203219.00,3636.73117,N,12152.61745,W,1,10,0.9,-1.95,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203219.00,3636.73117,N,12152.61745,W,1,10,0.9,-1.95,M,-33.30,M,,*74


: successfully parse sentence at 20:32:19

: AshtechGPS::processRecord -sample time is 1145305938
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203220.00,3636.73093,N,12152.61747,W,1,10,0.9,-2.01,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203220.00,3636.73093,N,12152.61747,W,1,10,0.9,-2.01,M,-33.30,M,,*7F


: successfully parse sentence at 20:32:20

: AshtechGPS::processRecord -sample time is 1145305939
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203221.00,3636.73095,N,12152.61755,W,1,10,0.9,-2.42,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203221.00,3636.73095,N,12152.61755,W,1,10,0.9,-2.42,M,-33.30,M,,*7C


: successfully parse sentence at 20:32:21

: AshtechGPS::processRecord -sample time is 1145305940
:  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,N3.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203222.00,3636.73089,N,12152.61769,W,1,10,0.9,-2.55,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203222.00,3636.73089,N,12152.61769,W,1,10,0.9,-2.55,M,-33.30,M,,*7B


: successfully parse sentence at 20:32:22

: AshtechGPS::processRecord -sample time is 1145305941
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203223.00,3636.73088,N,12152.61773,W,1,10,0.9,-2.41,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203223.00,3636.73088,N,12152.61773,W,1,10,0.9,-2.41,M,-33.30,M,,*75


: successfully parse sentence at 20:32:23

: AshtechGPS::processRecord -sample time is 1145305942
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203224.00,3636.73083,N,12152.61773,W,1,10,0.9,-2.30,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,203224.00,3636.73083,N,12152.61773,W,1,10,0.9,-2.30,M,-33.30,M,,*7F


: successfully parse sentence at 20:32:24

: AshtechGPS::processRecord -sample time is 1145305943
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.38  2.76 18.26 3.91 3.94 0  2808.90 00:24:57 m

: AshtechGps::processRecord() - $GPGGA,203225.00,3636.73073,N,12152.61779,W,1,10,0.9,-2.38,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203225.00,3636.73073,N,12152.61779,W,1,10,0.9,-2.38,M,-33.30,M,,*73


: successfully parse sentence at 20:32:25

: AshtechGPS::processRecord -sample time is 1145305944
: 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 = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203226.00,3636.73087,N,12152.61787,W,1,10,0.9,-2.51,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203226.00,3636.73087,N,12152.61787,W,1,10,0.9,-2.51,M,-33.30,M,,*75


: successfully parse sentence at 20:32:26

: AshtechGPS::processRecord -sample time is 1145305945
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203227.00,3636.73091,N,12152.61805,W,1,10,0.9,-2.47,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,203227.00,3636.73091,N,12152.61805,W,1,10,0.9,-2.47,M,-33.30,M,,*71


: successfully parse sentence at 20:32:27

: AshtechGPS::processRecord -sample time is 1145305946
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203228.00,3636.73100,N,12152.61811,W,1,10,0.9,-2.38,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203228.00,3636.73100,N,12152.61811,W,1,10,0.9,-2.38,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:28

: AshtechGPS::processRecord -sample time is 1145305947
:  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,N1.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203229.00,3636.73102,N,12152.61818,W,1,10,0.9,-2.23,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203229.00,3636.73102,N,12152.61818,W,1,10,0.9,-2.23,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:29

: AshtechGPS::processRecord -sample time is 1145305948
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203230.00,3636.73095,N,12152.61825,W,1,10,0.9,-2.16,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203230.00,3636.73095,N,12152.61825,W,1,10,0.9,-2.16,M,-33.30,M,,*75


: successfully parse sentence at 20:32:30

: AshtechGPS::processRecord -sample time is 1145305949
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203231.00,3636.73089,N,12152.61823,W,1,10,0.9,-1.98,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203231.00,3636.73089,N,12152.61823,W,1,10,0.9,-1.98,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:31

: AshtechGPS::processRecord -sample time is 1145305950
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203232.00,3636.73075,N,12152.61823,W,1,10,0.9,-1.78,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203232.00,3636.73075,N,12152.61823,W,1,10,0.9,-1.78,M,-33.30,M,,*74


