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
S: Using default vehicle config file "/home/dorado1/auv/altex/onboard/config/docking/vehicle.cfg"
upervisor::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
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
Supervisor::createTask() - gpsServer
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - parosciS: Preparing to fork

erver
: SerialDevice: done...

: I'm the child...forking

: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
eate: SerialDevice: done...

Task() - seabird: SerialDevice: done...

Server
Supervisor::createTask() - bluefinBattDriver
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: DynamicControlServer - Got event 1 from TailCone

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

isor::createTask() - dvlServer
Supervisor::createTask() - fanServer
: SerialDevice: done...

: SerialDevice: done...

: SerialDevice: done...

: Crossbow.cc: Setting polled mode
: Crossbow.cc: Setting polled mode
: Crossbow.cc: In getSerialNumber()
Supervisor::create: Gps: initializing

Task: SerialDevice: done...

() -: Gps: done initializing...

 dr: **** EventTriggers::add() - attaching proxy
opWeightServer
: ahrs if is Ahrs

: SerialDevice: done...

Super: SerialDevice: done...

visor::: BluefineBatt::init() - 1 batteries on 10 second interval
cre: SerialDevice: done...

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

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


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

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

rver
: BluefinBatt::init() - querying for batt ids
: AshtechGps::processRecord() - $PASHR,ACK*3D

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


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

: SerialDevice: done...

: 3 Modules found
: seabirdDriver RUNNING...

: SerialDevice: done...

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

: SerialDevice: done...

: Crossbow.cc: device->read succeeded
: Crossbow.cc: I think the serial number is 4278190499 (ff0001a3)
: Crossbow.cc: Setting polled mode
: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: SerialDevice: done...

: AshtechGps::processRecord() - $GPGGA,205720.00,3636.59116,N,12152.49167,W,1,11,0.9,-2.94,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,205720.00,3636.59116,N,12152.49167,W,1,11,0.9,-2.94,M,-33.30,M,,*7B


: successfully parse sentence at 20:57:20

: AshtechGPS::processRecord -sample time is 1145307439
: 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

: SerialDevice: done...

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

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: Seabird/ctdDriver -- constructor succeeded

: SerialDevice: done...

: seabirdDriver -- constructor succeeded

:  DropWeight::initialize - Resetting counters.
: Seabird/ctdDriver:initializing Seabird...

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

:  g counters to default

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

: SerialDevice: done...

:  wdt = 00900,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: 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

: AshtechGps::processRecord() - $GPGGA,205721.00,3636.59107,N,12152.49155,W,1,11,0.9,-3.12,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,205721.00,3636.59107,N,12152.49155,W,1,11,0.9,-3.12,M,-33.30,M,,*74


: successfully parse sentence at 20:57:21

: AshtechGPS::processRecord -sample time is 1145307440
: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

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

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138560
: Parosci.cc -- Parosci initial temp period = 5.841825
: Parosci.cc -- Paroscientific configured.
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: AshtechGps::processRecord() - $GPGGA,205722.00,3636.59112,N,12152.49144,W,1,11,0.9,-3.23,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205722.00,3636.59112,N,12152.49144,W,1,11,0.9,-3.23,M,-33.30,M,,*71


: successfully parse sentence at 20:57:22

: TP00:00.00
>
: AshtechGPS::processRecord -sample time is 1145307441
: 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.

: Sonardyne - POS response: 
POS V4,1 R95.84

: Sonardyne - parsing R95.84

: Sonardyne - read R = 95.840000 from 95.84

: Sonardyne - got range only (95.840000), tat = 580
: EC1490
>
: 
>
:  Dvl::initialize() - The DVL is initialized.

: **** EventTriggers::add() - attaching proxy
: Sonardyne - POSD response: 
POSD S129.4,N31.8,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.4,N31.8,D3,U0,Q0.000000

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205723.00,3636.59113,N,12152.49143,W,1,11,0.9,-3.32,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,205723.00,3636.59113,N,12152.49143,W,1,11,0.9,-3.32,M,-33.30,M,,*76


: successfully parse sentence at 20:57:23

: AshtechGPS::processRecord -sample time is 1145307442
: Sonardyne - POS response: 
POS V4,1 R95.84,X74.69,Y60.06,Z0.00

: Sonardyne - parsing R95.84,X74.69,Y60.06,Z0.00

: Sonardyne - read R = 95.840000 from 95.84,X74.69,Y60.06,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=95.840000, x=0.000000, y=74.690000, z=-60.060000 tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205724.00,3636.59119,N,12152.49149,W,1,11,0.9,-3.54,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205724.00,3636.59119,N,12152.49149,W,1,11,0.9,-3.54,M,-33.30,M,,*71


: successfully parse sentence at 20:57:24

: AshtechGPS::processRecord -sample time is 1145307443
: Sonardyne - POS response: 
POS V4,1 R95.88

: Sonardyne - parsing R95.88

: Sonardyne - read R = 95.880000 from 95.88

: Sonardyne - got range only (95.880000), tat = 580
: Sonardyne - POSD response: 
POSD S132.9,N23.4,D-74,U5,Q0.000079

: Sonardyne - POSD response: 
POSD S132.9,N23.4,D-74,U5,Q0.000079

: 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

: AshtechGps::processRecord() - $GPGGA,205725.00,3636.59132,N,12152.49154,W,1,11,0.9,-3.23,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,205725.00,3636.59132,N,12152.49154,W,1,11,0.9,-3.23,M,-33.30,M,,*75


: successfully parse sentence at 20:57:25

: AshtechGPS::processRecord -sample time is 1145307444
: BluefinBatt::init() - battery ids are aa  
: BluefinBatt::init() - found battery aa
: Sonardyne - POS response: 
POS V4,1 R96.37

: Sonardyne - parsing R96.37

: Sonardyne - read R = 96.370000 from 96.37

: Sonardyne - got range only (96.370000), tat = 580
: Sonardyne - POSD response: 
POSD S137.1,N31.5,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.1,N31.5,D-3,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,205726.00,3636.59140,N,12152.49144,W,1,11,0.9,-3.11,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,205726.00,3636.59140,N,12152.49144,W,1,11,0.9,-3.11,M,-33.30,M,,*73


: successfully parse sentence at 20:57:26

: AshtechGPS::processRecord -sample time is 1145307445
: Sonardyne - POS response: 
POS V4,1 R96.07

: Sonardyne - parsing R96.07

: Sonardyne - read R = 96.070000 from 96.07

: Sonardyne - got range only (96.070000), tat = 580
: Sonardyne - POSD response: 
POSD S136.7,N31.0,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N31.0,D33,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,205727.00,3636.59136,N,12152.49142,W,1,11,0.9,-3.04,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205727.00,3636.59136,N,12152.49142,W,1,11,0.9,-3.04,M,-33.30,M,,*71


: successfully parse sentence at 20:57:27

: AshtechGPS::processRecord -sample time is 1145307446
: Sonardyne - POS response: 
POS V4,1 R96.01

: Sonardyne - parsing R96.01

: Sonardyne - read R = 96.010000 from 96.01

: Sonardyne - got range only (96.010000), tat = 580
: Sonardyne - POSD response: 
POSD S133.4,N31.0,D42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.4,N31.0,D42,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,205728.00,3636.59132,N,12152.49133,W,1,11,0.9,-2.80,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205728.00,3636.59132,N,12152.49133,W,1,11,0.9,-2.80,M,-33.30,M,,*71


: successfully parse sentence at 20:57:28

: AshtechGPS::processRecord -sample time is 1145307447
: Sonardyne - POS response: 
POS V4,1 R95.96

: Sonardyne - parsing R95.96

: Sonardyne - read R = 95.960000 from 95.96

: Sonardyne - got range only (95.960000), tat = 570
: Sonardyne - POSD response: 
POSD S130.2,N22.9,D78,U1,Q0.001627

: Sonardyne - POSD response: 
POSD S130.2,N22.9,D78,U1,Q0.001627

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

: AshtechGps::processRecord() - $GPGGA,205729.00,3636.59123,N,12152.49116,W,1,11,0.9,-2.59,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,205729.00,3636.59123,N,12152.49116,W,1,11,0.9,-2.59,M,-33.30,M,,*73


: successfully parse sentence at 20:57:29

: AshtechGPS::processRecord -sample time is 1145307448
: Sonardyne - POS response: 
POS V4,1 R96.39

: Sonardyne - parsing R96.39

: Sonardyne - read R = 96.390000 from 96.39

: Sonardyne - got range only (96.390000), tat = 580
: Sonardyne - POSD response: 
POSD S124.7,N21.1,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.7,N21.1,D18,U0,Q0.000000

: Seabird/ctdDriver: sending configure commands...(13462)

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

: Seabird/ctdDriver: setting scans...

: AshtechGps::processRecord() - $GPGGA,205730.00,3636.59090,N,12152.49098,W,1,11,0.9,-2.26,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,205730.00,3636.59090,N,12152.49098,W,1,11,0.9,-2.26,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:30

: AshtechGPS::processRecord -sample time is 1145307449
: BluefinBatt::init() - battery watchdog state is $aawf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Sonardyne - POS response: 
POS V4,1 R96.17

: Sonardyne - parsing R96.17

: Sonardyne - read R = 96.170000 from 96.17

: Sonardyne - got range only (96.170000), tat = 580
: Sonardyne - POSD response: 
POSD S134.9,N30.6,D9,U3,Q0.005847

: Sonardyne - POSD response: 
POSD S134.9,N30.6,D9,U3,Q0.005847

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

: AshtechGps::processRecord() - $GPGGA,205731.00,3636.59072,N,12152.49068,W,1,11,0.9,-2.60,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,205731.00,3636.59072,N,12152.49068,W,1,11,0.9,-2.60,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:31

: AshtechGPS::processRecord -sample time is 1145307450
: Sonardyne - POS response: 
POS V4,1 R96.30,X-82.96,Y-26.59,Z-41.04

: Sonardyne - parsing R96.30,X-82.96,Y-26.59,Z-41.04

: Sonardyne - read R = 96.300000 from 96.30,X-82.96,Y-26.59,Z-41.04

: Sonardyne - got all data, Vehicle coordinates,
    r=96.300000, x=41.040000, y=-82.960000, z=26.590000 tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205732.00,3636.59053,N,12152.49061,W,1,11,0.9,-2.96,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,205732.00,3636.59053,N,12152.49061,W,1,11,0.9,-2.96,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:32

: AshtechGPS::processRecord -sample time is 1145307451
: Sonardyne - POS response: 
POS V4,1 R96.42

: Sonardyne - parsing R96.42

: Sonardyne - read R = 96.420000 from 96.42

: Sonardyne - got range only (96.420000), tat = 580
: Sonardyne - POSD response: 
POSD S129.5,N21.7,D134,U4,Q0.003488

: Sonardyne - POSD response: 
POSD S129.5,N21.7,D134,U4,Q0.003488

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

: AshtechGps::processRecord() - $GPGGA,205733.00,3636.59059,N,12152.49058,W,1,11,0.9,-3.21,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205733.00,3636.59059,N,12152.49058,W,1,11,0.9,-3.21,M,-33.30,M,,*71


: successfully parse sentence at 20:57:33

: AshtechGPS::processRecord -sample time is 1145307452
: Sonardyne - POS response: 
POS V4,1 R96.53

: Sonardyne - parsing R96.53

: Sonardyne - read R = 96.530000 from 96.53

: Sonardyne - got range only (96.530000), tat = 580
: Sonardyne - POSD response: 
POSD S141.8,N33.7,D6,U4,Q0.002850

: Sonardyne - POSD response: 
POSD S141.8,N33.7,D6,U4,Q0.002850

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205734.00,3636.59051,N,12152.49052,W,1,11,0.9,-2.95,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,205734.00,3636.59051,N,12152.49052,W,1,11,0.9,-2.95,M,-33.30,M,,*7A


: successfully parse sentence at 20:57:34

: AshtechGPS::processRecord -sample time is 1145307453
: SerialDevice::confirm() - Timed Out
: Sonardyne - POS response: 
POS V4,1 R96.59

: Sonardyne - parsing R96.59

: Sonardyne - read R = 96.590000 from 96.59

: Sonardyne - got range only (96.590000), tat = 580
: Sonardyne - POSD response: 
POSD S133.5,N31.1,D23,U3,Q0.009379

: Sonardyne - POSD response: 
POSD S133.5,N31.1,D23,U3,Q0.009379

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

: AshtechGps::processRecord() - $GPGGA,205735.00,3636.59033,N,12152.49040,W,1,11,0.9,-2.76,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205735.00,3636.59033,N,12152.49040,W,1,11,0.9,-2.76,M,-33.30,M,,*71


: successfully parse sentence at 20:57:35

: AshtechGPS::processRecord -sample time is 1145307454
: Sonardyne - POS response: 
POS V4,1 R96.65

: Sonardyne - parsing R96.65

: Sonardyne - read R = 96.650000 from 96.65

: Sonardyne - got range only (96.650000), tat = 580
: Sonardyne - POSD response: 
POSD S135.3,N27.3,D-56,U5,Q0.000121

: Sonardyne - POSD response: 
POSD S135.3,N27.3,D-56,U5,Q0.000121

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

: AshtechGps::processRecord() - $GPGGA,205736.00,3636.59010,N,12152.49015,W,1,11,0.9,-2.47,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205736.00,3636.59010,N,12152.49015,W,1,11,0.9,-2.47,M,-33.30,M,,*71


: successfully parse sentence at 20:57:36

: AshtechGPS::processRecord -sample time is 1145307455
: Sonardyne - POS response: 
POS V4,1 R97.46

: Sonardyne - parsing R97.46

: Sonardyne - read R = 97.460000 from 97.46

: Sonardyne - got range only (97.460000), tat = 580
: Sonardyne - POSD response: 
POSD S126.7,N21.5,D137,U1,Q0.009112

: Sonardyne - POSD response: 
POSD S126.7,N21.5,D137,U1,Q0.009112

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

: AshtechGps::processRecord() - $GPGGA,205737.00,3636.58987,N,12152.48994,W,1,11,0.9,-2.81,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,205737.00,3636.58987,N,12152.48994,W,1,11,0.9,-2.81,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:37

: AshtechGPS::processRecord -sample time is 1145307456
: Sonardyne - POS response: 
POS V4,1 R96.79

: Sonardyne - parsing R96.79

: Sonardyne - read R = 96.790000 from 96.79

: Sonardyne - got range only (96.790000), tat = 580
: Sonardyne - POSD response: 
POSD S127.1,N30.2,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.1,N30.2,D2,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,205738.00,3636.58980,N,12152.48986,W,1,11,0.9,-2.94,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205738.00,3636.58980,N,12152.48986,W,1,11,0.9,-2.94,M,-33.30,M,,*72


: successfully parse sentence at 20:57:38

: AshtechGPS::processRecord -sample time is 1145307457
: Sonardyne - POS response: 
POS V4,1 R96.84

: Sonardyne - parsing R96.84

: Sonardyne - read R = 96.840000 from 96.84

: Sonardyne - got range only (96.840000), tat = 580
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Sonardyne - POSD response: 
POSD S131.7,N28.4,D39,U3,Q0.001815

: Seabird/ctdDriver: setting upcast...

: Sonardyne - POSD response: 
POSD S131.7,N28.4,D39,U3,Q0.001815

: Seabird/ctdDriver: setting battery type...

: Seabird/ctdDriver: setting external voltages to 6...(13462)

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,205739.00,3636.58981,N,12152.48987,W,1,11,0.9,-3.23,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,205739.00,3636.58981,N,12152.48987,W,1,11,0.9,-3.23,M,-33.30,M,,*7E


: successfully parse sentence at 20:57:39

: AshtechGPS::processRecord -sample time is 1145307458
: Seabird/ctdDriver::initialize() - confirming voltage...

: Sonardyne - POS response: 
POS V4,1 R96.93,X-85.73,Y-11.99,Z-43.61

: Sonardyne - parsing R96.93,X-85.73,Y-11.99,Z-43.61

: Sonardyne - read R = 96.930000 from 96.93,X-85.73,Y-11.99,Z-43.61

: Sonardyne - got all data, Vehicle coordinates,
    r=96.930000, x=43.610000, y=-85.730000, z=11.990000 tat = 600
: Seabird/ctdDriver::initialize() - confirming voltage...

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

: AshtechGps::processRecord() - $GPGGA,205740.00,3636.58980,N,12152.48987,W,1,11,0.9,-3.13,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205740.00,3636.58980,N,12152.48987,W,1,11,0.9,-3.13,M,-33.30,M,,*72


: successfully parse sentence at 20:57:40

: AshtechGPS::processRecord -sample time is 1145307459
: Sonardyne - POS response: 
POS V4,1 R96.89

: Sonardyne - parsing R96.89

: Sonardyne - read R = 96.890000 from 96.89

: Sonardyne - got range only (96.890000), tat = 580
: Sonardyne - POSD response: 
POSD S126.6,N22.5,D108,U3,Q0.005680

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

: Seabird/ctdDriver: sending DS command...

: Sonardyne - POSD response: 
POSD S126.6,N22.5,D108,U3,Q0.005680

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

: AshtechGps::processRecord() - $GPGGA,205741.00,3636.58991,N,12152.48989,W,1,11,0.9,-3.31,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,205741.00,3636.58991,N,12152.48989,W,1,11,0.9,-3.31,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:41

: AshtechGPS::processRecord -sample time is 1145307460
: Sonardyne - POS response: 
POS V4,1 R97.16

: Sonardyne - parsing R97.16

: Sonardyne - read R = 97.160000 from 97.16

: Sonardyne - got range only (97.160000), tat = 580
: Sonardyne - POSD response: 
POSD S136.4,N31.1,D-44,U1,Q0.003531

: Sonardyne - POSD response: 
POSD S136.4,N31.1,D-44,U1,Q0.003531

: BluefinBatt Reply: $aaq0 d- 31.45  2.52 17.77 3.92 3.94 0  2781.59 00:50:14 m

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

: AshtechGps::processRecord() - $GPGGA,205742.00,3636.58994,N,12152.48985,W,1,11,0.9,-2.96,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,205742.00,3636.58994,N,12152.48985,W,1,11,0.9,-2.96,M,-33.30,M,,*7B


: successfully parse sentence at 20:57:42

: AshtechGPS::processRecord -sample time is 1145307461
: Sonardyne - POS response: 
POS V4,1 R97.24

: Sonardyne - parsing R97.24

: Sonardyne - read R = 97.240000 from 97.24

: Sonardyne - got range only (97.240000), tat = 580
: Sonardyne - POSD response: 
POSD S124.4,N22.5,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.4,N22.5,D-20,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,205743.00,3636.58987,N,12152.48976,W,1,11,0.9,-2.85,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,205743.00,3636.58987,N,12152.48976,W,1,11,0.9,-2.85,M,-33.30,M,,*76


: successfully parse sentence at 20:57:43

: AshtechGPS::processRecord -sample time is 1145307462
: Sonardyne - POS response: 
POS V4,1 R97.35

: Sonardyne - parsing R97.35

: Sonardyne - read R = 97.350000 from 97.35

: Sonardyne - got range only (97.350000), tat = 580
: Sonardyne - POSD response: 
POSD S131.7,N31.0,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.7,N31.0,D-5,U0,Q0.000000

: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

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

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4073654.20, 608108.69

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

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

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

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

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

: AshtechGps::processRecord() - $GPGGA,205744.00,3636.58975,N,12152.48966,W,1,11,0.9,-2.72,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,205744.00,3636.58975,N,12152.48966,W,1,11,0.9,-2.72,M,-33.30,M,,*75


: successfully parse sentence at 20:57:44

: AshtechGPS::processRecord -sample time is 1145307463
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R97.49

: Sonardyne - parsing R97.49

: Sonardyne - read R = 97.490000 from 97.49

: Sonardyne - got range only (97.490000), tat = 580
: Seabird/ctdDriver::initialize() - starting logging...