: successfully parse sentence at 20:32:32

: AshtechGPS::processRecord -sample time is 1145305951
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,203233.00,3636.73054,N,12152.61816,W,1,10,0.9,-1.57,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203233.00,3636.73054,N,12152.61816,W,1,10,0.9,-1.57,M,-33.30,M,,*7D


: successfully parse sentence at 20:32:33

: AshtechGPS::processRecord -sample time is 1145305952
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203234.00,3636.73038,N,12152.61804,W,1,10,0.9,-1.81,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,203234.00,3636.73038,N,12152.61804,W,1,10,0.9,-1.81,M,-33.30,M,,*78


: successfully parse sentence at 20:32:34

: AshtechGPS::processRecord -sample time is 1145305953
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.38  2.52 18.26 3.91 3.94 0  2808.73 00:25:07 m

: AshtechGps::processRecord() - $GPGGA,203235.00,3636.73019,N,12152.61802,W,1,10,0.9,-2.04,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203235.00,3636.73019,N,12152.61802,W,1,10,0.9,-2.04,M,-33.30,M,,*72


: successfully parse sentence at 20:32:35

: AshtechGPS::processRecord -sample time is 1145305954
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,203236.00,3636.73016,N,12152.61811,W,1,10,0.9,-2.31,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203236.00,3636.73016,N,12152.61811,W,1,10,0.9,-2.31,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:36

: AshtechGPS::processRecord -sample time is 1145305955
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203237.00,3636.73019,N,12152.61825,W,1,10,0.9,-2.50,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203237.00,3636.73019,N,12152.61825,W,1,10,0.9,-2.50,M,-33.30,M,,*74


: successfully parse sentence at 20:32:37

: AshtechGPS::processRecord -sample time is 1145305956
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203238.00,3636.73020,N,12152.61832,W,1,10,0.9,-2.38,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,203238.00,3636.73020,N,12152.61832,W,1,10,0.9,-2.38,M,-33.30,M,,*79


: successfully parse sentence at 20:32:38

: AshtechGPS::processRecord -sample time is 1145305957
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203239.00,3636.73023,N,12152.61844,W,1,10,0.9,-2.37,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203239.00,3636.73023,N,12152.61844,W,1,10,0.9,-2.37,M,-33.30,M,,*75


: successfully parse sentence at 20:32:39

: AshtechGPS::processRecord -sample time is 1145305958
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203240.00,3636.73021,N,12152.61859,W,1,10,0.9,-2.36,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203240.00,3636.73021,N,12152.61859,W,1,10,0.9,-2.36,M,-33.30,M,,*74


: successfully parse sentence at 20:32:40

: AshtechGPS::processRecord -sample time is 1145305959
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203241.00,3636.73025,N,12152.61864,W,1,10,0.9,-2.22,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203241.00,3636.73025,N,12152.61864,W,1,10,0.9,-2.22,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:41

: AshtechGPS::processRecord -sample time is 1145305960
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203242.00,3636.73011,N,12152.61865,W,1,10,0.9,-2.01,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203242.00,3636.73011,N,12152.61865,W,1,10,0.9,-2.01,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:42

: AshtechGPS::processRecord -sample time is 1145305961
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: AshtechGps::processRecord() - $GPGGA,203243.00,3636.73006,N,12152.61859,W,1,10,0.9,-1.97,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,203243.00,3636.73006,N,12152.61859,W,1,10,0.9,-1.97,M,-33.30,M,,*7A


: successfully parse sentence at 20:32:43

: AshtechGPS::processRecord -sample time is 1145305962
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203244.00,3636.72988,N,12152.61863,W,1,10,0.9,-2.01,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,203244.00,3636.72988,N,12152.61863,W,1,10,0.9,-2.01,M,-33.30,M,,*76


: successfully parse sentence at 20:32:44

: AshtechGPS::processRecord -sample time is 1145305963
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  2.45 18.26 3.91 3.94 0  2808.46 00:25:17 m

: AshtechGps::processRecord() - $GPGGA,203245.00,3636.72976,N,12152.61861,W,1,10,0.9,-1.93,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203245.00,3636.72976,N,12152.61861,W,1,10,0.9,-1.93,M,-33.30,M,,*7C


: successfully parse sentence at 20:32:45

: AshtechGPS::processRecord -sample time is 1145305964
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203246.00,3636.72957,N,12152.61859,W,1,10,0.9,-2.06,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,203246.00,3636.72957,N,12152.61859,W,1,10,0.9,-2.06,M,-33.30,M,,*78


: successfully parse sentence at 20:32:46

: AshtechGPS::processRecord -sample time is 1145305965
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.3,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,203247.00,3636.72955,N,12152.61856,W,1,10,0.9,-2.17,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203247.00,3636.72955,N,12152.61856,W,1,10,0.9,-2.17,M,-33.30,M,,*74


: successfully parse sentence at 20:32:47

: AshtechGPS::processRecord -sample time is 1145305966
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203248.00,3636.72944,N,12152.61859,W,1,10,0.9,-2.26,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,203248.00,3636.72944,N,12152.61859,W,1,10,0.9,-2.26,M,-33.30,M,,*76


: successfully parse sentence at 20:32:48

: AshtechGPS::processRecord -sample time is 1145305967
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203249.00,3636.72945,N,12152.61857,W,1,10,0.9,-2.41,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,203249.00,3636.72945,N,12152.61857,W,1,10,0.9,-2.41,M,-33.30,M,,*79


: successfully parse sentence at 20:32:49

: AshtechGPS::processRecord -sample time is 1145305968
:  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,N2.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,203250.00,3636.72943,N,12152.61866,W,1,10,0.9,-2.48,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,203250.00,3636.72943,N,12152.61866,W,1,10,0.9,-2.48,M,-33.30,M,,*7C


: successfully parse sentence at 20:32:50

: AshtechGPS::processRecord -sample time is 1145305969
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203251.00,3636.72947,N,12152.61872,W,1,10,0.9,-2.33,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,203251.00,3636.72947,N,12152.61872,W,1,10,0.9,-2.33,M,-33.30,M,,*70


: successfully parse sentence at 20:32:51

: AshtechGPS::processRecord -sample time is 1145305970
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203252.00,3636.72952,N,12152.61880,W,1,10,0.9,-2.34,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203252.00,3636.72952,N,12152.61880,W,1,10,0.9,-2.34,M,-33.30,M,,*7D


: successfully parse sentence at 20:32:52

: AshtechGPS::processRecord -sample time is 1145305971
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203253.00,3636.72943,N,12152.61878,W,1,10,0.9,-1.89,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203253.00,3636.72943,N,12152.61878,W,1,10,0.9,-1.89,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:53

: AshtechGPS::processRecord -sample time is 1145305972
: 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

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

: AshtechGps::processRecord() - $GPGGA,203254.00,3636.72935,N,12152.61864,W,1,10,0.9,-1.93,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,203254.00,3636.72935,N,12152.61864,W,1,10,0.9,-1.93,M,-33.30,M,,*7E


: successfully parse sentence at 20:32:54

: AshtechGPS::processRecord -sample time is 1145305973
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  2.45 18.26 3.91 3.94 0  2808.29 00:25:27 m

: AshtechGps::processRecord() - $GPGGA,203255.00,3636.72914,N,12152.61855,W,1,10,0.9,-1.88,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,203255.00,3636.72914,N,12152.61855,W,1,10,0.9,-1.88,M,-33.30,M,,*74


: successfully parse sentence at 20:32:55

: AshtechGPS::processRecord -sample time is 1145305974
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203256.00,3636.72899,N,12152.61833,W,1,10,0.9,-1.91,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,203256.00,3636.72899,N,12152.61833,W,1,10,0.9,-1.91,M,-33.30,M,,*7B


: successfully parse sentence at 20:32:56

: AshtechGPS::processRecord -sample time is 1145305975
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,203257.00,3636.72882,N,12152.61819,W,1,10,0.9,-2.13,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,203257.00,3636.72882,N,12152.61819,W,1,10,0.9,-2.13,M,-33.30,M,,*71


: successfully parse sentence at 20:32:57

: AshtechGPS::processRecord -sample time is 1145305976
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203258.00,3636.72878,N,12152.61817,W,1,10,0.9,-2.41,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203258.00,3636.72878,N,12152.61817,W,1,10,0.9,-2.41,M,-33.30,M,,*72