: Sonardyne - POSD response: 
POSD S131.7,N26.8,D31,U4,Q0.016814

: Sonardyne - POSD response: 
POSD S131.7,N26.8,D31,U4,Q0.016814

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205745.00,3636.58952,N,12152.48947,W,1,11,0.9,-2.34,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,205745.00,3636.58952,N,12152.48947,W,1,11,0.9,-2.34,M,-33.30,M,,*70


: successfully parse sentence at 20:57:45

: AshtechGPS::processRecord -sample time is 1145307464
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R97.73

: Sonardyne - parsing R97.73

: Sonardyne - read R = 97.730000 from 97.73

: Sonardyne - got range only (97.730000), tat = 580
: Sonardyne - POSD response: 
POSD S129.7,N28.3,D-21,U2,Q0.004823

: Sonardyne - POSD response: 
POSD S129.7,N28.3,D-21,U2,Q0.004823

: AshtechGps::processRecord() - $GPGGA,205746.00,3636.58918,N,12152.48920,W,1,11,0.9,-2.17,M,-33.30,M,,*7D

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

: GpsUtils::parseFix() - $GPGGA,205746.00,3636.58918,N,12152.48920,W,1,11,0.9,-2.17,M,-33.30,M,,*7D


: successfully parse sentence at 20:57:46

: AshtechGPS::processRecord -sample time is 1145307465
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R97.76

: Sonardyne - parsing R97.76

: Sonardyne - read R = 97.760000 from 97.76

: Sonardyne - got range only (97.760000), tat = 580
: Sonardyne - POSD response: 
POSD S124.8,N24.0,D48,U4,Q0.003852

: Sonardyne - POSD response: 
POSD S124.8,N24.0,D48,U4,Q0.003852

: AshtechGps::processRecord() - $GPGGA,205747.00,3636.58883,N,12152.48885,W,1,11,0.9,-2.32,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,205747.00,3636.58883,N,12152.48885,W,1,11,0.9,-2.32,M,-33.30,M,,*76


: successfully parse sentence at 20:57:47

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

: AshtechGPS::processRecord -sample time is 1145307466
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R98.04

: Sonardyne - parsing R98.04

: Sonardyne - read R = 98.040000 from 98.04

: Sonardyne - got range only (98.040000), tat = 580
: Sonardyne - POSD response: 
POSD S132.0,N30.7,D18,U3,Q0.003139

: Sonardyne - POSD response: 
POSD S132.0,N30.7,D18,U3,Q0.003139

: AshtechGps::processRecord() - $GPGGA,205748.00,3636.58858,N,12152.48864,W,1,11,0.9,-2.67,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,205748.00,3636.58858,N,12152.48864,W,1,11,0.9,-2.67,M,-33.30,M,,*70


: successfully parse sentence at 20:57:48

: AshtechGPS::processRecord -sample time is 1145307467
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R98.02

: Sonardyne - parsing R98.02

: Sonardyne - read R = 98.020000 from 98.02

: Sonardyne - got range only (98.020000), tat = 580
: Sonardyne - POSD response: 
POSD S127.5,N28.2,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.5,N28.2,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205749.00,3636.58849,N,12152.48861,W,1,11,0.9,-3.10,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,205749.00,3636.58849,N,12152.48861,W,1,11,0.9,-3.10,M,-33.30,M,,*75


: successfully parse sentence at 20:57:49

: AshtechGPS::processRecord -sample time is 1145307468
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R98.06

: Sonardyne - parsing R98.06

: Sonardyne - read R = 98.060000 from 98.06

: Sonardyne - got range only (98.060000), tat = 580
: Sonardyne - POSD response: 
POSD S127.6,N29.2,D-40,U1,Q0.010759

: Sonardyne - POSD response: 
POSD S127.6,N29.2,D-40,U1,Q0.010759

: AshtechGps::processRecord() - $GPGGA,205750.00,3636.58852,N,12152.48862,W,1,11,0.9,-3.31,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,205750.00,3636.58852,N,12152.48862,W,1,11,0.9,-3.31,M,-33.30,M,,*77


: successfully parse sentence at 20:57:50

: AshtechGPS::processRecord -sample time is 1145307469
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R98.08

: Sonardyne - parsing R98.08

: Sonardyne - read R = 98.080000 from 98.08

: Sonardyne - got range only (98.080000), tat = 580
: Sonardyne - POSD response: 
POSD S127.6,N24.5,D-121,U1,Q0.007238

: Sonardyne - POSD response: 
POSD S127.6,N24.5,D-121,U1,Q0.007238

: AshtechGps::processRecord() - $GPGGA,205751.00,3636.58854,N,12152.48867,W,1,11,0.9,-3.29,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,205751.00,3636.58854,N,12152.48867,W,1,11,0.9,-3.29,M,-33.30,M,,*7C


: successfully parse sentence at 20:57:51

: AshtechGPS::processRecord -sample time is 1145307470
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R100.20

: Sonardyne - parsing R100.20

: Sonardyne - read R = 100.200000 from 100.20

: Sonardyne - got range only (100.200000), tat = 580
: Sonardyne - POSD response: 
POSD S120.0,N24.4,D-14,U2,Q0.003728

: Sonardyne - POSD response: 
POSD S120.0,N24.4,D-14,U2,Q0.003728

: BluefinBatt Reply: $aaq0 d- 31.42  3.33 17.77 3.92 3.94 0  2781.38 00:50:24 m

: AshtechGps::processRecord() - $GPGGA,205752.00,3636.58855,N,12152.48863,W,1,11,0.9,-3.05,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,205752.00,3636.58855,N,12152.48863,W,1,11,0.9,-3.05,M,-33.30,M,,*74


: successfully parse sentence at 20:57:52

: AshtechGPS::processRecord -sample time is 1145307471
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.399425) Behavior getgps has changed to state Finished

: LayeredControl::execute() -- (t = 8.399425) Behavior setpoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R98.41,X-90.63,Y-24.25,Z-29.70

: Sonardyne - parsing R98.41,X-90.63,Y-24.25,Z-29.70

: Sonardyne - read R = 98.410000 from 98.41,X-90.63,Y-24.25,Z-29.70

: Sonardyne - got all data, Vehicle coordinates,
    r=98.410000, x=29.700000, y=-90.630000, z=24.250000 tat = 600
: batts online 1, min cell voltage 3.920000, mean min cell voltage 3.920000

: AshtechGps::processRecord() - $GPGGA,205753.00,3636.58851,N,12152.48862,W,1,11,0.9,-2.92,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,205753.00,3636.58851,N,12152.48862,W,1,11,0.9,-2.92,M,-33.30,M,,*7F


: successfully parse sentence at 20:57:53

: AshtechGPS::processRecord -sample time is 1145307472
:  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 R98.50

: Sonardyne - parsing R98.50

: Sonardyne - read R = 98.500000 from 98.50

: Sonardyne - got range only (98.500000), tat = 580
: Sonardyne - POSD response: 
POSD S122.3,N26.0,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N26.0,D16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205754.00,3636.58855,N,12152.48854,W,1,11,0.9,-3.00,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,205754.00,3636.58855,N,12152.48854,W,1,11,0.9,-3.00,M,-33.30,M,,*73


: successfully parse sentence at 20:57:54

: AshtechGPS::processRecord -sample time is 1145307473
:  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 R98.55

: Sonardyne - parsing R98.55

: Sonardyne - read R = 98.550000 from 98.55

: Sonardyne - got range only (98.550000), tat = 580
: Sonardyne - POSD response: 
POSD S131.1,N24.4,D16,U2,Q0.003987

: Sonardyne - POSD response: 
POSD S131.1,N24.4,D16,U2,Q0.003987

: AshtechGps::processRecord() - $GPGGA,205755.00,3636.58865,N,12152.48858,W,1,11,0.9,-2.99,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,205755.00,3636.58865,N,12152.48858,W,1,11,0.9,-2.99,M,-33.30,M,,*7C


: successfully parse sentence at 20:57:55

: AshtechGPS::processRecord -sample time is 1145307474
:  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 R98.65

: Sonardyne - parsing R98.65

: Sonardyne - read R = 98.650000 from 98.65

: Sonardyne - got range only (98.650000), tat = 580
: Sonardyne - POSD response: 
POSD S130.9,N27.2,D-10,U3,Q0.002315

: Sonardyne - POSD response: 
POSD S130.9,N27.2,D-10,U3,Q0.002315

: AshtechGps::processRecord() - $GPGGA,205756.00,3636.58870,N,12152.48859,W,1,11,0.9,-2.76,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,205756.00,3636.58870,N,12152.48859,W,1,11,0.9,-2.76,M,-33.30,M,,*7B


: successfully parse sentence at 20:57:56

: AshtechGPS::processRecord -sample time is 1145307475
:  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 R98.68

: Sonardyne - parsing R98.68

: Sonardyne - read R = 98.680000 from 98.68

: Sonardyne - got range only (98.680000), tat = 580
: Sonardyne - POSD response: 
POSD S125.5,N25.9,D-6,U2,Q0.006342

: Sonardyne - POSD response: 
POSD S125.5,N25.9,D-6,U2,Q0.006342

: AshtechGps::processRecord() - $GPGGA,205757.00,3636.58874,N,12152.48845,W,1,11,0.9,-2.47,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,205757.00,3636.58874,N,12152.48845,W,1,11,0.9,-2.47,M,-33.30,M,,*71


: successfully parse sentence at 20:57:57

: AshtechGPS::processRecord -sample time is 1145307476
:  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 R98.93

: Sonardyne - parsing R98.93

: Sonardyne - read R = 98.930000 from 98.93

: Sonardyne - got range only (98.930000), tat = 580
: Sonardyne - POSD response: 
POSD S125.9,N23.7,D35,U4,Q0.000109

: Sonardyne - POSD response: 
POSD S125.9,N23.7,D35,U4,Q0.000109

: AshtechGps::processRecord() - $GPGGA,205758.00,3636.58873,N,12152.48836,W,1,11,0.9,-2.55,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,205758.00,3636.58873,N,12152.48836,W,1,11,0.9,-2.55,M,-33.30,M,,*7E


: successfully parse sentence at 20:57:58

: AshtechGPS::processRecord -sample time is 1145307477
:  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 R99.37

: Sonardyne - parsing R99.37

: Sonardyne - read R = 99.370000 from 99.37

: Sonardyne - got range only (99.370000), tat = 580
: Sonardyne - POSD response: 
POSD S120.2,N17.6,D-69,U1,Q0.019439

: Sonardyne - POSD response: 
POSD S120.2,N17.6,D-69,U1,Q0.019439

: AshtechGps::processRecord() - $GPGGA,205759.00,3636.58893,N,12152.48822,W,1,11,0.9,-2.74,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,205759.00,3636.58893,N,12152.48822,W,1,11,0.9,-2.74,M,-33.30,M,,*77


: successfully parse sentence at 20:57:59

: AshtechGPS::processRecord -sample time is 1145307478
:  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 R98.79

: Sonardyne - parsing R98.79

: Sonardyne - read R = 98.790000 from 98.79

: Sonardyne - got range only (98.790000), tat = 580
: Sonardyne - POSD response: 
POSD S133.1,N33.4,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.1,N33.4,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205800.00,3636.58910,N,12152.48839,W,1,11,0.9,-2.84,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,205800.00,3636.58910,N,12152.48839,W,1,11,0.9,-2.84,M,-33.30,M,,*7B


: successfully parse sentence at 20:58:0

: AshtechGPS::processRecord -sample time is 1145307479
:  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 R98.69

: Sonardyne - parsing R98.69

: Sonardyne - read R = 98.690000 from 98.69

: Sonardyne - got range only (98.690000), tat = 580
: Sonardyne - POSD response: 
POSD S129.9,N26.9,D62,U3,Q0.000947

: Sonardyne - POSD response: 
POSD S129.9,N26.9,D62,U3,Q0.000947

: AshtechGps::processRecord() - $GPGGA,205801.00,3636.58939,N,12152.48853,W,1,11,0.9,-2.80,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,205801.00,3636.58939,N,12152.48853,W,1,11,0.9,-2.80,M,-33.30,M,,*79


: successfully parse sentence at 20:58:1

: AshtechGPS::processRecord -sample time is 1145307480
:  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 R98.47

: Sonardyne - parsing R98.47

: Sonardyne - read R = 98.470000 from 98.47

: Sonardyne - got range only (98.470000), tat = 580
: Sonardyne - POSD response: 
POSD S128.0,N28.9,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.0,N28.9,D-9,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.15 10.44 17.77 3.92 3.94 0  2780.76 00:50:34 m

: AshtechGps::processRecord() - $GPGGA,205802.00,3636.58968,N,12152.48876,W,1,11,0.9,-2.71,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,205802.00,3636.58968,N,12152.48876,W,1,11,0.9,-2.71,M,-33.30,M,,*77


: successfully parse sentence at 20:58:2

: AshtechGPS::processRecord -sample time is 1145307481
:  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 R98.07

: Sonardyne - parsing R98.07

: Sonardyne - read R = 98.070000 from 98.07

: Sonardyne - got range only (98.070000), tat = 580
: Sonardyne - POSD response: 
POSD S135.8,N31.6,D-20,U1,Q0.005733

: Sonardyne - POSD response: 
POSD S135.8,N31.6,D-20,U1,Q0.005733

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

: AshtechGps::processRecord() - $GPGGA,205803.00,3636.58995,N,12152.48906,W,1,11,0.9,-2.67,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,205803.00,3636.58995,N,12152.48906,W,1,11,0.9,-2.67,M,-33.30,M,,*75


: successfully parse sentence at 20:58:3

: AshtechGPS::processRecord -sample time is 1145307482
:  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 R97.62

: Sonardyne - parsing R97.62

: Sonardyne - read R = 97.620000 from 97.62

: Sonardyne - got range only (97.620000), tat = 580
: Sonardyne - POSD response: 
POSD S135.6,N31.1,D12,U4,Q0.000314

: Sonardyne - POSD response: 
POSD S135.6,N31.1,D12,U4,Q0.000314

: AshtechGps::processRecord() - $GPGGA,205804.00,3636.59015,N,12152.48937,W,1,11,0.9,-2.58,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,205804.00,3636.59015,N,12152.48937,W,1,11,0.9,-2.58,M,-33.30,M,,*7C


: successfully parse sentence at 20:58:4

: AshtechGPS::processRecord -sample time is 1145307483
:  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 R97.29

: Sonardyne - parsing R97.29

: Sonardyne - read R = 97.290000 from 97.29

: Sonardyne - got range only (97.290000), tat = 580
: Sonardyne - POSD response: 
POSD S139.3,N34.5,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.3,N34.5,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205805.00,3636.59031,N,12152.48987,W,1,11,0.9,-2.78,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205805.00,3636.59031,N,12152.48987,W,1,11,0.9,-2.78,M,-33.30,M,,*72


: successfully parse sentence at 20:58:5

: AshtechGPS::processRecord -sample time is 1145307484
:  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 R96.22

: Sonardyne - parsing R96.22

: Sonardyne - read R = 96.220000 from 96.22

: Sonardyne - got range only (96.220000), tat = 579
: Sonardyne - POSD response: 
POSD S137.8,N22.3,D-97,U3,Q0.013700

: Sonardyne - POSD response: 
POSD S137.8,N22.3,D-97,U3,Q0.013700

: AshtechGps::processRecord() - $GPGGA,205806.00,3636.59044,N,12152.49051,W,1,11,0.9,-3.00,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,205806.00,3636.59044,N,12152.49051,W,1,11,0.9,-3.00,M,-33.30,M,,*7E


: successfully parse sentence at 20:58:6

: AshtechGPS::processRecord -sample time is 1145307485
:  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 R95.24

: Sonardyne - parsing R95.24

: Sonardyne - read R = 95.240000 from 95.24

: Sonardyne - got range only (95.240000), tat = 570
: Sonardyne - POSD response: 
POSD S144.3,N29.2,D-34,U3,Q0.010898

: Sonardyne - POSD response: 
POSD S144.3,N29.2,D-34,U3,Q0.010898

: AshtechGps::processRecord() - $GPGGA,205807.00,3636.59068,N,12152.49129,W,1,11,0.9,-3.25,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,205807.00,3636.59068,N,12152.49129,W,1,11,0.9,-3.25,M,-33.30,M,,*78


: successfully parse sentence at 20:58:7

: AshtechGPS::processRecord -sample time is 1145307486
:  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 R94.21,X-43.28,Y-3.53,Z-83.61

: Sonardyne - parsing R94.21,X-43.28,Y-3.53,Z-83.61

: Sonardyne - read R = 94.210000 from 94.21,X-43.28,Y-3.53,Z-83.61

: Sonardyne - got all data, Vehicle coordinates,
    r=94.210000, x=83.610000, y=-43.280000, z=3.530000 tat = 650
: AshtechGps::processRecord() - $GPGGA,205808.00,3636.59079,N,12152.49212,W,1,11,0.9,-3.18,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205808.00,3636.59079,N,12152.49212,W,1,11,0.9,-3.18,M,-33.30,M,,*72


: successfully parse sentence at 20:58:8

: AshtechGPS::processRecord -sample time is 1145307487
:  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 R96.72

: Sonardyne - parsing R96.72

: Sonardyne - read R = 96.720000 from 96.72

: Sonardyne - got range only (96.720000), tat = 580
: Sonardyne - POSD response: 
POSD S119.5,N22.8,D-102,U1,Q0.009000

: Sonardyne - POSD response: 
POSD S119.5,N22.8,D-102,U1,Q0.009000

: AshtechGps::processRecord() - $GPGGA,205809.00,3636.59088,N,12152.49300,W,1,11,0.9,-2.72,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205809.00,3636.59088,N,12152.49300,W,1,11,0.9,-2.72,M,-33.30,M,,*72


: successfully parse sentence at 20:58:9

: AshtechGPS::processRecord -sample time is 1145307488
:  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 R92.16,X-31.39,Y-0.21,Z-86.65

: Sonardyne - parsing R92.16,X-31.39,Y-0.21,Z-86.65

: Sonardyne - read R = 92.160000 from 92.16,X-31.39,Y-0.21,Z-86.65

: Sonardyne - got all data, Vehicle coordinates,
    r=92.160000, x=86.650000, y=-31.390000, z=0.210000 tat = 590
: AshtechGps::processRecord() - $GPGGA,205810.00,3636.59079,N,12152.49392,W,1,11,0.9,-2.80,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,205810.00,3636.59079,N,12152.49392,W,1,11,0.9,-2.80,M,-33.30,M,,*72


: successfully parse sentence at 20:58:10

: AshtechGPS::processRecord -sample time is 1145307489
:  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 R90.97,X-25.64,Y-5.58,Z-87.10

: Sonardyne - parsing R90.97,X-25.64,Y-5.58,Z-87.10

: Sonardyne - read R = 90.970000 from 90.97,X-25.64,Y-5.58,Z-87.10

: Sonardyne - got all data, Vehicle coordinates,
    r=90.970000, x=87.100000, y=-25.640000, z=5.580000 tat = 590
: AshtechGps::processRecord() - $GPGGA,205811.00,3636.59059,N,12152.49465,W,1,11,0.9,-2.57,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,205811.00,3636.59059,N,12152.49465,W,1,11,0.9,-2.57,M,-33.30,M,,*74


: successfully parse sentence at 20:58:11

: AshtechGPS::processRecord -sample time is 1145307490
:  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 R89.87,X-21.56,Y8.59,Z-86.83

: Sonardyne - parsing R89.87,X-21.56,Y8.59,Z-86.83

: Sonardyne - read R = 89.870000 from 89.87,X-21.56,Y8.59,Z-86.83

: Sonardyne - got all data, Vehicle coordinates,
    r=89.870000, x=86.830000, y=-21.560000, z=-8.590000 tat = 590
: BluefinBatt Reply: $aaq0 d- 31.12 10.37 17.87 3.88 3.91 0  2780.03 00:50:44 m

: AshtechGps::processRecord() - $GPGGA,205812.00,3636.59038,N,12152.49547,W,1,11,0.9,-2.49,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,205812.00,3636.59038,N,12152.49547,W,1,11,0.9,-2.49,M,-33.30,M,,*7E


: successfully parse sentence at 20:58:12

: AshtechGPS::processRecord -sample time is 1145307491
:  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 R88.77,X-23.74,Y2.69,Z-85.49

: Sonardyne - parsing R88.77,X-23.74,Y2.69,Z-85.49

: Sonardyne - read R = 88.770000 from 88.77,X-23.74,Y2.69,Z-85.49

: Sonardyne - got all data, Vehicle coordinates,
    r=88.770000, x=85.490000, y=-23.740000, z=-2.690000 tat = 590
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: AshtechGps::processRecord() - $GPGGA,205813.00,3636.59003,N,12152.49626,W,1,11,0.9,-2.35,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,205813.00,3636.59003,N,12152.49626,W,1,11,0.9,-2.35,M,-33.30,M,,*78


: successfully parse sentence at 20:58:13

: AshtechGPS::processRecord -sample time is 1145307492
: Sonardyne - POS response: 
POS V4,1 R87.75

: Sonardyne - parsing R87.75

: Sonardyne - read R = 87.750000 from 87.75

: Sonardyne - got range only (87.750000), tat = 570
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S148.2,N35.2,D-15,U5,Q0.000351

: Sonardyne - POSD response: 
POSD S148.2,N35.2,D-15,U5,Q0.000351

: AshtechGps::processRecord() - $GPGGA,205814.00,3636.58963,N,12152.49701,W,1,11,0.9,-2.42,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,205814.00,3636.58963,N,12152.49701,W,1,11,0.9,-2.42,M,-33.30,M,,*75


: successfully parse sentence at 20:58:14

: AshtechGPS::processRecord -sample time is 1145307493
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205815.00,3636.58932,N,12152.49787,W,1,11,0.9,-2.52,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,205815.00,3636.58932,N,12152.49787,W,1,11,0.9,-2.52,M,-33.30,M,,*7F


: successfully parse sentence at 20:58:15

: AshtechGPS::processRecord -sample time is 1145307494
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205816.00,3636.58898,N,12152.49865,W,1,11,0.9,-2.88,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,205816.00,3636.58898,N,12152.49865,W,1,11,0.9,-2.88,M,-33.30,M,,*79


: successfully parse sentence at 20:58:16

: AshtechGPS::processRecord -sample time is 1145307495
:  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,N4.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,205817.00,3636.58883,N,12152.49955,W,1,11,0.9,-2.92,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,205817.00,3636.58883,N,12152.49955,W,1,11,0.9,-2.92,M,-33.30,M,,*7B


: successfully parse sentence at 20:58:17

: AshtechGPS::processRecord -sample time is 1145307496
:  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 R81.49,X-17.53,Y5.69,Z-79.37

: Sonardyne - parsing R81.49,X-17.53,Y5.69,Z-79.37

: Sonardyne - read R = 81.490000 from 81.49,X-17.53,Y5.69,Z-79.37

: Sonardyne - got all data, Vehicle coordinates,
    r=81.490000, x=79.370000, y=-17.530000, z=-5.690000 tat = 580
: AshtechGps::processRecord() - $GPGGA,205818.00,3636.58855,N,12152.50051,W,1,11,0.9,-2.81,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,205818.00,3636.58855,N,12152.50051,W,1,11,0.9,-2.81,M,-33.30,M,,*78


: successfully parse sentence at 20:58:18

: AshtechGPS::processRecord -sample time is 1145307497
:  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 R80.07,X-16.51,Y21.56,Z-75.33

: Sonardyne - parsing R80.07,X-16.51,Y21.56,Z-75.33

: Sonardyne - read R = 80.070000 from 80.07,X-16.51,Y21.56,Z-75.33

: Sonardyne - got all data, Vehicle coordinates,
    r=80.070000, x=75.330000, y=-16.510000, z=-21.560000 tat = 580
: AshtechGps::processRecord() - $GPGGA,205819.00,3636.58833,N,12152.50144,W,1,11,0.9,-2.82,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,205819.00,3636.58833,N,12152.50144,W,1,11,0.9,-2.82,M,-33.30,M,,*7F


: successfully parse sentence at 20:58:19

: AshtechGPS::processRecord -sample time is 1145307498
:  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 R78.91,X-15.30,Y28.53,Z-71.97

: Sonardyne - parsing R78.91,X-15.30,Y28.53,Z-71.97

: Sonardyne - read R = 78.910000 from 78.91,X-15.30,Y28.53,Z-71.97

: Sonardyne - got all data, Vehicle coordinates,
    r=78.910000, x=71.970000, y=-15.300000, z=-28.530000 tat = 579
: AshtechGps::processRecord() - $GPGGA,205820.00,3636.58798,N,12152.50197,W,1,11,0.9,-1.75,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,205820.00,3636.58798,N,12152.50197,W,1,11,0.9,-1.75,M,-33.30,M,,*7E


: successfully parse sentence at 20:58:20

: AshtechGPS::processRecord -sample time is 1145307499
:  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 R77.67,X-10.48,Y35.50,Z-68.28

: Sonardyne - parsing R77.67,X-10.48,Y35.50,Z-68.28

: Sonardyne - read R = 77.670000 from 77.67,X-10.48,Y35.50,Z-68.28

: Sonardyne - got all data, Vehicle coordinates,
    r=77.670000, x=68.280000, y=-10.480000, z=-35.500000 tat = 580
: AshtechGps::processRecord() - $GPGGA,205821.00,,,,,0,04,4.6,,M,,M,,*6C

: GpsUtils::parseFix() - $GPGGA,205821.00,,,,,0,04,4.6,,M,,M,,*6C


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

: BluefinBatt Reply: $aaq0 d- 31.19  7.88 17.87 3.88 3.91 0  2778.98 00:50:54 m

: Sonardyne - POS response: 
POS V4,1 R76.61,X-7.79,Y40.32,Z-64.68

: Sonardyne - parsing R76.61,X-7.79,Y40.32,Z-64.68

: Sonardyne - read R = 76.610000 from 76.61,X-7.79,Y40.32,Z-64.68

: Sonardyne - got all data, Vehicle coordinates,
    r=76.610000, x=64.680000, y=-7.790000, z=-40.320000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47


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

: LayeredControl::execute() -- (t = 38.597356) Behavior setpoint has changed to state Finished

: LayeredControl::execute() -- (t = 38.597356) Behavior descend has changed to state Active

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

: Sonardyne - POS response: 
POS V4,1 R75.68,X-10.93,Y37.60,Z-64.76

: Sonardyne - parsing R75.68,X-10.93,Y37.60,Z-64.76

: Sonardyne - read R = 75.680000 from 75.68,X-10.93,Y37.60,Z-64.76

: Sonardyne - got all data, Vehicle coordinates,
    r=75.680000, x=64.760000, y=-10.930000, z=-37.600000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205823.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205823.00,,,,,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 R74.58,X-7.16,Y34.26,Z-65.86

: Sonardyne - parsing R74.58,X-7.16,Y34.26,Z-65.86

: Sonardyne - read R = 74.580000 from 74.58,X-7.16,Y34.26,Z-65.86

: Sonardyne - got all data, Vehicle coordinates,
    r=74.580000, x=65.860000, y=-7.160000, z=-34.260000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205824.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205824.00,,,,,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 R73.40,X-5.27,Y32.17,Z-65.77

: Sonardyne - parsing R73.40,X-5.27,Y32.17,Z-65.77

: Sonardyne - read R = 73.400000 from 73.40,X-5.27,Y32.17,Z-65.77

: Sonardyne - got all data, Vehicle coordinates,
    r=73.400000, x=65.770000, y=-5.270000, z=-32.170000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205825.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205825.00,,,,,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 R72.17,X-7.54,Y23.65,Z-67.76

: Sonardyne - parsing R72.17,X-7.54,Y23.65,Z-67.76

: Sonardyne - read R = 72.170000 from 72.17,X-7.54,Y23.65,Z-67.76

: Sonardyne - got all data, Vehicle coordinates,
    r=72.170000, x=67.760000, y=-7.540000, z=-23.650000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205826.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205826.00,,,,,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

: Descend::execute() - Descend terminating on depth 4.083420 > 4.000000 at time 42.797068

: LayeredControl::execute() -- (t = 42.797068) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 42.80                             (wplog)
  The current location (N,E) = 4052173.6      , 600601.3         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 313.4 Degrees.

: LayeredControl::execute() -- (t = 42.797068) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R70.88,X-11.17,Y13.54,Z-68.67

: Sonardyne - parsing R70.88,X-11.17,Y13.54,Z-68.67

: Sonardyne - read R = 70.880000 from 70.88,X-11.17,Y13.54,Z-68.67

: Sonardyne - got all data, Vehicle coordinates,
    r=70.880000, x=68.670000, y=-11.170000, z=-13.540000 tat = 570
: AshtechGps::processRecord() - $GPGGA,205827.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205827.00,,,,,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 R75.75

: Sonardyne - parsing R75.75

: Sonardyne - read R = 75.750000 from 75.75

: Sonardyne - got range only (75.750000), tat = 550
: Sonardyne - POSD response: 
POSD S139.1,N31.5,D9,U2,Q0.007583

: Sonardyne - POSD response: 
POSD S139.1,N31.5,D9,U2,Q0.007583

: AshtechGps::processRecord() - $GPGGA,205828.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,205828.00,,,,,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 R68.25,X-17.25,Y-4.12,Z-65.90

: Sonardyne - parsing R68.25,X-17.25,Y-4.12,Z-65.90

: Sonardyne - read R = 68.250000 from 68.25,X-17.25,Y-4.12,Z-65.90

: Sonardyne - got all data, Vehicle coordinates,
    r=68.250000, x=65.900000, y=-17.250000, z=4.120000 tat = 560
: AshtechGps::processRecord() - $GPGGA,205829.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,205829.00,,,,,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 R66.97,X-24.85,Y-9.18,Z-61.51

: Sonardyne - parsing R66.97,X-24.85,Y-9.18,Z-61.51

: Sonardyne - read R = 66.970000 from 66.97,X-24.85,Y-9.18,Z-61.51

: Sonardyne - got all data, Vehicle coordinates,
    r=66.970000, x=61.510000, y=-24.850000, z=9.180000 tat = 560
: AshtechGps::processRecord() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R65.71

: Sonardyne - parsing R65.71

: Sonardyne - read R = 65.710000 from 65.71

: Sonardyne - got range only (65.710000), tat = 530
: Sonardyne - POSD response: 
POSD S147.0,N30.1,D7,U5,Q0.007208

: Sonardyne - POSD response: 
POSD S147.0,N30.1,D7,U5,Q0.007208

: AshtechGps::processRecord() - $GPGGA,205831.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205831.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.15  9.13 17.87 3.88 3.91 0  2778.33 00:51:04 m

: Sonardyne - POS response: 
POS V4,1 R64.69

: Sonardyne - parsing R64.69

: Sonardyne - read R = 64.690000 from 64.69

: Sonardyne - got range only (64.690000), tat = 530
: Sonardyne - POSD response: 
POSD S146.4,N23.7,D-78,U5,Q0.003964

: Sonardyne - POSD response: 
POSD S146.4,N23.7,D-78,U5,Q0.003964

: AshtechGps::processRecord() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - POS response: 
POS V4,1 R63.88,X59.25,Y23.88,Z0.00

: Sonardyne - parsing R63.88,X59.25,Y23.88,Z0.00

: Sonardyne - read R = 63.880000 from 63.88,X59.25,Y23.88,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=63.880000, x=0.000000, y=59.250000, z=-23.880000 tat = 550
: AshtechGps::processRecord() - $GPGGA,205833.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205833.00,,,,,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 R63.17

: Sonardyne - parsing R63.17

: Sonardyne - read R = 63.170000 from 63.17

: Sonardyne - got range only (63.170000), tat = 530
: Sonardyne - POSD response: 
POSD S144.9,N26.7,D-72,U2,Q0.001152

: Sonardyne - POSD response: 
POSD S144.9,N26.7,D-72,U2,Q0.001152

: AshtechGps::processRecord() - $GPGGA,205834.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205834.00,,,,,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 R62.79,X-57.90,Y-13.57,Z-20.16

: Sonardyne - parsing R62.79,X-57.90,Y-13.57,Z-20.16

: Sonardyne - read R = 62.790000 from 62.79,X-57.90,Y-13.57,Z-20.16

: Sonardyne - got all data, Vehicle coordinates,
    r=62.790000, x=20.160000, y=-57.900000, z=13.570000 tat = 560
: AshtechGps::processRecord() - $GPGGA,205835.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205835.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R62.72,X-61.20,Y-13.69,Z0.00

: Sonardyne - parsing R62.72,X-61.20,Y-13.69,Z0.00

: Sonardyne - read R = 62.720000 from 62.72,X-61.20,Y-13.69,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=62.720000, x=0.000000, y=-61.200000, z=13.690000 tat = 550
: AshtechGps::processRecord() - $GPGGA,205836.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205836.00,,,,,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,205837.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205837.00,,,,,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,205838.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,205838.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,205839.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,205839.00,,,,,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,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,205840.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205840.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.17

: Sonardyne - parsing R66.17

: Sonardyne - read R = 66.170000 from 66.17

: Sonardyne - got range only (66.170000), tat = 540
: Sonardyne - POSD response: 
POSD S123.3,N26.3,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.3,N26.3,D6,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,205841.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205841.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.08 10.61 17.87 3.88 3.91 0  2777.35 00:51:14 m

: AshtechGps::processRecord() - $GPGGA,205842.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205842.00,,,,,0,00,,,M,,M,,*41


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

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

: AshtechGps::processRecord() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 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,205844.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205844.00,,,,,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 R67.75

: Sonardyne - parsing R67.75

: Sonardyne - read R = 67.750000 from 67.75

: Sonardyne - got range only (67.750000), tat = 540
: Sonardyne - POSD response: 
POSD S125.6,N28.2,D59,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N28.2,D59,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205845.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205845.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R68.48

: Sonardyne - parsing R68.48

: Sonardyne - read R = 68.480000 from 68.48

: Sonardyne - got range only (68.480000), tat = 540
: Sonardyne - POSD response: 
POSD S122.2,N31.1,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.2,N31.1,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R69.26

: Sonardyne - parsing R69.26

: Sonardyne - read R = 69.260000 from 69.26

: Sonardyne - got range only (69.260000), tat = 540
: Sonardyne - POSD response: 
POSD S121.7,N15.4,D-66,U1,Q0.009402

: Sonardyne - POSD response: 
POSD S121.7,N15.4,D-66,U1,Q0.009402

: AshtechGps::processRecord() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R70.06

: Sonardyne - parsing R70.06

: Sonardyne - read R = 70.060000 from 70.06

: Sonardyne - got range only (70.060000), tat = 540
: Sonardyne - POSD response: 
POSD S124.4,N29.1,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.4,N29.1,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205848.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,205848.00,,,,,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 R70.90

: Sonardyne - parsing R70.90

: Sonardyne - read R = 70.900000 from 70.90

: Sonardyne - got range only (70.900000), tat = 539
: Sonardyne - POSD response: 
POSD S120.6,N30.1,D42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.6,N30.1,D42,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205849.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,205849.00,,,,,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 R71.73

: Sonardyne - parsing R71.73

: Sonardyne - read R = 71.730000 from 71.73

: Sonardyne - got range only (71.730000), tat = 540
: Sonardyne - POSD response: 
POSD S120.6,N25.5,D63,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S120.6,N25.5,D63,U1,Q0.014122

: AshtechGps::processRecord() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R72.63

: Sonardyne - parsing R72.63

: Sonardyne - read R = 72.630000 from 72.63

: Sonardyne - got range only (72.630000), tat = 540
: Sonardyne - POSD response: 
POSD S123.1,N28.0,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.1,N28.0,D9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205851.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205851.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.90 17.87 3.88 3.90 0  2776.59 00:51:24 m

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

: Sonardyne - POS response: 
POS V4,1 R73.47

: Sonardyne - parsing R73.47

: Sonardyne - read R = 73.470000 from 73.47

: Sonardyne - got range only (73.470000), tat = 540
: Sonardyne - POSD response: 
POSD S119.5,N21.4,D53,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.5,N21.4,D53,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205852.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205852.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,205853.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205853.00,,,,,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,205854.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205854.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,205855.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205855.00,,,,,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,N3.5,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,205858.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,205858.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205859.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,205859.00,,,,,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 R80.21

: Sonardyne - parsing R80.21

: Sonardyne - read R = 80.210000 from 80.21

: Sonardyne - got range only (80.210000), tat = 550
: Sonardyne - POSD response: 
POSD S119.1,N29.1,D41,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.1,N29.1,D41,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205900.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205900.00,,,,,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 R81.03

: Sonardyne - parsing R81.03

: Sonardyne - read R = 81.030000 from 81.03

: Sonardyne - got range only (81.030000), tat = 560
: Sonardyne - POSD response: 
POSD S122.2,N31.8,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.2,N31.8,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.92 17.96 3.88 3.90 0  2775.59 00:51:34 m

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

: Sonardyne - POS response: 
POS V4,1 R81.71

: Sonardyne - parsing R81.71

: Sonardyne - read R = 81.710000 from 81.71

: Sonardyne - got range only (81.710000), tat = 560
: Sonardyne - POSD response: 
POSD S120.0,N28.9,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.0,N28.9,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205902.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205902.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,205903.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205903.00,,,,,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,205904.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205904.00,,,,,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,205905.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205905.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.89

: Sonardyne - parsing R85.89

: Sonardyne - read R = 85.890000 from 85.89

: Sonardyne - got range only (85.890000), tat = 560
: Sonardyne - POSD response: 
POSD S119.0,N30.8,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.0,N30.8,D-19,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,205907.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205907.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.78

: Sonardyne - parsing R86.78

: Sonardyne - read R = 86.780000 from 86.78

: Sonardyne - got range only (86.780000), tat = 560
: Sonardyne - POSD response: 
POSD S119.2,N28.1,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.2,N28.1,D8,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,205908.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,205908.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.92