: successfully parse sentence at 20:32:58

: AshtechGPS::processRecord -sample time is 1145305977
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203259.00,3636.72887,N,12152.61817,W,1,10,0.9,-2.60,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,203259.00,3636.72887,N,12152.61817,W,1,10,0.9,-2.60,M,-33.30,M,,*70


: successfully parse sentence at 20:32:59

: AshtechGPS::processRecord -sample time is 1145305978
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203300.00,3636.72890,N,12152.61827,W,1,10,0.9,-2.68,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,203300.00,3636.72890,N,12152.61827,W,1,10,0.9,-2.68,M,-33.30,M,,*70


: successfully parse sentence at 20:33:0

: AshtechGPS::processRecord -sample time is 1145305979
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,203301.00,3636.72900,N,12152.61832,W,1,10,0.9,-2.53,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,203301.00,3636.72900,N,12152.61832,W,1,10,0.9,-2.53,M,-33.30,M,,*75


: successfully parse sentence at 20:33:1

: AshtechGPS::processRecord -sample time is 1145305980
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203302.00,3636.72899,N,12152.61835,W,1,10,0.9,-2.26,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203302.00,3636.72899,N,12152.61835,W,1,10,0.9,-2.26,M,-33.30,M,,*72


: successfully parse sentence at 20:33:2

: AshtechGPS::processRecord -sample time is 1145305981
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203303.00,3636.72887,N,12152.61814,W,1,10,0.9,-1.83,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203303.00,3636.72887,N,12152.61814,W,1,10,0.9,-1.83,M,-33.30,M,,*73


: successfully parse sentence at 20:33:3

: AshtechGPS::processRecord -sample time is 1145305982
:  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,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,203304.00,3636.72867,N,12152.61791,W,1,10,0.9,-1.86,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203304.00,3636.72867,N,12152.61791,W,1,10,0.9,-1.86,M,-33.30,M,,*7D


: successfully parse sentence at 20:33:4

: AshtechGPS::processRecord -sample time is 1145305983
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.42  2.59 18.26 3.91 3.94 0  2808.03 00:25:37 m

: AshtechGps::processRecord() - $GPGGA,203305.00,3636.72858,N,12152.61779,W,1,10,0.9,-2.18,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,203305.00,3636.72858,N,12152.61779,W,1,10,0.9,-2.18,M,-33.30,M,,*72


: successfully parse sentence at 20:33:5

: AshtechGPS::processRecord -sample time is 1145305984
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,203306.00,3636.72860,N,12152.61780,W,1,10,0.9,-2.41,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,203306.00,3636.72860,N,12152.61780,W,1,10,0.9,-2.41,M,-33.30,M,,*70


: successfully parse sentence at 20:33:6

: AshtechGPS::processRecord -sample time is 1145305985
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203307.00,3636.72859,N,12152.61778,W,1,10,0.9,-2.28,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,203307.00,3636.72859,N,12152.61778,W,1,10,0.9,-2.28,M,-33.30,M,,*73


: successfully parse sentence at 20:33:7

: AshtechGPS::processRecord -sample time is 1145305986
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.0,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,203308.00,3636.72853,N,12152.61773,W,1,10,0.9,-2.22,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,203308.00,3636.72853,N,12152.61773,W,1,10,0.9,-2.22,M,-33.30,M,,*77


: successfully parse sentence at 20:33:8

: AshtechGPS::processRecord -sample time is 1145305987
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203309.00,3636.72847,N,12152.61769,W,1,10,0.9,-2.14,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,203309.00,3636.72847,N,12152.61769,W,1,10,0.9,-2.14,M,-33.30,M,,*7D


: successfully parse sentence at 20:33:9

: AshtechGPS::processRecord -sample time is 1145305988
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,203310.00,3636.72844,N,12152.61759,W,1,10,0.9,-2.18,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,203310.00,3636.72844,N,12152.61759,W,1,10,0.9,-2.18,M,-33.30,M,,*79


: successfully parse sentence at 20:33:10

: AshtechGPS::processRecord -sample time is 1145305989
:  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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: TaskServer::signalHandler() for task 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 DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object navigationOutput ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D88.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowCommand ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: TaskServer::signalHandler() for task TailConeIFServer - exit()
: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