: Sonardyne - parsing R87.92

: Sonardyne - read R = 87.920000 from 87.92

: Sonardyne - got range only (87.920000), tat = 570
: Sonardyne - POSD response: 
POSD S117.2,N28.4,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.2,N28.4,D6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,205909.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,205909.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.75

: Sonardyne - parsing R88.75

: Sonardyne - read R = 88.750000 from 88.75

: Sonardyne - got range only (88.750000), tat = 570
: Sonardyne - POSD response: 
POSD S119.2,N31.4,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.2,N31.4,D-11,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,205910.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205910.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.55

: Sonardyne - parsing R89.55

: Sonardyne - read R = 89.550000 from 89.55

: Sonardyne - got range only (89.550000), tat = 570
: Sonardyne - POSD response: 
POSD S120.3,N29.1,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.3,N29.1,D20,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,205911.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205911.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.43

: Sonardyne - parsing R90.43

: Sonardyne - read R = 90.430000 from 90.43

: Sonardyne - got range only (90.430000), tat = 570
: Sonardyne - POSD response: 
POSD S119.8,N22.2,D51,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.8,N22.2,D51,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.12 10.14 17.96 3.88 3.91 0  2774.91 00:51:44 m

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

: AshtechGps::processRecord() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,205913.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205913.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 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,205915.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205915.00,,,,,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 R95.10

: Sonardyne - parsing R95.10

: Sonardyne - read R = 95.100000 from 95.10

: Sonardyne - got range only (95.100000), tat = 570
: Sonardyne - POSD response: 
POSD S122.4,N34.3,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N34.3,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205916.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205916.00,,,,,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 R96.13,X3.10,Y-14.04,Z-95.05

: Sonardyne - parsing R96.13,X3.10,Y-14.04,Z-95.05

: Sonardyne - read R = 96.130000 from 96.13,X3.10,Y-14.04,Z-95.05

: Sonardyne - got all data, Vehicle coordinates,
    r=96.130000, x=95.050000, y=3.100000, z=14.040000 tat = 600
: AshtechGps::processRecord() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R97.36

: Sonardyne - parsing R97.36

: Sonardyne - read R = 97.360000 from 97.36

: Sonardyne - got range only (97.360000), tat = 580
: Sonardyne - POSD response: 
POSD S118.6,N23.1,D29,U3,Q0.008604

: Sonardyne - POSD response: 
POSD S118.6,N23.1,D29,U3,Q0.008604

: AshtechGps::processRecord() - $GPGGA,205918.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,205918.00,,,,,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 R98.50,X13.19,Y-27.86,Z-93.56

: Sonardyne - parsing R98.50,X13.19,Y-27.86,Z-93.56

: Sonardyne - read R = 98.500000 from 98.50,X13.19,Y-27.86,Z-93.56

: Sonardyne - got all data, Vehicle coordinates,
    r=98.500000, x=93.560000, y=13.190000, z=27.860000 tat = 600
: AshtechGps::processRecord() - $GPGGA,205919.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,205919.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,205920.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205920.00,,,,,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,205921.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205921.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.66 17.96 3.88 3.91 0  2773.91 00:51:54 m

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

: AshtechGps::processRecord() - $GPGGA,205922.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205922.00,,,,,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,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,205923.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205923.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.79

: Sonardyne - parsing R103.79

: Sonardyne - read R = 103.790000 from 103.79

: Sonardyne - got range only (103.790000), tat = 590
: Sonardyne - POSD response: 
POSD S119.8,N28.1,D34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.8,N28.1,D34,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,205924.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205924.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.94,X52.75,Y-90.72,Z0.00

: Sonardyne - parsing R104.94,X52.75,Y-90.72,Z0.00

: Sonardyne - read R = 104.940000 from 104.94,X52.75,Y-90.72,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=104.940000, x=0.000000, y=52.750000, z=90.720000 tat = 610
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,205925.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205925.00,,,,,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,205926.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205926.00,,,,,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,205927.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205927.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 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

: AshtechGps::processRecord() - $GPGGA,205928.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,205928.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,205929.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,205929.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,205930.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205930.00,,,,,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,205931.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205931.00,,,,,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,N3.7,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 31.12  9.26 18.06 3.88 3.91 0  2773.26 00:52:04 m

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

: AshtechGps::processRecord() - $GPGGA,205932.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205932.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,205933.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205933.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,205934.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205934.00,,,,,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,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,205935.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205935.00,,,,,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 R137.09

: Sonardyne - parsing R137.09

: Sonardyne - read R = 137.090000 from 137.09

: Sonardyne - got range only (137.090000), tat = 630
: Sonardyne - POSD response: 
POSD S115.3,N16.5,D-20,U1,Q0.009000

: Sonardyne - POSD response: 
POSD S115.3,N16.5,D-20,U1,Q0.009000

: AshtechGps::processRecord() - $GPGGA,205936.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205936.00,,,,,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,205937.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205937.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,205938.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,205938.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,205939.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,205939.00,,,,,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,N4.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,205940.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205940.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,205941.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205941.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.09 18.06 3.88 3.91 0  2772.30 00:52:14 m

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

: AshtechGps::processRecord() - $GPGGA,205942.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205942.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,205943.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205943.00,,,,,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,205944.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205944.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,205945.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205945.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,205946.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205946.00,,,,,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,N3.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,205947.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205947.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,205948.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,205948.00,,,,,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,205949.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,205949.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,205950.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,205950.00,,,,,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,205951.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,205951.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  9.87 18.06 3.87 3.90 0  2771.63 00:52:24 m

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

: AshtechGps::processRecord() - $GPGGA,205952.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,205952.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,205953.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,205953.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,205954.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,205954.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,205955.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,205955.00,,,,,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,205956.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,205956.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,205957.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,205957.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,205958.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,205958.00,,,,,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,205959.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,205959.00,,,,,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,210000.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210000.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,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,210001.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210001.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08 10.21 18.06 3.87 3.90 0  2770.68 00:52:34 m

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

: AshtechGps::processRecord() - $GPGGA,210002.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210002.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,210003.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210003.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,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,210004.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210004.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210005.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210005.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210006.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210006.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,210007.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210007.00,,,,,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,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,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,210008.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210008.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,210009.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210009.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210010.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210010.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,210011.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210011.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  8.62 18.06 3.87 3.90 0  2770.04 00:52:44 m

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

: AshtechGps::processRecord() - $GPGGA,210012.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210012.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,210013.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210013.00,,,,,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,210014.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210014.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210015.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210015.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210016.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210016.00,,,,,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,210017.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210017.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - parsing R0.00

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

: AshtechGps::processRecord() - $GPGGA,210018.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210018.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210019.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210019.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,210020.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210020.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,210021.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210021.00,,,,,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,N2.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.4,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 31.04 10.00 18.06 3.87 3.90 0  2769.05 00:52:54 m

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

: AshtechGps::processRecord() - $GPGGA,210022.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210022.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,210023.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210023.00,,,,,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,210024.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210024.00,,,,,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,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210025.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210025.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,210026.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210026.00,,,,,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,210027.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210027.00,,,,,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,210028.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210028.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,210029.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210029.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,210030.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210030.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,210031.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210031.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  9.06 18.06 3.87 3.90 0  2768.42 00:53:04 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210032.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210032.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: AshtechGps::processRecord() - $GPGGA,210033.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210033.00,,,,,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,210034.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210034.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,210035.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210035.00,,,,,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,N3.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210036.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210036.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210037.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210037.00,,,,,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,210038.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210038.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210039.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210039.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,210040.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210040.00,,,,,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,210041.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210041.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  8.86 18.06 3.87 3.90 0  2767.41 00:53:14 m

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

: AshtechGps::processRecord() - $GPGGA,210042.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210042.00,,,,,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,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210043.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210043.00,,,,,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,210044.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210044.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,210045.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210045.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210046.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210046.00,,,,,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,210047.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210047.00,,,,,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,210048.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210048.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210049.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210049.00,,,,,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,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,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,210050.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210050.00,,,,,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,210051.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210051.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  9.30 18.06 3.87 3.90 0  2766.74 00:53:24 m

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

: AshtechGps::processRecord() - $GPGGA,210052.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210052.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 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

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

: AshtechGps::processRecord() - $GPGGA,210053.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210053.00,,,,,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,210054.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210054.00,,,,,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,210055.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210055.00,,,,,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,210056.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210056.00,,,,,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,N2.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210057.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210057.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210058.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210058.00,,,,,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,210059.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210059.00,,,,,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
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210100.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210100.00,,,,,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,210101.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210101.00,,,,,0,00,,,M,,M,,*4B


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

: BluefinBatt Reply: $aaq0 d- 31.04  9.46 18.06 3.87 3.90 0  2765.77 00:53:34 m

: AshtechGps::processRecord() - $GPGGA,210102.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210102.00,,,,,0,00,,,M,,M,,*48


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

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

: AshtechGps::processRecord() - $GPGGA,210103.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210103.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210104.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210104.00,,,,,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,210105.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210105.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210106.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210106.00,,,,,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 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,210107.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210107.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,210108.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210108.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210109.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210109.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,210110.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210110.00,,,,,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 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,210111.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210111.00,,,,,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- 31.04  9.40 18.16 3.87 3.90 0  2765.13 00:53:44 m

: AshtechGps::processRecord() - $GPGGA,210112.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210112.00,,,,,0,00,,,M,,M,,*49


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

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

: AshtechGps::processRecord() - $GPGGA,210113.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210113.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210114.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210114.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210115.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210115.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210116.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210116.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,210117.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210117.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210118.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210118.00,,,,,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,210119.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210119.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210120.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210120.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210121.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210121.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $aaq0 d- 31.00 10.31 18.06 3.87 3.90 0  2764.21 00:53:54 m

: AshtechGps::processRecord() - $GPGGA,210122.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210122.00,,,,,0,00,,,M,,M,,*4A


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

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

: AshtechGps::processRecord() - $GPGGA,210123.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210123.00,,,,,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,210124.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210124.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210125.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210125.00,,,,,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,210126.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210126.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210127.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210127.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210128.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210128.00,,,,,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,210129.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210129.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,210130.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210130.00,,,,,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,210131.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210131.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 227.39                                          (wplog)

: Vehicle Position is error is (0.0, 0.0)

: LayeredControl::execute() -- (t = 227.404422) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 227.40                            (wplog)
  The current location (N,E) = 4052381.4      , 600381.7         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.3 Degrees.

: LayeredControl::execute() -- (t = 227.404422) Behavior waypoint has changed to state Active

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

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

: Sonardyne - parsing R0.00

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

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

: BluefinBatt Reply: $aaq0 d- 31.04  9.57 18.06 3.87 3.90 0  2763.58 00:54:04 m

: AshtechGps::processRecord() - $GPGGA,210132.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210132.00,,,,,0,00,,,M,,M,,*4B


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

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

: AshtechGps::processRecord() - $GPGGA,210133.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210133.00,,,,,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,210134.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210134.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210135.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210135.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,210136.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210136.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210137.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210137.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210138.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210138.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210139.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210139.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,210140.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210140.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210141.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210141.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.04  8.99 18.16 3.87 3.90 0  2762.61 00:54:14 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210142.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210142.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - POS response: 
POS V4,1 R315.85

: Sonardyne - parsing R315.85

: Sonardyne - read R = 315.850000 from 315.85

: Sonardyne - got range only (315.850000), tat = 870
: AshtechGps::processRecord() - $GPGGA,210143.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210143.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S125.3,N32.7,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.3,N32.7,D-13,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,210144.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210144.00,,,,,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 R314.86

: Sonardyne - parsing R314.86

: Sonardyne - read R = 314.860000 from 314.86

: Sonardyne - got range only (314.860000), tat = 869
: Sonardyne - POSD response: 
POSD S130.2,N33.5,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.2,N33.5,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210145.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210145.00,,,,,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 R314.04,X-167.33,Y12.42,Z-265.45

: Sonardyne - parsing R314.04,X-167.33,Y12.42,Z-265.45

: Sonardyne - read R = 314.040000 from 314.04,X-167.33,Y12.42,Z-265.45

: Sonardyne - got all data, Vehicle coordinates,
    r=314.040000, x=265.450000, y=-167.330000, z=-12.420000 tat = 900
: AshtechGps::processRecord() - $GPGGA,210146.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210146.00,,,,,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 R312.85,X-113.08,Y8.90,Z-291.56

: Sonardyne - parsing R312.85,X-113.08,Y8.90,Z-291.56

: Sonardyne - read R = 312.850000 from 312.85,X-113.08,Y8.90,Z-291.56

: Sonardyne - got all data, Vehicle coordinates,
    r=312.850000, x=291.560000, y=-113.080000, z=-8.900000 tat = 890
: AshtechGps::processRecord() - $GPGGA,210147.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210147.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R311.31,X-48.83,Y-7.26,Z-307.37

: Sonardyne - parsing R311.31,X-48.83,Y-7.26,Z-307.37

: Sonardyne - read R = 311.310000 from 311.31,X-48.83,Y-7.26,Z-307.37

: Sonardyne - got all data, Vehicle coordinates,
    r=311.310000, x=307.370000, y=-48.830000, z=7.260000 tat = 890
: AshtechGps::processRecord() - $GPGGA,210148.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210148.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R309.85,X7.04,Y-13.55,Z-309.47

: Sonardyne - parsing R309.85,X7.04,Y-13.55,Z-309.47

: Sonardyne - read R = 309.850000 from 309.85,X7.04,Y-13.55,Z-309.47

: Sonardyne - got all data, Vehicle coordinates,
    r=309.850000, x=309.470000, y=7.040000, z=13.550000 tat = 890
: AshtechGps::processRecord() - $GPGGA,210149.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210149.00,,,,,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 R308.65,X65.67,Y-31.81,Z-299.90

: Sonardyne - parsing R308.65,X65.67,Y-31.81,Z-299.90

: Sonardyne - read R = 308.650000 from 308.65,X65.67,Y-31.81,Z-299.90

: Sonardyne - got all data, Vehicle coordinates,
    r=308.650000, x=299.900000, y=65.670000, z=31.810000 tat = 890
: AshtechGps::processRecord() - $GPGGA,210150.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210150.00,,,,,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 R307.86,X126.75,Y-12.84,Z-280.27

: Sonardyne - parsing R307.86,X126.75,Y-12.84,Z-280.27

: Sonardyne - read R = 307.860000 from 307.86,X126.75,Y-12.84,Z-280.27

: Sonardyne - got all data, Vehicle coordinates,
    r=307.860000, x=280.270000, y=126.750000, z=12.840000 tat = 890
: AshtechGps::processRecord() - $GPGGA,210151.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210151.00,,,,,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- 31.00  9.46 18.16 3.87 3.90 0  2761.96 00:54:24 m

: Sonardyne - POS response: 
POS V4,1 R307.43

: Sonardyne - parsing R307.43

: Sonardyne - read R = 307.430000 from 307.43

: Sonardyne - got range only (307.430000), tat = 860
: Sonardyne - POSD response: 
POSD S132.4,N28.7,D30,U3,Q0.011922

: Sonardyne - POSD response: 
POSD S132.4,N28.7,D30,U3,Q0.011922

: AshtechGps::processRecord() - $GPGGA,210152.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210152.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - POS response: 
POS V4,1 R307.24

: Sonardyne - parsing R307.24

: Sonardyne - read R = 307.240000 from 307.24

: Sonardyne - got range only (307.240000), tat = 860
: Sonardyne - POSD response: 
POSD S132.2,N27.2,D14,U5,Q0.011908

: Sonardyne - POSD response: 
POSD S132.2,N27.2,D14,U5,Q0.011908

: AshtechGps::processRecord() - $GPGGA,210153.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210153.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R307.01

: Sonardyne - parsing R307.01

: Sonardyne - read R = 307.010000 from 307.01

: Sonardyne - got range only (307.010000), tat = 860
: Sonardyne - POSD response: 
POSD S133.1,N33.6,D2,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S133.1,N33.6,D2,U1,Q0.017183

: AshtechGps::processRecord() - $GPGGA,210154.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210154.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R306.98

: Sonardyne - parsing R306.98

: Sonardyne - read R = 306.980000 from 306.98

: Sonardyne - got range only (306.980000), tat = 870
: Sonardyne - POSD response: 
POSD S131.5,N29.2,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N29.2,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210155.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210155.00,,,,,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 R306.14

: Sonardyne - parsing R306.14

: Sonardyne - read R = 306.140000 from 306.14

: Sonardyne - got range only (306.140000), tat = 860
: Sonardyne - POSD response: 
POSD S128.9,N31.7,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.9,N31.7,D-19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210156.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210156.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R305.19

: Sonardyne - parsing R305.19

: Sonardyne - read R = 305.190000 from 305.19

: Sonardyne - got range only (305.190000), tat = 860
: Sonardyne - POSD response: 
POSD S132.2,N33.2,D20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.2,N33.2,D20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210157.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210157.00,,,,,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 R303.44

: Sonardyne - parsing R303.44

: Sonardyne - read R = 303.440000 from 303.44

: Sonardyne - got range only (303.440000), tat = 860
: Sonardyne - POSD response: 
POSD S127.1,N26.9,D-34,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S127.1,N26.9,D-34,U1,Q0.017183

: AshtechGps::processRecord() - $GPGGA,210158.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210158.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R301.72,X190.81,Y27.43,Z-232.11

: Sonardyne - parsing R301.72,X190.81,Y27.43,Z-232.11

: Sonardyne - read R = 301.720000 from 301.72,X190.81,Y27.43,Z-232.11

: Sonardyne - got all data, Vehicle coordinates,
    r=301.720000, x=232.110000, y=190.810000, z=-27.430000 tat = 879
: AshtechGps::processRecord() - $GPGGA,210159.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210159.00,,,,,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 R300.10,X180.75,Y23.44,Z-238.41

: Sonardyne - parsing R300.10,X180.75,Y23.44,Z-238.41

: Sonardyne - read R = 300.100000 from 300.10,X180.75,Y23.44,Z-238.41

: Sonardyne - got all data, Vehicle coordinates,
    r=300.100000, x=238.410000, y=180.750000, z=-23.440000 tat = 880
: AshtechGps::processRecord() - $GPGGA,210200.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210200.00,,,,,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 R298.65,X166.27,Y18.49,Z-247.40

: Sonardyne - parsing R298.65,X166.27,Y18.49,Z-247.40

: Sonardyne - read R = 298.650000 from 298.65,X166.27,Y18.49,Z-247.40

: Sonardyne - got all data, Vehicle coordinates,
    r=298.650000, x=247.400000, y=166.270000, z=-18.490000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210201.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210201.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 31.00 10.64 18.16 3.87 3.90 0  2760.87 00:54:34 m

: Sonardyne - POS response: 
POS V4,1 R297.46,X158.79,Y26.14,Z-250.16

: Sonardyne - parsing R297.46,X158.79,Y26.14,Z-250.16

: Sonardyne - read R = 297.460000 from 297.46,X158.79,Y26.14,Z-250.16

: Sonardyne - got all data, Vehicle coordinates,
    r=297.460000, x=250.160000, y=158.790000, z=-26.140000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210202.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210202.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - POS response: 
POS V4,1 R296.42,X154.43,Y22.32,Z-252.02

: Sonardyne - parsing R296.42,X154.43,Y22.32,Z-252.02

: Sonardyne - read R = 296.420000 from 296.42,X154.43,Y22.32,Z-252.02

: Sonardyne - got all data, Vehicle coordinates,
    r=296.420000, x=252.020000, y=154.430000, z=-22.320000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210203.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210203.00,,,,,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 R295.59,X147.89,Y22.46,Z-254.95

: Sonardyne - parsing R295.59,X147.89,Y22.46,Z-254.95

: Sonardyne - read R = 295.590000 from 295.59,X147.89,Y22.46,Z-254.95

: Sonardyne - got all data, Vehicle coordinates,
    r=295.590000, x=254.950000, y=147.890000, z=-22.460000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210204.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210204.00,,,,,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 R294.67,X141.47,Y22.53,Z-257.51

: Sonardyne - parsing R294.67,X141.47,Y22.53,Z-257.51

: Sonardyne - read R = 294.670000 from 294.67,X141.47,Y22.53,Z-257.51

: Sonardyne - got all data, Vehicle coordinates,
    r=294.670000, x=257.510000, y=141.470000, z=-22.530000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210205.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210205.00,,,,,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 R293.72,X137.45,Y25.21,Z-258.35

: Sonardyne - parsing R293.72,X137.45,Y25.21,Z-258.35

: Sonardyne - read R = 293.720000 from 293.72,X137.45,Y25.21,Z-258.35

: Sonardyne - got all data, Vehicle coordinates,
    r=293.720000, x=258.350000, y=137.450000, z=-25.210000 tat = 870
: AshtechGps::processRecord() - $GPGGA,210206.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210206.00,,,,,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 R292.38

: Sonardyne - parsing R292.38

: Sonardyne - read R = 292.380000 from 292.38

: Sonardyne - got range only (292.380000), tat = 840
: Sonardyne - POSD response: 
POSD S130.7,N23.2,D134,U4,Q0.000279

: Sonardyne - POSD response: 
POSD S130.7,N23.2,D134,U4,Q0.000279

: AshtechGps::processRecord() - $GPGGA,210207.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210207.00,,,,,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 R290.76

: Sonardyne - parsing R290.76

: Sonardyne - read R = 290.760000 from 290.76

: Sonardyne - got range only (290.760000), tat = 840
: Sonardyne - POSD response: 
POSD S128.8,N23.8,D104,U5,Q0.000406

: Sonardyne - POSD response: 
POSD S128.8,N23.8,D104,U5,Q0.000406

: AshtechGps::processRecord() - $GPGGA,210208.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210208.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R289.07,X114.83,Y16.04,Z-264.79

: Sonardyne - parsing R289.07,X114.83,Y16.04,Z-264.79

: Sonardyne - read R = 289.070000 from 289.07,X114.83,Y16.04,Z-264.79

: Sonardyne - got all data, Vehicle coordinates,
    r=289.070000, x=264.790000, y=114.830000, z=-16.040000 tat = 860
: AshtechGps::processRecord() - $GPGGA,210209.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210209.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R287.99,X110.05,Y14.53,Z-265.74

: Sonardyne - parsing R287.99,X110.05,Y14.53,Z-265.74

: Sonardyne - read R = 287.990000 from 287.99,X110.05,Y14.53,Z-265.74

: Sonardyne - got all data, Vehicle coordinates,
    r=287.990000, x=265.740000, y=110.050000, z=-14.530000 tat = 860
: AshtechGps::processRecord() - $GPGGA,210210.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210210.00,,,,,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 R285.73,X106.09,Y21.38,Z-264.44

: Sonardyne - parsing R285.73,X106.09,Y21.38,Z-264.44

: Sonardyne - read R = 285.730000 from 285.73,X106.09,Y21.38,Z-264.44

: Sonardyne - got all data, Vehicle coordinates,
    r=285.730000, x=264.440000, y=106.090000, z=-21.380000 tat = 860
: AshtechGps::processRecord() - $GPGGA,210211.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210211.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00 10.61 18.16 3.87 3.89 0  2760.14 00:54:44 m

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

: Sonardyne - POS response: 
POS V4,1 R284.74,X100.66,Y17.86,Z-265.75

: Sonardyne - parsing R284.74,X100.66,Y17.86,Z-265.75

: Sonardyne - read R = 284.740000 from 284.74,X100.66,Y17.86,Z-265.75

: Sonardyne - got all data, Vehicle coordinates,
    r=284.740000, x=265.750000, y=100.660000, z=-17.860000 tat = 860
: AshtechGps::processRecord() - $GPGGA,210212.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210212.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: Sonardyne - POS response: 
POS V4,1 R283.16,X95.87,Y13.65,Z-266.09

: Sonardyne - parsing R283.16,X95.87,Y13.65,Z-266.09

: Sonardyne - read R = 283.160000 from 283.16,X95.87,Y13.65,Z-266.09

: Sonardyne - got all data, Vehicle coordinates,
    r=283.160000, x=266.090000, y=95.870000, z=-13.650000 tat = 850
: AshtechGps::processRecord() - $GPGGA,210213.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210213.00,,,,,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 R281.86,X90.77,Y22.02,Z-265.93

: Sonardyne - parsing R281.86,X90.77,Y22.02,Z-265.93

: Sonardyne - read R = 281.860000 from 281.86,X90.77,Y22.02,Z-265.93

: Sonardyne - got all data, Vehicle coordinates,
    r=281.860000, x=265.930000, y=90.770000, z=-22.020000 tat = 849
: AshtechGps::processRecord() - $GPGGA,210214.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210214.00,,,,,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 R282.70

: Sonardyne - parsing R282.70

: Sonardyne - read R = 282.700000 from 282.70

: Sonardyne - got range only (282.700000), tat = 830
: Sonardyne - POSD response: 
POSD S125.9,N16.2,D-128,U5,Q0.009862

: Sonardyne - POSD response: 
POSD S125.9,N16.2,D-128,U5,Q0.009862

: AshtechGps::processRecord() - $GPGGA,210215.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210215.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R277.83,X72.68,Y22.00,Z-267.25

: Sonardyne - parsing R277.83,X72.68,Y22.00,Z-267.25

: Sonardyne - read R = 277.830000 from 277.83,X72.68,Y22.00,Z-267.25

: Sonardyne - got all data, Vehicle coordinates,
    r=277.830000, x=267.250000, y=72.680000, z=-22.000000 tat = 840
: AshtechGps::processRecord() - $GPGGA,210216.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210216.00,,,,,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 R276.77,X66.69,Y36.21,Z-266.16

: Sonardyne - parsing R276.77,X66.69,Y36.21,Z-266.16

: Sonardyne - read R = 276.770000 from 276.77,X66.69,Y36.21,Z-266.16

: Sonardyne - got all data, Vehicle coordinates,
    r=276.770000, x=266.160000, y=66.690000, z=-36.210000 tat = 840
: AshtechGps::processRecord() - $GPGGA,210217.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210217.00,,,,,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 R274.65,X57.63,Y5.73,Z-268.47

: Sonardyne - parsing R274.65,X57.63,Y5.73,Z-268.47

: Sonardyne - read R = 274.650000 from 274.65,X57.63,Y5.73,Z-268.47

: Sonardyne - got all data, Vehicle coordinates,
    r=274.650000, x=268.470000, y=57.630000, z=-5.730000 tat = 840
: AshtechGps::processRecord() - $GPGGA,210218.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210218.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R273.04,X55.14,Y26.52,Z-266.10

: Sonardyne - parsing R273.04,X55.14,Y26.52,Z-266.10

: Sonardyne - read R = 273.040000 from 273.04,X55.14,Y26.52,Z-266.10

: Sonardyne - got all data, Vehicle coordinates,
    r=273.040000, x=266.100000, y=55.140000, z=-26.520000 tat = 840
: AshtechGps::processRecord() - $GPGGA,210219.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210219.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R271.23

: Sonardyne - parsing R271.23

: Sonardyne - read R = 271.230000 from 271.23

: Sonardyne - got range only (271.230000), tat = 810
: Sonardyne - POSD response: 
POSD S134.4,N28.8,D41,U2,Q0.001450

: Sonardyne - POSD response: 
POSD S134.4,N28.8,D41,U2,Q0.001450

: AshtechGps::processRecord() - $GPGGA,210220.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210220.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R269.71

: Sonardyne - parsing R269.71

: Sonardyne - read R = 269.710000 from 269.71

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

: Sonardyne - got range only (269.710000), tat = 810
: Sonardyne - POSD response: 
POSD S135.6,N28.6,D46,U5,Q0.001059

: Sonardyne - POSD response: 
POSD S135.6,N28.6,D46,U5,Q0.001059

: AshtechGps::processRecord() - $GPGGA,210221.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210221.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  9.26 18.26 3.87 3.89 0  2759.11 00:54:54 m

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

: Sonardyne - POS response: 
POS V4,1 R268.62,X42.86,Y20.55,Z-264.38

: Sonardyne - parsing R268.62,X42.86,Y20.55,Z-264.38

: Sonardyne - read R = 268.620000 from 268.62,X42.86,Y20.55,Z-264.38

: Sonardyne - got all data, Vehicle coordinates,
    r=268.620000, x=264.380000, y=42.860000, z=-20.550000 tat = 830
: AshtechGps::processRecord() - $GPGGA,210222.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210222.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: Sonardyne - POS response: 
POS V4,1 R266.90,X37.93,Y18.26,Z-263.56

: Sonardyne - parsing R266.90,X37.93,Y18.26,Z-263.56

: Sonardyne - read R = 266.900000 from 266.90,X37.93,Y18.26,Z-263.56

: Sonardyne - got all data, Vehicle coordinates,
    r=266.900000, x=263.560000, y=37.930000, z=-18.260000 tat = 830
: AshtechGps::processRecord() - $GPGGA,210223.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210223.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R268.62

: Sonardyne - parsing R268.62

: Sonardyne - read R = 268.620000 from 268.62

: Sonardyne - got range only (268.620000), tat = 810
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S127.3,N24.9,D-28,U4,Q0.003745

: Sonardyne - POSD response: 
POSD S127.3,N24.9,D-28,U4,Q0.003745

: AshtechGps::processRecord() - $GPGGA,210224.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210224.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.81,X27.02,Y20.81,Z-261.59

: Sonardyne - parsing R263.81,X27.02,Y20.81,Z-261.59

: Sonardyne - read R = 263.810000 from 263.81,X27.02,Y20.81,Z-261.59

: Sonardyne - got all data, Vehicle coordinates,
    r=263.810000, x=261.590000, y=27.020000, z=-20.810000 tat = 830
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210225.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210225.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.11,X24.32,Y31.72,Z-260.05

: Sonardyne - parsing R263.11,X24.32,Y31.72,Z-260.05

: Sonardyne - read R = 263.110000 from 263.11,X24.32,Y31.72,Z-260.05

: Sonardyne - got all data, Vehicle coordinates,
    r=263.110000, x=260.050000, y=24.320000, z=-31.720000 tat = 830
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210226.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210226.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R260.27,X17.11,Y13.03,Z-259.38

: Sonardyne - parsing R260.27,X17.11,Y13.03,Z-259.38

: Sonardyne - read R = 260.270000 from 260.27,X17.11,Y13.03,Z-259.38

: Sonardyne - got all data, Vehicle coordinates,
    r=260.270000, x=259.380000, y=17.110000, z=-13.030000 tat = 820
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210227.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210227.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R258.31,X15.03,Y19.11,Z-257.16

: Sonardyne - parsing R258.31,X15.03,Y19.11,Z-257.16

: Sonardyne - read R = 258.310000 from 258.31,X15.03,Y19.11,Z-257.16

: Sonardyne - got all data, Vehicle coordinates,
    r=258.310000, x=257.160000, y=15.030000, z=-19.110000 tat = 820
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210228.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210228.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R256.31,X10.47,Y3.25,Z-256.08

: Sonardyne - parsing R256.31,X10.47,Y3.25,Z-256.08

: Sonardyne - read R = 256.310000 from 256.31,X10.47,Y3.25,Z-256.08

: Sonardyne - got all data, Vehicle coordinates,
    r=256.310000, x=256.080000, y=10.470000, z=-3.250000 tat = 820
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210229.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210229.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R254.30

: Sonardyne - parsing R254.30

: Sonardyne - read R = 254.300000 from 254.30

: Sonardyne - got range only (254.300000), tat = 790
: Sonardyne - POSD response: 
POSD S136.5,N24.3,D142,U4,Q0.000052

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

: Sonardyne - POSD response: 
POSD S136.5,N24.3,D142,U4,Q0.000052

: AshtechGps::processRecord() - $GPGGA,210230.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210230.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R254.03

: Sonardyne - parsing R254.03

: Sonardyne - read R = 254.030000 from 254.03

: Sonardyne - got range only (254.030000), tat = 790
: Sonardyne - POSD response: 
POSD S135.8,N17.5,D60,U3,Q0.001406

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

: Sonardyne - POSD response: 
POSD S135.8,N17.5,D60,U3,Q0.001406

: AshtechGps::processRecord() - $GPGGA,210231.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210231.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  9.23 18.16 3.87 3.89 0  2758.45 00:55:04 m

: Sonardyne - POS response: 
POS V4,1 R251.02,X5.16,Y-2.41,Z-250.96

: Sonardyne - parsing R251.02,X5.16,Y-2.41,Z-250.96

: Sonardyne - read R = 251.020000 from 251.02,X5.16,Y-2.41,Z-250.96

: Sonardyne - got all data, Vehicle coordinates,
    r=251.020000, x=250.960000, y=5.160000, z=2.410000 tat = 810
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210232.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210232.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R249.58,X4.56,Y6.80,Z-249.45

: Sonardyne - parsing R249.58,X4.56,Y6.80,Z-249.45

: Sonardyne - read R = 249.580000 from 249.58,X4.56,Y6.80,Z-249.45

: Sonardyne - got all data, Vehicle coordinates,
    r=249.580000, x=249.450000, y=4.560000, z=-6.800000 tat = 810
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210233.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210233.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.01,X4.57,Y1.71,Z-247.96

: Sonardyne - parsing R248.01,X4.57,Y1.71,Z-247.96

: Sonardyne - read R = 248.010000 from 248.01,X4.57,Y1.71,Z-247.96

: Sonardyne - got all data, Vehicle coordinates,
    r=248.010000, x=247.960000, y=4.570000, z=-1.710000 tat = 800
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210234.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210234.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R246.79,X2.81,Y2.59,Z-246.76

: Sonardyne - parsing R246.79,X2.81,Y2.59,Z-246.76

: Sonardyne - read R = 246.790000 from 246.79,X2.81,Y2.59,Z-246.76

: Sonardyne - got all data, Vehicle coordinates,
    r=246.790000, x=246.760000, y=2.810000, z=-2.590000 tat = 800
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210235.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210235.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.68,X2.73,Y5.71,Z-244.60

: Sonardyne - parsing R244.68,X2.73,Y5.71,Z-244.60

: Sonardyne - read R = 244.680000 from 244.68,X2.73,Y5.71,Z-244.60

: Sonardyne - got all data, Vehicle coordinates,
    r=244.680000, x=244.600000, y=2.730000, z=-5.710000 tat = 800
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210236.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210236.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R244.01

: Sonardyne - parsing R244.01

: Sonardyne - read R = 244.010000 from 244.01

: Sonardyne - got range only (244.010000), tat = 780
: Sonardyne - POSD response: 
POSD S131.9,N20.2,D117,U5,Q0.005330

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

: Sonardyne - POSD response: 
POSD S131.9,N20.2,D117,U5,Q0.005330

: AshtechGps::processRecord() - $GPGGA,210237.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210237.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R241.22,X2.67,Y8.61,Z-241.05

: Sonardyne - parsing R241.22,X2.67,Y8.61,Z-241.05

: Sonardyne - read R = 241.220000 from 241.22,X2.67,Y8.61,Z-241.05

: Sonardyne - got all data, Vehicle coordinates,
    r=241.220000, x=241.050000, y=2.670000, z=-8.610000 tat = 790
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210238.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210238.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R239.60,X2.54,Y17.30,Z-238.96

: Sonardyne - parsing R239.60,X2.54,Y17.30,Z-238.96

: Sonardyne - read R = 239.600000 from 239.60,X2.54,Y17.30,Z-238.96

: Sonardyne - got all data, Vehicle coordinates,
    r=239.600000, x=238.960000, y=2.540000, z=-17.300000 tat = 790
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210239.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210239.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R238.13,X0.00,Y12.36,Z-237.81

: Sonardyne - parsing R238.13,X0.00,Y12.36,Z-237.81

: Sonardyne - read R = 238.130000 from 238.13,X0.00,Y12.36,Z-237.81

: Sonardyne - got all data, Vehicle coordinates,
    r=238.130000, x=237.810000, y=0.000000, z=-12.360000 tat = 790
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210240.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210240.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R236.52,X-0.15,Y9.50,Z-236.33

: Sonardyne - parsing R236.52,X-0.15,Y9.50,Z-236.33

: Sonardyne - read R = 236.520000 from 236.52,X-0.15,Y9.50,Z-236.33

: Sonardyne - got all data, Vehicle coordinates,
    r=236.520000, x=236.330000, y=-0.150000, z=-9.500000 tat = 790
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210241.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210241.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96 10.07 18.26 3.87 3.89 0  2757.50 00:55:14 m

: Sonardyne - POS response: 
POS V4,1 R234.83,X0.28,Y7.59,Z-234.71

: Sonardyne - parsing R234.83,X0.28,Y7.59,Z-234.71

: Sonardyne - read R = 234.830000 from 234.83,X0.28,Y7.59,Z-234.71

: Sonardyne - got all data, Vehicle coordinates,
    r=234.830000, x=234.710000, y=0.280000, z=-7.590000 tat = 790
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210242.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210242.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: Sonardyne - POS response: 
POS V4,1 R232.92,X-0.04,Y9.70,Z-232.72

: Sonardyne - parsing R232.92,X-0.04,Y9.70,Z-232.72

: Sonardyne - read R = 232.920000 from 232.92,X-0.04,Y9.70,Z-232.72

: Sonardyne - got all data, Vehicle coordinates,
    r=232.920000, x=232.720000, y=-0.040000, z=-9.700000 tat = 779
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210243.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210243.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R231.09,X0.03,Y6.06,Z-231.01

: Sonardyne - parsing R231.09,X0.03,Y6.06,Z-231.01

: Sonardyne - read R = 231.090000 from 231.09,X0.03,Y6.06,Z-231.01

: Sonardyne - got all data, Vehicle coordinates,
    r=231.090000, x=231.010000, y=0.030000, z=-6.060000 tat = 780
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210244.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210244.00,,,,,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,210245.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210245.00,,,,,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,210246.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210246.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.5,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210247.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210247.00,,,,,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 R223.34,X3.75,Y10.75,Z-223.05

: Sonardyne - parsing R223.34,X3.75,Y10.75,Z-223.05

: Sonardyne - read R = 223.340000 from 223.34,X3.75,Y10.75,Z-223.05

: Sonardyne - got all data, Vehicle coordinates,
    r=223.340000, x=223.050000, y=3.750000, z=-10.750000 tat = 770
: AshtechGps::processRecord() - $GPGGA,210248.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210248.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R221.98,X3.80,Y4.43,Z-221.90

: Sonardyne - parsing R221.98,X3.80,Y4.43,Z-221.90

: Sonardyne - read R = 221.980000 from 221.98,X3.80,Y4.43,Z-221.90

: Sonardyne - got all data, Vehicle coordinates,
    r=221.980000, x=221.900000, y=3.800000, z=-4.430000 tat = 770
: AshtechGps::processRecord() - $GPGGA,210249.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210249.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R220.40,X4.26,Y-0.74,Z-220.36

: Sonardyne - parsing R220.40,X4.26,Y-0.74,Z-220.36

: Sonardyne - read R = 220.400000 from 220.40,X4.26,Y-0.74,Z-220.36

: Sonardyne - got all data, Vehicle coordinates,
    r=220.400000, x=220.360000, y=4.260000, z=0.740000 tat = 770
: AshtechGps::processRecord() - $GPGGA,210250.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210250.00,,,,,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 R218.71,X7.14,Y4.53,Z-218.55

: Sonardyne - parsing R218.71,X7.14,Y4.53,Z-218.55

: Sonardyne - read R = 218.710000 from 218.71,X7.14,Y4.53,Z-218.55

: Sonardyne - got all data, Vehicle coordinates,
    r=218.710000, x=218.550000, y=7.140000, z=-4.530000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210251.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210251.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.04  8.69 18.26 3.87 3.89 0  2756.87 00:55:24 m

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

: Sonardyne - POS response: 
POS V4,1 R216.92,X9.32,Y10.24,Z-216.48

: Sonardyne - parsing R216.92,X9.32,Y10.24,Z-216.48

: Sonardyne - read R = 216.920000 from 216.92,X9.32,Y10.24,Z-216.48

: Sonardyne - got all data, Vehicle coordinates,
    r=216.920000, x=216.480000, y=9.320000, z=-10.240000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210252.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210252.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

:  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 R215.24,X9.87,Y7.51,Z-214.88

: Sonardyne - parsing R215.24,X9.87,Y7.51,Z-214.88

: Sonardyne - read R = 215.240000 from 215.24,X9.87,Y7.51,Z-214.88

: Sonardyne - got all data, Vehicle coordinates,
    r=215.240000, x=214.880000, y=9.870000, z=-7.510000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210253.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210253.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R213.45,X11.90,Y6.75,Z-213.01

: Sonardyne - parsing R213.45,X11.90,Y6.75,Z-213.01

: Sonardyne - read R = 213.450000 from 213.45,X11.90,Y6.75,Z-213.01

: Sonardyne - got all data, Vehicle coordinates,
    r=213.450000, x=213.010000, y=11.900000, z=-6.750000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210254.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210254.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R211.87,X12.72,Y4.13,Z-211.45

: Sonardyne - parsing R211.87,X12.72,Y4.13,Z-211.45

: Sonardyne - read R = 211.870000 from 211.87,X12.72,Y4.13,Z-211.45

: Sonardyne - got all data, Vehicle coordinates,
    r=211.870000, x=211.450000, y=12.720000, z=-4.130000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210255.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210255.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R213.27,X7.97,Y-18.67,Z-212.30

: Sonardyne - parsing R213.27,X7.97,Y-18.67,Z-212.30

: Sonardyne - read R = 213.270000 from 213.27,X7.97,Y-18.67,Z-212.30

: Sonardyne - got all data, Vehicle coordinates,
    r=213.270000, x=212.300000, y=7.970000, z=18.670000 tat = 760
: AshtechGps::processRecord() - $GPGGA,210256.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210256.00,,,,,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 R208.69,X11.98,Y7.50,Z-208.21

: Sonardyne - parsing R208.69,X11.98,Y7.50,Z-208.21

: Sonardyne - read R = 208.690000 from 208.69,X11.98,Y7.50,Z-208.21

: Sonardyne - got all data, Vehicle coordinates,
    r=208.690000, x=208.210000, y=11.980000, z=-7.500000 tat = 749
: AshtechGps::processRecord() - $GPGGA,210257.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210257.00,,,,,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 R207.12,X13.91,Y6.68,Z-206.54

: Sonardyne - parsing R207.12,X13.91,Y6.68,Z-206.54

: Sonardyne - read R = 207.120000 from 207.12,X13.91,Y6.68,Z-206.54

: Sonardyne - got all data, Vehicle coordinates,
    r=207.120000, x=206.540000, y=13.910000, z=-6.680000 tat = 750
: AshtechGps::processRecord() - $GPGGA,210258.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210258.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R205.45,X15.47,Y10.31,Z-204.61

: Sonardyne - parsing R205.45,X15.47,Y10.31,Z-204.61

: Sonardyne - read R = 205.450000 from 205.45,X15.47,Y10.31,Z-204.61

: Sonardyne - got all data, Vehicle coordinates,
    r=205.450000, x=204.610000, y=15.470000, z=-10.310000 tat = 750
: AshtechGps::processRecord() - $GPGGA,210259.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210259.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R203.88,X15.38,Y-1.00,Z-203.30

: Sonardyne - parsing R203.88,X15.38,Y-1.00,Z-203.30

: Sonardyne - read R = 203.880000 from 203.88,X15.38,Y-1.00,Z-203.30

: Sonardyne - got all data, Vehicle coordinates,
    r=203.880000, x=203.300000, y=15.380000, z=1.000000 tat = 750
: AshtechGps::processRecord() - $GPGGA,210300.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210300.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 316.80                                          (wplog)

: Vehicle Position is error is (0.3, 0.7)

: LayeredControl::execute() -- (t = 316.798298) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 316.80                            (wplog)
  The current location (N,E) = 4052291.9      , 600426.0         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.0 Degrees.

: WaypointHoming: The Usbl has aquired the transponder
  at t = 316.81          Seconds.
:   The vehicle position is (4052291.9, 600426.0)

: LayeredControl::execute() -- (t = 316.808297) Behavior waypoint_homing has changed to state Active

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

: Sonardyne - POS response: 
POS V4,1 R202.55,X18.13,Y18.60,Z-200.88

: Sonardyne - parsing R202.55,X18.13,Y18.60,Z-200.88

: Sonardyne - read R = 202.550000 from 202.55,X18.13,Y18.60,Z-200.88

: Sonardyne - got all data, Vehicle coordinates,
    r=202.550000, x=200.880000, y=18.130000, z=-18.600000 tat = 740
: AshtechGps::processRecord() - $GPGGA,210301.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210301.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  9.26 18.26 3.87 3.89 0  2755.95 00:55:34 m

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

: Sonardyne - POS response: 
POS V4,1 R200.45,X10.67,Y-10.34,Z-199.90

: Sonardyne - parsing R200.45,X10.67,Y-10.34,Z-199.90

: Sonardyne - read R = 200.450000 from 200.45,X10.67,Y-10.34,Z-199.90

: Sonardyne - got all data, Vehicle coordinates,
    r=200.450000, x=199.900000, y=10.670000, z=10.340000 tat = 740
: AshtechGps::processRecord() - $GPGGA,210302.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210302.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

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

: Sonardyne - POS response: 
POS V4,1 R198.74

: Sonardyne - parsing R198.74

: Sonardyne - read R = 198.740000 from 198.74

: Sonardyne - got range only (198.740000), tat = 710
: Sonardyne - POSD response: 
POSD S141.2,N27.3,D-97,U5,Q0.000573

: Sonardyne - POSD response: 
POSD S141.2,N27.3,D-97,U5,Q0.000573

: AshtechGps::processRecord() - $GPGGA,210303.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210303.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 319.40          Seconds.
:   The vehicle position is is (4052287.6, 600427.8)

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

: Sonardyne - POS response: 
POS V4,1 R197.26

: Sonardyne - parsing R197.26

: Sonardyne - read R = 197.260000 from 197.26

: Sonardyne - got range only (197.260000), tat = 710
: Sonardyne - POSD response: 
POSD S137.7,N23.8,D-63,U5,Q0.000610

: Sonardyne - POSD response: 
POSD S137.7,N23.8,D-63,U5,Q0.000610

: AshtechGps::processRecord() - $GPGGA,210304.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210304.00,,,,,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 R195.83

: Sonardyne - parsing R195.83

: Sonardyne - read R = 195.830000 from 195.83

: Sonardyne - got range only (195.830000), tat = 710
: Sonardyne - POSD response: 
POSD S139.1,N26.8,D99,U2,Q0.000227

: Sonardyne - POSD response: 
POSD S139.1,N26.8,D99,U2,Q0.000227

: AshtechGps::processRecord() - $GPGGA,210305.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210305.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R194.91,X-30.17,Y26.66,Z-190.71

: Sonardyne - parsing R194.91,X-30.17,Y26.66,Z-190.71

: Sonardyne - read R = 194.910000 from 194.91,X-30.17,Y26.66,Z-190.71

: Sonardyne - got all data, Vehicle coordinates,
    r=194.910000, x=190.710000, y=-30.170000, z=-26.660000 tat = 740
: WaypointHoming: The Usbl has aquired the transponder
  at t = 322.20          Seconds.
:   The vehicle position is (4052283.5, 600428.8)

: AshtechGps::processRecord() - $GPGGA,210306.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210306.00,,,,,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 R194.39,X-30.13,Y28.87,Z-189.85

: Sonardyne - parsing R194.39,X-30.13,Y28.87,Z-189.85

: Sonardyne - read R = 194.390000 from 194.39,X-30.13,Y28.87,Z-189.85

: Sonardyne - got all data, Vehicle coordinates,
    r=194.390000, x=189.850000, y=-30.130000, z=-28.870000 tat = 730
: AshtechGps::processRecord() - $GPGGA,210307.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210307.00,,,,,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 R192.46,X-24.58,Y55.37,Z-182.68

: Sonardyne - parsing R192.46,X-24.58,Y55.37,Z-182.68

: Sonardyne - read R = 192.460000 from 192.46,X-24.58,Y55.37,Z-182.68

: Sonardyne - got all data, Vehicle coordinates,
    r=192.460000, x=182.680000, y=-24.580000, z=-55.370000 tat = 730
: AshtechGps::processRecord() - $GPGGA,210308.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210308.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R191.00,X-22.03,Y36.89,Z-186.11

: Sonardyne - parsing R191.00,X-22.03,Y36.89,Z-186.11

: Sonardyne - read R = 191.000000 from 191.00,X-22.03,Y36.89,Z-186.11

: Sonardyne - got all data, Vehicle coordinates,
    r=191.000000, x=186.110000, y=-22.030000, z=-36.890000 tat = 730
: AshtechGps::processRecord() - $GPGGA,210309.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210309.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R191.32

: Sonardyne - parsing R191.32

: Sonardyne - read R = 191.320000 from 191.32

: Sonardyne - got range only (191.320000), tat = 700
: Sonardyne - POSD response: 
POSD S139.4,N33.5,D6,U5,Q0.001100

: Sonardyne - POSD response: 
POSD S139.4,N33.5,D6,U5,Q0.001100

: AshtechGps::processRecord() - $GPGGA,210310.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210310.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 326.40          Seconds.
:   The vehicle position is is (4052278.2, 600429.5)

:  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 R188.73,X-10.08,Y34.78,Z-185.22

: Sonardyne - parsing R188.73,X-10.08,Y34.78,Z-185.22

: Sonardyne - read R = 188.730000 from 188.73,X-10.08,Y34.78,Z-185.22

: Sonardyne - got all data, Vehicle coordinates,
    r=188.730000, x=185.220000, y=-10.080000, z=-34.780000 tat = 730
: WaypointHoming: The Usbl has aquired the transponder
  at t = 327.20          Seconds.
:   The vehicle position is (4052277.1, 600429.7)

: AshtechGps::processRecord() - $GPGGA,210311.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210311.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  6.60 18.26 3.88 3.91 0  2755.50 00:55:44 m

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

: Sonardyne - POS response: 
POS V4,1 R186.94

: Sonardyne - parsing R186.94

: Sonardyne - read R = 186.940000 from 186.94

: Sonardyne - got range only (186.940000), tat = 699
: Sonardyne - POSD response: 
POSD S135.9,N22.5,D-68,U1,Q0.012346

: Sonardyne - POSD response: 
POSD S135.9,N22.5,D-68,U1,Q0.012346

: AshtechGps::processRecord() - $GPGGA,210312.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210312.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 328.40          Seconds.
:   The vehicle position is is (4052275.6, 600430.0)

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

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

: Sonardyne - POS response: 
POS V4,1 R186.02,X-0.11,Y38.55,Z-181.98

: Sonardyne - parsing R186.02,X-0.11,Y38.55,Z-181.98

: Sonardyne - read R = 186.020000 from 186.02,X-0.11,Y38.55,Z-181.98

: Sonardyne - got all data, Vehicle coordinates,
    r=186.020000, x=181.980000, y=-0.110000, z=-38.550000 tat = 720
: WaypointHoming: The Usbl has aquired the transponder
  at t = 329.20          Seconds.
:   The vehicle position is (4052274.6, 600430.3)

: AshtechGps::processRecord() - $GPGGA,210313.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210313.00,,,,,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 R183.70

: Sonardyne - parsing R183.70

: Sonardyne - read R = 183.700000 from 183.70

: Sonardyne - got range only (183.700000), tat = 690
: Sonardyne - POSD response: 
POSD S133.0,N20.7,D50,U4,Q0.000609

: Sonardyne - POSD response: 
POSD S133.0,N20.7,D50,U4,Q0.000609

: AshtechGps::processRecord() - $GPGGA,210314.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210314.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 330.40          Seconds.
:   The vehicle position is is (4052273.1, 600430.8)

:  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 R182.59,X2.60,Y5.44,Z-182.49

: Sonardyne - parsing R182.59,X2.60,Y5.44,Z-182.49

: Sonardyne - read R = 182.590000 from 182.59,X2.60,Y5.44,Z-182.49

: Sonardyne - got all data, Vehicle coordinates,
    r=182.590000, x=182.490000, y=2.600000, z=-5.440000 tat = 720
: WaypointHoming: The Usbl has aquired the transponder
  at t = 331.20          Seconds.
:   The vehicle position is (4052272.1, 600431.2)

: AshtechGps::processRecord() - $GPGGA,210315.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210315.00,,,,,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 R181.38,X5.52,Y1.55,Z-181.29

: Sonardyne - parsing R181.38,X5.52,Y1.55,Z-181.29

: Sonardyne - read R = 181.380000 from 181.38,X5.52,Y1.55,Z-181.29

: Sonardyne - got all data, Vehicle coordinates,
    r=181.380000, x=181.290000, y=5.520000, z=-1.550000 tat = 710
: AshtechGps::processRecord() - $GPGGA,210316.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210316.00,,,,,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 R180.20,X7.57,Y-0.94,Z-180.04

: Sonardyne - parsing R180.20,X7.57,Y-0.94,Z-180.04

: Sonardyne - read R = 180.200000 from 180.20,X7.57,Y-0.94,Z-180.04

: Sonardyne - got all data, Vehicle coordinates,
    r=180.200000, x=180.040000, y=7.570000, z=0.940000 tat = 710
: AshtechGps::processRecord() - $GPGGA,210317.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210317.00,,,,,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 R179.26

: Sonardyne - parsing R179.26

: Sonardyne - read R = 179.260000 from 179.26

: Sonardyne - got range only (179.260000), tat = 690
: Sonardyne - POSD response: 
POSD S143.1,N24.1,D58,U3,Q0.000349

: Sonardyne - POSD response: 
POSD S143.1,N24.1,D58,U3,Q0.000349

: AshtechGps::processRecord() - $GPGGA,210318.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210318.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 334.40          Seconds.
:   The vehicle position is is (4052268.2, 600432.7)

:  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 R177.73

: Sonardyne - parsing R177.73

: Sonardyne - read R = 177.730000 from 177.73

: Sonardyne - got range only (177.730000), tat = 690
: Sonardyne - POSD response: 
POSD S141.3,N23.3,D67,U5,Q0.000076

: Sonardyne - POSD response: 
POSD S141.3,N23.3,D67,U5,Q0.000076

: AshtechGps::processRecord() - $GPGGA,210319.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210319.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R176.67,X13.21,Y1.82,Z-176.17

: Sonardyne - parsing R176.67,X13.21,Y1.82,Z-176.17

: Sonardyne - read R = 176.670000 from 176.67,X13.21,Y1.82,Z-176.17

: Sonardyne - got all data, Vehicle coordinates,
    r=176.670000, x=176.170000, y=13.210000, z=-1.820000 tat = 710
: WaypointHoming: The Usbl has aquired the transponder
  at t = 336.20          Seconds.
:   The vehicle position is (4052266.3, 600433.4)

: AshtechGps::processRecord() - $GPGGA,210320.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210320.00,,,,,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 R175.54,X14.69,Y2.66,Z-174.90

: Sonardyne - parsing R175.54,X14.69,Y2.66,Z-174.90

: Sonardyne - read R = 175.540000 from 175.54,X14.69,Y2.66,Z-174.90

: Sonardyne - got all data, Vehicle coordinates,
    r=175.540000, x=174.900000, y=14.690000, z=-2.660000 tat = 710
: AshtechGps::processRecord() - $GPGGA,210321.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210321.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  5.96 18.26 3.88 3.91 0  2754.87 00:55:54 m

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

: Sonardyne - POS response: 
POS V4,1 R174.47,X18.23,Y5.88,Z-173.42

: Sonardyne - parsing R174.47,X18.23,Y5.88,Z-173.42

: Sonardyne - read R = 174.470000 from 174.47,X18.23,Y5.88,Z-173.42

: Sonardyne - got all data, Vehicle coordinates,
    r=174.470000, x=173.420000, y=18.230000, z=-5.880000 tat = 710
: AshtechGps::processRecord() - $GPGGA,210322.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210322.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R173.48,X20.42,Y3.91,Z-172.23

: Sonardyne - parsing R173.48,X20.42,Y3.91,Z-172.23

: Sonardyne - read R = 173.480000 from 173.48,X20.42,Y3.91,Z-172.23

: Sonardyne - got all data, Vehicle coordinates,
    r=173.480000, x=172.230000, y=20.420000, z=-3.910000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210323.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210323.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R172.44,X23.27,Y16.63,Z-170.05

: Sonardyne - parsing R172.44,X23.27,Y16.63,Z-170.05

: Sonardyne - read R = 172.440000 from 172.44,X23.27,Y16.63,Z-170.05

: Sonardyne - got all data, Vehicle coordinates,
    r=172.440000, x=170.050000, y=23.270000, z=-16.630000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210324.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210324.00,,,,,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 R171.60,X26.04,Y12.60,Z-169.15

: Sonardyne - parsing R171.60,X26.04,Y12.60,Z-169.15

: Sonardyne - read R = 171.600000 from 171.60,X26.04,Y12.60,Z-169.15

: Sonardyne - got all data, Vehicle coordinates,
    r=171.600000, x=169.150000, y=26.040000, z=-12.600000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210325.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210325.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R170.53,X28.05,Y8.87,Z-167.97

: Sonardyne - parsing R170.53,X28.05,Y8.87,Z-167.97

: Sonardyne - read R = 170.530000 from 170.53,X28.05,Y8.87,Z-167.97

: Sonardyne - got all data, Vehicle coordinates,
    r=170.530000, x=167.970000, y=28.050000, z=-8.870000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210326.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210326.00,,,,,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 R169.42,X30.36,Y8.47,Z-166.46

: Sonardyne - parsing R169.42,X30.36,Y8.47,Z-166.46

: Sonardyne - read R = 169.420000 from 169.42,X30.36,Y8.47,Z-166.46

: Sonardyne - got all data, Vehicle coordinates,
    r=169.420000, x=166.460000, y=30.360000, z=-8.470000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210327.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210327.00,,,,,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 R168.18,X33.25,Y15.64,Z-164.12

: Sonardyne - parsing R168.18,X33.25,Y15.64,Z-164.12

: Sonardyne - read R = 168.180000 from 168.18,X33.25,Y15.64,Z-164.12

: Sonardyne - got all data, Vehicle coordinates,
    r=168.180000, x=164.120000, y=33.250000, z=-15.640000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210328.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210328.00,,,,,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 R167.07,X34.09,Y10.64,Z-163.20

: Sonardyne - parsing R167.07,X34.09,Y10.64,Z-163.20

: Sonardyne - read R = 167.070000 from 167.07,X34.09,Y10.64,Z-163.20

: Sonardyne - got all data, Vehicle coordinates,
    r=167.070000, x=163.200000, y=34.090000, z=-10.640000 tat = 700
: AshtechGps::processRecord() - $GPGGA,210329.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210329.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R165.76,X37.31,Y1.46,Z-161.50

: Sonardyne - parsing R165.76,X37.31,Y1.46,Z-161.50

: Sonardyne - read R = 165.760000 from 165.76,X37.31,Y1.46,Z-161.50

: Sonardyne - got all data, Vehicle coordinates,
    r=165.760000, x=161.500000, y=37.310000, z=-1.460000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210330.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210330.00,,,,,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 R164.44,X40.74,Y-3.61,Z-159.28

: Sonardyne - parsing R164.44,X40.74,Y-3.61,Z-159.28

: Sonardyne - read R = 164.440000 from 164.44,X40.74,Y-3.61,Z-159.28

: Sonardyne - got all data, Vehicle coordinates,
    r=164.440000, x=159.280000, y=40.740000, z=3.610000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210331.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210331.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  5.01 18.26 3.88 3.91 0  2754.43 00:56:04 m

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

: Sonardyne - POS response: 
POS V4,1 R163.28,X44.23,Y2.22,Z-157.16

: Sonardyne - parsing R163.28,X44.23,Y2.22,Z-157.16

: Sonardyne - read R = 163.280000 from 163.28,X44.23,Y2.22,Z-157.16

: Sonardyne - got all data, Vehicle coordinates,
    r=163.280000, x=157.160000, y=44.230000, z=-2.220000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210332.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210332.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: Sonardyne - POS response: 
POS V4,1 R162.27,X48.17,Y0.28,Z-154.96

: Sonardyne - parsing R162.27,X48.17,Y0.28,Z-154.96

: Sonardyne - read R = 162.270000 from 162.27,X48.17,Y0.28,Z-154.96

: Sonardyne - got all data, Vehicle coordinates,
    r=162.270000, x=154.960000, y=48.170000, z=-0.280000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210333.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210333.00,,,,,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 R161.33,X49.92,Y-0.14,Z-153.41

: Sonardyne - parsing R161.33,X49.92,Y-0.14,Z-153.41

: Sonardyne - read R = 161.330000 from 161.33,X49.92,Y-0.14,Z-153.41

: Sonardyne - got all data, Vehicle coordinates,
    r=161.330000, x=153.410000, y=49.920000, z=0.140000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210334.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210334.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R160.47,X52.24,Y1.35,Z-151.72

: Sonardyne - parsing R160.47,X52.24,Y1.35,Z-151.72

: Sonardyne - read R = 160.470000 from 160.47,X52.24,Y1.35,Z-151.72

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

: Sonardyne - got all data, Vehicle coordinates,
    r=160.470000, x=151.720000, y=52.240000, z=-1.350000 tat = 690
: AshtechGps::processRecord() - $GPGGA,210335.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210335.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R159.70,X54.44,Y9.60,Z-149.83

: Sonardyne - parsing R159.70,X54.44,Y9.60,Z-149.83

: Sonardyne - read R = 159.700000 from 159.70,X54.44,Y9.60,Z-149.83

: Sonardyne - got all data, Vehicle coordinates,
    r=159.700000, x=149.830000, y=54.440000, z=-9.600000 tat = 690
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210336.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210336.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.93,X55.15,Y7.68,Z-148.86

: Sonardyne - parsing R158.93,X55.15,Y7.68,Z-148.86

: Sonardyne - read R = 158.930000 from 158.93,X55.15,Y7.68,Z-148.86

: Sonardyne - got all data, Vehicle coordinates,
    r=158.930000, x=148.860000, y=55.150000, z=-7.680000 tat = 680
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210337.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210337.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.27,X55.88,Y6.09,Z-147.95

: Sonardyne - parsing R158.27,X55.88,Y6.09,Z-147.95

: Sonardyne - read R = 158.270000 from 158.27,X55.88,Y6.09,Z-147.95

: Sonardyne - got all data, Vehicle coordinates,
    r=158.270000, x=147.950000, y=55.880000, z=-6.090000 tat = 680
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210338.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210338.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R157.56,X56.41,Y12.03,Z-146.62

: Sonardyne - parsing R157.56,X56.41,Y12.03,Z-146.62

: Sonardyne - read R = 157.560000 from 157.56,X56.41,Y12.03,Z-146.62

: Sonardyne - got all data, Vehicle coordinates,
    r=157.560000, x=146.620000, y=56.410000, z=-12.030000 tat = 680
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210339.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210339.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R156.33

: Sonardyne - parsing R156.33

: Sonardyne - read R = 156.330000 from 156.33

: Sonardyne - got range only (156.330000), tat = 660
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S140.4,N26.6,D-132,U4,Q0.000128

: Sonardyne - POSD response: 
POSD S140.4,N26.6,D-132,U4,Q0.000128

: AshtechGps::processRecord() - $GPGGA,210340.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210340.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 356.40          Seconds.
:   The vehicle position is is (4052248.5, 600445.0)

: Sonardyne - POS response: 
POS V4,1 R159.24,X68.05,Y-19.80,Z-142.60

: Sonardyne - parsing R159.24,X68.05,Y-19.80,Z-142.60

: Sonardyne - read R = 159.240000 from 159.24,X68.05,Y-19.80,Z-142.60

: Sonardyne - got all data, Vehicle coordinates,
    r=159.240000, x=142.600000, y=68.050000, z=19.800000 tat = 689
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder
  at t = 357.20          Seconds.
:   The vehicle position is (4052247.7, 600445.7)

: AshtechGps::processRecord() - $GPGGA,210341.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210341.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  7.00 18.26 3.88 3.91 0  2753.78 00:56:14 m

: Sonardyne - POS response: 
POS V4,1 R154.35,X53.48,Y9.80,Z-144.46

: Sonardyne - parsing R154.35,X53.48,Y9.80,Z-144.46

: Sonardyne - read R = 154.350000 from 154.35,X53.48,Y9.80,Z-144.46

: Sonardyne - got all data, Vehicle coordinates,
    r=154.350000, x=144.460000, y=53.480000, z=-9.800000 tat = 680
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210342.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210342.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R153.04,X54.88,Y6.22,Z-142.73

: Sonardyne - parsing R153.04,X54.88,Y6.22,Z-142.73

: Sonardyne - read R = 153.040000 from 153.04,X54.88,Y6.22,Z-142.73

: Sonardyne - got all data, Vehicle coordinates,
    r=153.040000, x=142.730000, y=54.880000, z=-6.220000 tat = 680
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210343.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210343.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R151.51,X55.03,Y12.58,Z-140.60

: Sonardyne - parsing R151.51,X55.03,Y12.58,Z-140.60

: Sonardyne - read R = 151.510000 from 151.51,X55.03,Y12.58,Z-140.60

: Sonardyne - got all data, Vehicle coordinates,
    r=151.510000, x=140.600000, y=55.030000, z=-12.580000 tat = 680
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210344.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210344.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R150.37,X56.09,Y10.54,Z-139.12

: Sonardyne - parsing R150.37,X56.09,Y10.54,Z-139.12

: Sonardyne - read R = 150.370000 from 150.37,X56.09,Y10.54,Z-139.12

: Sonardyne - got all data, Vehicle coordinates,
    r=150.370000, x=139.120000, y=56.090000, z=-10.540000 tat = 670
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210345.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210345.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R149.47,X57.89,Y6.53,Z-137.65

: Sonardyne - parsing R149.47,X57.89,Y6.53,Z-137.65

: Sonardyne - read R = 149.470000 from 149.47,X57.89,Y6.53,Z-137.65

: Sonardyne - got all data, Vehicle coordinates,
    r=149.470000, x=137.650000, y=57.890000, z=-6.530000 tat = 670
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210346.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210346.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R148.71,X59.23,Y6.50,Z-136.25

: Sonardyne - parsing R148.71,X59.23,Y6.50,Z-136.25

: Sonardyne - read R = 148.710000 from 148.71,X59.23,Y6.50,Z-136.25

: Sonardyne - got all data, Vehicle coordinates,
    r=148.710000, x=136.250000, y=59.230000, z=-6.500000 tat = 670
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210347.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210347.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.95,X62.52,Y8.02,Z-133.85

: Sonardyne - parsing R147.95,X62.52,Y8.02,Z-133.85

: Sonardyne - read R = 147.950000 from 147.95,X62.52,Y8.02,Z-133.85

: Sonardyne - got all data, Vehicle coordinates,
    r=147.950000, x=133.850000, y=62.520000, z=-8.020000 tat = 670
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210348.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210348.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R147.02,X62.20,Y11.40,Z-132.73

: Sonardyne - parsing R147.02,X62.20,Y11.40,Z-132.73

: Sonardyne - read R = 147.020000 from 147.02,X62.20,Y11.40,Z-132.73

: Sonardyne - got all data, Vehicle coordinates,
    r=147.020000, x=132.730000, y=62.200000, z=-11.400000 tat = 670
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210349.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210349.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R146.28,X62.67,Y5.21,Z-132.07

: Sonardyne - parsing R146.28,X62.67,Y5.21,Z-132.07

: Sonardyne - read R = 146.280000 from 146.28,X62.67,Y5.21,Z-132.07

: Sonardyne - got all data, Vehicle coordinates,
    r=146.280000, x=132.070000, y=62.670000, z=-5.210000 tat = 670
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210350.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210350.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R145.41,X62.49,Y4.81,Z-131.20

: Sonardyne - parsing R145.41,X62.49,Y4.81,Z-131.20

: Sonardyne - read R = 145.410000 from 145.41,X62.49,Y4.81,Z-131.20

: Sonardyne - got all data, Vehicle coordinates,
    r=145.410000, x=131.200000, y=62.490000, z=-4.810000 tat = 670
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210351.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210351.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  6.94 18.26 3.88 3.91 0  2753.40 00:56:24 m

: Sonardyne - POS response: 
POS V4,1 R144.51,X62.20,Y6.56,Z-130.27

: Sonardyne - parsing R144.51,X62.20,Y6.56,Z-130.27

: Sonardyne - read R = 144.510000 from 144.51,X62.20,Y6.56,Z-130.27

: Sonardyne - got all data, Vehicle coordinates,
    r=144.510000, x=130.270000, y=62.200000, z=-6.560000 tat = 660
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210352.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210352.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R143.79,X61.88,Y5.42,Z-129.68

: Sonardyne - parsing R143.79,X61.88,Y5.42,Z-129.68

: Sonardyne - read R = 143.790000 from 143.79,X61.88,Y5.42,Z-129.68

: Sonardyne - got all data, Vehicle coordinates,
    r=143.790000, x=129.680000, y=61.880000, z=-5.420000 tat = 660
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210353.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210353.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R142.91,X61.99,Y5.05,Z-128.66

: Sonardyne - parsing R142.91,X61.99,Y5.05,Z-128.66

: Sonardyne - read R = 142.910000 from 142.91,X61.99,Y5.05,Z-128.66

: Sonardyne - got all data, Vehicle coordinates,
    r=142.910000, x=128.660000, y=61.990000, z=-5.050000 tat = 660
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210354.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210354.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R141.84,X62.08,Y4.62,Z-127.45

: Sonardyne - parsing R141.84,X62.08,Y4.62,Z-127.45

: Sonardyne - read R = 141.840000 from 141.84,X62.08,Y4.62,Z-127.45

: Sonardyne - got all data, Vehicle coordinates,
    r=141.840000, x=127.450000, y=62.080000, z=-4.620000 tat = 660
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210355.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210355.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R140.86,X63.13,Y2.85,Z-125.89

: Sonardyne - parsing R140.86,X63.13,Y2.85,Z-125.89

: Sonardyne - read R = 140.860000 from 140.86,X63.13,Y2.85,Z-125.89

: Sonardyne - got all data, Vehicle coordinates,
    r=140.860000, x=125.890000, y=63.130000, z=-2.850000 tat = 659
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210356.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210356.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R139.74,X64.53,Y3.40,Z-123.90

: Sonardyne - parsing R139.74,X64.53,Y3.40,Z-123.90

: Sonardyne - read R = 139.740000 from 139.74,X64.53,Y3.40,Z-123.90

: Sonardyne - got all data, Vehicle coordinates,
    r=139.740000, x=123.900000, y=64.530000, z=-3.400000 tat = 660
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210357.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210357.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R138.63,X65.98,Y3.72,Z-121.86

: Sonardyne - parsing R138.63,X65.98,Y3.72,Z-121.86

: Sonardyne - read R = 138.630000 from 138.63,X65.98,Y3.72,Z-121.86

: Sonardyne - got all data, Vehicle coordinates,
    r=138.630000, x=121.860000, y=65.980000, z=-3.720000 tat = 660
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210358.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210358.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.60,X66.94,Y2.39,Z-120.20

: Sonardyne - parsing R137.60,X66.94,Y2.39,Z-120.20

: Sonardyne - read R = 137.600000 from 137.60,X66.94,Y2.39,Z-120.20

: Sonardyne - got all data, Vehicle coordinates,
    r=137.600000, x=120.200000, y=66.940000, z=-2.390000 tat = 650
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210359.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210359.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R136.51,X68.15,Y5.55,Z-118.14

: Sonardyne - parsing R136.51,X68.15,Y5.55,Z-118.14

: Sonardyne - read R = 136.510000 from 136.51,X68.15,Y5.55,Z-118.14

: Sonardyne - got all data, Vehicle coordinates,
    r=136.510000, x=118.140000, y=68.150000, z=-5.550000 tat = 650
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210400.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210400.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R135.54,X68.84,Y6.53,Z-116.57

: Sonardyne - parsing R135.54,X68.84,Y6.53,Z-116.57

: Sonardyne - read R = 135.540000 from 135.54,X68.84,Y6.53,Z-116.57

: Sonardyne - got all data, Vehicle coordinates,
    r=135.540000, x=116.570000, y=68.840000, z=-6.530000 tat = 650
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210401.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210401.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  6.03 18.26 3.88 3.91 0  2752.76 00:56:34 m

: Sonardyne - POS response: 
POS V4,1 R134.59,X67.57,Y5.46,Z-116.27

: Sonardyne - parsing R134.59,X67.57,Y5.46,Z-116.27

: Sonardyne - read R = 134.590000 from 134.59,X67.57,Y5.46,Z-116.27

: Sonardyne - got all data, Vehicle coordinates,
    r=134.590000, x=116.270000, y=67.570000, z=-5.460000 tat = 650
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210402.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210402.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POS response: 
POS V4,1 R133.65,X70.20,Y9.59,Z-113.33

: Sonardyne - parsing R133.65,X70.20,Y9.59,Z-113.33

: Sonardyne - read R = 133.650000 from 133.65,X70.20,Y9.59,Z-113.33

: Sonardyne - got all data, Vehicle coordinates,
    r=133.650000, x=113.330000, y=70.200000, z=-9.590000 tat = 650
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210403.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210403.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R133.11,X70.64,Y5.81,Z-112.67

: Sonardyne - parsing R133.11,X70.64,Y5.81,Z-112.67

: Sonardyne - read R = 133.110000 from 133.11,X70.64,Y5.81,Z-112.67

: Sonardyne - got all data, Vehicle coordinates,
    r=133.110000, x=112.670000, y=70.640000, z=-5.810000 tat = 650
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210404.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210404.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R132.51,X69.40,Y4.05,Z-112.80

: Sonardyne - parsing R132.51,X69.40,Y4.05,Z-112.80

: Sonardyne - read R = 132.510000 from 132.51,X69.40,Y4.05,Z-112.80

: Sonardyne - got all data, Vehicle coordinates,
    r=132.510000, x=112.800000, y=69.400000, z=-4.050000 tat = 650
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210405.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210405.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.87,X68.69,Y5.71,Z-112.43

: Sonardyne - parsing R131.87,X68.69,Y5.71,Z-112.43

: Sonardyne - read R = 131.870000 from 131.87,X68.69,Y5.71,Z-112.43

: Sonardyne - got all data, Vehicle coordinates,
    r=131.870000, x=112.430000, y=68.690000, z=-5.710000 tat = 650
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210406.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210406.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R130.95,X69.71,Y4.24,Z-110.78

: Sonardyne - parsing R130.95,X69.71,Y4.24,Z-110.78

: Sonardyne - read R = 130.950000 from 130.95,X69.71,Y4.24,Z-110.78

: Sonardyne - got all data, Vehicle coordinates,
    r=130.950000, x=110.780000, y=69.710000, z=-4.240000 tat = 650
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210407.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210407.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.92,X69.76,Y6.12,Z-109.43

: Sonardyne - parsing R129.92,X69.76,Y6.12,Z-109.43

: Sonardyne - read R = 129.920000 from 129.92,X69.76,Y6.12,Z-109.43

: Sonardyne - got all data, Vehicle coordinates,
    r=129.920000, x=109.430000, y=69.760000, z=-6.120000 tat = 650
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210408.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210408.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.01,X70.77,Y2.74,Z-107.83

: Sonardyne - parsing R129.01,X70.77,Y2.74,Z-107.83

: Sonardyne - read R = 129.010000 from 129.01,X70.77,Y2.74,Z-107.83

: Sonardyne - got all data, Vehicle coordinates,
    r=129.010000, x=107.830000, y=70.770000, z=-2.740000 tat = 640
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210409.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210409.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.98,X70.92,Y4.03,Z-106.45

: Sonardyne - parsing R127.98,X70.92,Y4.03,Z-106.45

: Sonardyne - read R = 127.980000 from 127.98,X70.92,Y4.03,Z-106.45

: Sonardyne - got all data, Vehicle coordinates,
    r=127.980000, x=106.450000, y=70.920000, z=-4.030000 tat = 639
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210410.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210410.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.22,X71.27,Y4.55,Z-105.28

: Sonardyne - parsing R127.22,X71.27,Y4.55,Z-105.28

: Sonardyne - read R = 127.220000 from 127.22,X71.27,Y4.55,Z-105.28

: Sonardyne - got all data, Vehicle coordinates,
    r=127.220000, x=105.280000, y=71.270000, z=-4.550000 tat = 640
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210411.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210411.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  5.45 18.26 3.88 3.91 0  2752.33 00:56:44 m

: Sonardyne - POS response: 
POS V4,1 R126.49,X71.32,Y6.17,Z-104.28

: Sonardyne - parsing R126.49,X71.32,Y6.17,Z-104.28

: Sonardyne - read R = 126.490000 from 126.49,X71.32,Y6.17,Z-104.28

: Sonardyne - got all data, Vehicle coordinates,
    r=126.490000, x=104.280000, y=71.320000, z=-6.170000 tat = 640
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210412.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210412.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

: Sonardyne - POS response: 
POS V4,1 R125.55,X71.18,Y3.91,Z-103.34

: Sonardyne - parsing R125.55,X71.18,Y3.91,Z-103.34

: Sonardyne - read R = 125.550000 from 125.55,X71.18,Y3.91,Z-103.34

: Sonardyne - got all data, Vehicle coordinates,
    r=125.550000, x=103.340000, y=71.180000, z=-3.910000 tat = 640
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210413.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210413.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.65,X71.08,Y4.83,Z-102.29

: Sonardyne - parsing R124.65,X71.08,Y4.83,Z-102.29

: Sonardyne - read R = 124.650000 from 124.65,X71.08,Y4.83,Z-102.29

: Sonardyne - got all data, Vehicle coordinates,
    r=124.650000, x=102.290000, y=71.080000, z=-4.830000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210414.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210414.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.83,X70.23,Y1.89,Z-101.96

: Sonardyne - parsing R123.83,X70.23,Y1.89,Z-101.96

: Sonardyne - read R = 123.830000 from 123.83,X70.23,Y1.89,Z-101.96

: Sonardyne - got all data, Vehicle coordinates,
    r=123.830000, x=101.960000, y=70.230000, z=-1.890000 tat = 640
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210415.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210415.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.95,X70.46,Y-0.07,Z-100.76

: Sonardyne - parsing R122.95,X70.46,Y-0.07,Z-100.76

: Sonardyne - read R = 122.950000 from 122.95,X70.46,Y-0.07,Z-100.76

: Sonardyne - got all data, Vehicle coordinates,
    r=122.950000, x=100.760000, y=70.460000, z=0.070000 tat = 640
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210416.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210416.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.14,X71.59,Y4.41,Z-98.86

: Sonardyne - parsing R122.14,X71.59,Y4.41,Z-98.86

: Sonardyne - read R = 122.140000 from 122.14,X71.59,Y4.41,Z-98.86

: Sonardyne - got all data, Vehicle coordinates,
    r=122.140000, x=98.860000, y=71.590000, z=-4.410000 tat = 630
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210417.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210417.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.32,X71.92,Y0.96,Z-97.69

: Sonardyne - parsing R121.32,X71.92,Y0.96,Z-97.69

: Sonardyne - read R = 121.320000 from 121.32,X71.92,Y0.96,Z-97.69

: Sonardyne - got all data, Vehicle coordinates,
    r=121.320000, x=97.690000, y=71.920000, z=-0.960000 tat = 630
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210418.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210418.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.44,X73.96,Y9.30,Z-94.61

: Sonardyne - parsing R120.44,X73.96,Y9.30,Z-94.61

: Sonardyne - read R = 120.440000 from 120.44,X73.96,Y9.30,Z-94.61

: Sonardyne - got all data, Vehicle coordinates,
    r=120.440000, x=94.610000, y=73.960000, z=-9.300000 tat = 630
: AshtechGps::processRecord() - $GPGGA,210419.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210419.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R119.57

: Sonardyne - parsing R119.57

: Sonardyne - read R = 119.570000 from 119.57

: Sonardyne - got range only (119.570000), tat = 610
: Sonardyne - POSD response: 
POSD S134.5,N23.3,D-67,U1,Q0.011142

: Sonardyne - POSD response: 
POSD S134.5,N23.3,D-67,U1,Q0.011142

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 396.19          Seconds.
:   The vehicle position is is (4052217.8, 600476.2)

: AshtechGps::processRecord() - $GPGGA,210420.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210420.00,,,,,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 R118.74,X71.35,Y2.73,Z-94.87

: Sonardyne - parsing R118.74,X71.35,Y2.73,Z-94.87

: Sonardyne - read R = 118.740000 from 118.74,X71.35,Y2.73,Z-94.87

: Sonardyne - got all data, Vehicle coordinates,
    r=118.740000, x=94.870000, y=71.350000, z=-2.730000 tat = 630
: WaypointHoming: The Usbl has aquired the transponder
  at t = 397.19          Seconds.
:   The vehicle position is (4052217.0, 600477.1)

: AshtechGps::processRecord() - $GPGGA,210421.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210421.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 31.12  6.09 18.26 3.88 3.91 0  2751.65 00:56:54 m

: Sonardyne - POS response: 
POS V4,1 R117.85,X71.71,Y4.03,Z-93.44

: Sonardyne - parsing R117.85,X71.71,Y4.03,Z-93.44

: Sonardyne - read R = 117.850000 from 117.85,X71.71,Y4.03,Z-93.44

: Sonardyne - got all data, Vehicle coordinates,
    r=117.850000, x=93.440000, y=71.710000, z=-4.030000 tat = 630
: AshtechGps::processRecord() - $GPGGA,210422.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210422.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - POS response: 
POS V4,1 R118.45,X73.22,Y24.35,Z-89.87

: Sonardyne - parsing R118.45,X73.22,Y24.35,Z-89.87

: Sonardyne - read R = 118.450000 from 118.45,X73.22,Y24.35,Z-89.87

: Sonardyne - got all data, Vehicle coordinates,
    r=118.450000, x=89.870000, y=73.220000, z=-24.350000 tat = 630
: AshtechGps::processRecord() - $GPGGA,210423.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210423.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R116.12

: Sonardyne - parsing R116.12

: Sonardyne - read R = 116.120000 from 116.12

: Sonardyne - got range only (116.120000), tat = 600
: Sonardyne - POSD response: 
POSD S126.6,N20.2,D-48,U2,Q0.009221

: Sonardyne - POSD response: 
POSD S126.6,N20.2,D-48,U2,Q0.009221

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 400.19          Seconds.
:   The vehicle position is is (4052214.7, 600479.7)

: AshtechGps::processRecord() - $GPGGA,210424.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210424.00,,,,,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 R116.90,X73.50,Y25.72,Z-87.19

: Sonardyne - parsing R116.90,X73.50,Y25.72,Z-87.19

: Sonardyne - read R = 116.900000 from 116.90,X73.50,Y25.72,Z-87.19

: Sonardyne - got all data, Vehicle coordinates,
    r=116.900000, x=87.190000, y=73.500000, z=-25.720000 tat = 629
: WaypointHoming: The Usbl has aquired the transponder
  at t = 401.19          Seconds.
:   The vehicle position is (4052213.9, 600480.6)

: AshtechGps::processRecord() - $GPGGA,210425.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210425.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R115.01

: Sonardyne - parsing R115.01

: Sonardyne - read R = 115.010000 from 115.01

: Sonardyne - got range only (115.010000), tat = 600
: Sonardyne - POSD response: 
POSD S138.5,N27.1,D-113,U3,Q0.008838

: Sonardyne - POSD response: 
POSD S138.5,N27.1,D-113,U3,Q0.008838

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 402.19          Seconds.
:   The vehicle position is is (4052213.2, 600481.4)

: AshtechGps::processRecord() - $GPGGA,210426.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210426.00,,,,,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 R113.67

: Sonardyne - parsing R113.67

: Sonardyne - read R = 113.670000 from 113.67

: Sonardyne - got range only (113.670000), tat = 600
: Sonardyne - POSD response: 
POSD S142.4,N26.9,D-32,U3,Q0.019439

: Sonardyne - POSD response: 
POSD S142.4,N26.9,D-32,U3,Q0.019439

: AshtechGps::processRecord() - $GPGGA,210427.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210427.00,,,,,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 R112.86

: Sonardyne - parsing R112.86

: Sonardyne - read R = 112.860000 from 112.86

: Sonardyne - got range only (112.860000), tat = 600
: Sonardyne - POSD response: 
POSD S144.2,N29.3,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.2,N29.3,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210428.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210428.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R112.00

: Sonardyne - parsing R112.00

: Sonardyne - read R = 112.000000 from 112.00

: Sonardyne - got range only (112.000000), tat = 600
: Sonardyne - POSD response: 
POSD S144.7,N30.1,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.7,N30.1,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210429.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210429.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R111.21

: Sonardyne - parsing R111.21

: Sonardyne - read R = 111.210000 from 111.21

: Sonardyne - got range only (111.210000), tat = 600
: Sonardyne - POSD response: 
POSD S143.6,N34.6,D-17,U1,Q0.016109

: Sonardyne - POSD response: 
POSD S143.6,N34.6,D-17,U1,Q0.016109

: AshtechGps::processRecord() - $GPGGA,210430.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210430.00,,,,,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 R110.45,X68.67,Y-1.12,Z-86.50

: Sonardyne - parsing R110.45,X68.67,Y-1.12,Z-86.50

: Sonardyne - read R = 110.450000 from 110.45,X68.67,Y-1.12,Z-86.50

: Sonardyne - got all data, Vehicle coordinates,
    r=110.450000, x=86.500000, y=68.670000, z=1.120000 tat = 670
: WaypointHoming: The Usbl has aquired the transponder
  at t = 407.19          Seconds.
:   The vehicle position is (4052209.6, 600485.7)

: AshtechGps::processRecord() - $GPGGA,210431.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210431.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 31.15  5.28 18.26 3.88 3.91 0  2751.23 00:57:04 m

: Sonardyne - POS response: 
POS V4,1 R109.91

: Sonardyne - parsing R109.91

: Sonardyne - read R = 109.910000 from 109.91

: Sonardyne - got range only (109.910000), tat = 600
: Sonardyne - POSD response: 
POSD S140.4,N27.9,D-35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.4,N27.9,D-35,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 408.19          Seconds.
:   The vehicle position is is (4052209.0, 600486.5)

: AshtechGps::processRecord() - $GPGGA,210432.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210432.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - POS response: 
POS V4,1 R109.21

: Sonardyne - parsing R109.21

: Sonardyne - read R = 109.210000 from 109.21

: Sonardyne - got range only (109.210000), tat = 590
: Sonardyne - POSD response: 
POSD S137.7,N24.8,D-31,U3,Q0.012882

: Sonardyne - POSD response: 
POSD S137.7,N24.8,D-31,U3,Q0.012882

: AshtechGps::processRecord() - $GPGGA,210433.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210433.00,,,,,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 R108.73

: Sonardyne - parsing R108.73

: Sonardyne - read R = 108.730000 from 108.73

: Sonardyne - got range only (108.730000), tat = 590
: Sonardyne - POSD response: 
POSD S140.5,N26.3,D-33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.5,N26.3,D-33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210434.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210434.00,,,,,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 R108.00

: Sonardyne - parsing R108.00

: Sonardyne - read R = 108.000000 from 108.00

: Sonardyne - got range only (108.000000), tat = 590
: Sonardyne - POSD response: 
POSD S143.1,N38.5,D-16,U1,Q0.019270

: Sonardyne - POSD response: 
POSD S143.1,N38.5,D-16,U1,Q0.019270

: AshtechGps::processRecord() - $GPGGA,210435.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210435.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R107.13

: Sonardyne - parsing R107.13

: Sonardyne - read R = 107.130000 from 107.13

: Sonardyne - got range only (107.130000), tat = 590
: Sonardyne - POSD response: 
POSD S142.9,N31.0,D-4,U2,Q0.015618

: Sonardyne - POSD response: 
POSD S142.9,N31.0,D-4,U2,Q0.015618

: AshtechGps::processRecord() - $GPGGA,210436.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210436.00,,,,,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 R106.28,X68.00,Y3.04,Z-81.62

: Sonardyne - parsing R106.28,X68.00,Y3.04,Z-81.62

: Sonardyne - read R = 106.280000 from 106.28,X68.00,Y3.04,Z-81.62

: Sonardyne - got all data, Vehicle coordinates,
    r=106.280000, x=81.620000, y=68.000000, z=-3.040000 tat = 610
: WaypointHoming: The Usbl has aquired the transponder
  at t = 413.20          Seconds.
:   The vehicle position is (4052205.9, 600490.4)

: AshtechGps::processRecord() - $GPGGA,210437.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210437.00,,,,,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 R105.44

: Sonardyne - parsing R105.44

: Sonardyne - read R = 105.440000 from 105.44

: Sonardyne - got range only (105.440000), tat = 590
: Sonardyne - POSD response: 
POSD S139.7,N37.7,D-17,U5,Q0.015244

: Sonardyne - POSD response: 
POSD S139.7,N37.7,D-17,U5,Q0.015244

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 414.20          Seconds.
:   The vehicle position is is (4052205.1, 600491.3)

: AshtechGps::processRecord() - $GPGGA,210438.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210438.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R104.69

: Sonardyne - parsing R104.69

: Sonardyne - read R = 104.690000 from 104.69

: Sonardyne - got range only (104.690000), tat = 590
: Sonardyne - POSD response: 
POSD S141.0,N29.1,D-15,U2,Q0.015045

: Sonardyne - POSD response: 
POSD S141.0,N29.1,D-15,U2,Q0.015045

: AshtechGps::processRecord() - $GPGGA,210439.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210439.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R103.91

: Sonardyne - parsing R103.91

: Sonardyne - read R = 103.910000 from 103.91

: Sonardyne - got range only (103.910000), tat = 590
: Sonardyne - POSD response: 
POSD S141.3,N30.4,D-18,U1,Q0.016633

: Sonardyne - POSD response: 
POSD S141.3,N30.4,D-18,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,210440.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210440.00,,,,,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 R102.97

: Sonardyne - parsing R102.97

: Sonardyne - read R = 102.970000 from 102.97

: Sonardyne - got range only (102.970000), tat = 590
: Sonardyne - POSD response: 
POSD S139.7,N35.5,D-13,U2,Q0.015498

: Sonardyne - POSD response: 
POSD S139.7,N35.5,D-13,U2,Q0.015498

: AshtechGps::processRecord() - $GPGGA,210441.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210441.00,,,,,0,00,,,M,,M,,*4A


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

: BluefinBatt Reply: $aaq0 d- 31.08  6.87 18.26 3.88 3.91 0  2750.58 00:57:14 m

: Sonardyne - POS response: 
POS V4,1 R102.14

: Sonardyne - parsing R102.14

: Sonardyne - read R = 102.140000 from 102.14

: Sonardyne - got range only (102.140000), tat = 590
: Sonardyne - POSD response: 
POSD S139.9,N33.2,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.9,N33.2,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210442.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210442.00,,,,,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 3.880000, mean min cell voltage 3.880000

: Sonardyne - POS response: 
POS V4,1 R101.48

: Sonardyne - parsing R101.48

: Sonardyne - read R = 101.480000 from 101.48

: Sonardyne - got range only (101.480000), tat = 580
: Sonardyne - POSD response: 
POSD S140.4,N30.6,D-1,U1,Q0.016633

: Sonardyne - POSD response: 
POSD S140.4,N30.6,D-1,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,210443.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210443.00,,,,,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 R100.92

: Sonardyne - parsing R100.92

: Sonardyne - read R = 100.920000 from 100.92

: Sonardyne - got range only (100.920000), tat = 580
: Sonardyne - POSD response: 
POSD S139.7,N30.8,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.7,N30.8,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210444.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210444.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R100.65

: Sonardyne - parsing R100.65

: Sonardyne - read R = 100.650000 from 100.65

: Sonardyne - got range only (100.650000), tat = 580
: Sonardyne - POSD response: 
POSD S143.1,N33.1,D0,U2,Q0.013585

: Sonardyne - POSD response: 
POSD S143.1,N33.1,D0,U2,Q0.013585

: AshtechGps::processRecord() - $GPGGA,210445.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210445.00,,,,,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 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 S144.4,N29.4,D-1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.4,N29.4,D-1,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210446.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210446.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R99.88,X67.15,Y2.15,Z-73.91

: Sonardyne - parsing R99.88,X67.15,Y2.15,Z-73.91

: Sonardyne - read R = 99.880000 from 99.88,X67.15,Y2.15,Z-73.91

: Sonardyne - got all data, Vehicle coordinates,
    r=99.880000, x=73.910000, y=67.150000, z=-2.150000 tat = 600
: WaypointHoming: The Usbl has aquired the transponder
  at t = 423.20          Seconds.
:   The vehicle position is (4052199.0, 600498.0)

: AshtechGps::processRecord() - $GPGGA,210447.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210447.00,,,,,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 R99.31

: Sonardyne - parsing R99.31

: Sonardyne - read R = 99.310000 from 99.31

: Sonardyne - got range only (99.310000), tat = 580
: Sonardyne - POSD response: 
POSD S135.4,N29.3,D-30,U2,Q0.016382

: Sonardyne - POSD response: 
POSD S135.4,N29.3,D-30,U2,Q0.016382

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 424.20          Seconds.
:   The vehicle position is is (4052198.5, 600498.7)

: AshtechGps::processRecord() - $GPGGA,210448.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210448.00,,,,,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 R98.48

: Sonardyne - parsing R98.48

: Sonardyne - read R = 98.480000 from 98.48

: Sonardyne - got range only (98.480000), tat = 580
: Sonardyne - POSD response: 
POSD S133.8,N26.2,D51,U2,Q0.013022

: Sonardyne - POSD response: 
POSD S133.8,N26.2,D51,U2,Q0.013022

: AshtechGps::processRecord() - $GPGGA,210449.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210449.00,,,,,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 R97.63

: Sonardyne - parsing R97.63

: Sonardyne - read R = 97.630000 from 97.63

: Sonardyne - got range only (97.630000), tat = 580
: Sonardyne - POSD response: 
POSD S141.0,N26.8,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S141.0,N26.8,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210450.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210450.00,,,,,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 R96.79

: Sonardyne - parsing R96.79

: Sonardyne - read R = 96.790000 from 96.79

: Sonardyne - got range only (96.790000), tat = 580
: Sonardyne - POSD response: 
POSD S142.9,N29.4,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.9,N29.4,D-34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210451.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210451.00,,,,,0,00,,,M,,M,,*4B


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

: BluefinBatt Reply: $aaq0 d- 31.12  6.97 18.26 3.88 3.91 0  2750.13 00:57:24 m

: Sonardyne - POS response: 
POS V4,1 R95.95

: Sonardyne - parsing R95.95

: Sonardyne - read R = 95.950000 from 95.95

: Sonardyne - got range only (95.950000), tat = 580
: Sonardyne - POSD response: 
POSD S141.4,N30.3,D-25,U1,Q0.012645

: Sonardyne - POSD response: 
POSD S141.4,N30.3,D-25,U1,Q0.012645

: AshtechGps::processRecord() - $GPGGA,210452.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210452.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - POS response: 
POS V4,1 R95.14

: Sonardyne - parsing R95.14

: Sonardyne - read R = 95.140000 from 95.14

: Sonardyne - got range only (95.140000), tat = 580
: Sonardyne - POSD response: 
POSD S141.2,N29.6,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S141.2,N29.6,D3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210453.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210453.00,,,,,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 R94.35

: Sonardyne - parsing R94.35

: Sonardyne - read R = 94.350000 from 94.35

: Sonardyne - got range only (94.350000), tat = 619
: Sonardyne - POSD response: 
POSD S140.2,N30.2,D-34,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.2,N30.2,D-34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210454.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210454.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R93.73

: Sonardyne - parsing R93.73

: Sonardyne - read R = 93.730000 from 93.73

: Sonardyne - got range only (93.730000), tat = 570
: Sonardyne - POSD response: 
POSD S134.9,N29.4,D-31,U3,Q0.012271

: Sonardyne - POSD response: 
POSD S134.9,N29.4,D-31,U3,Q0.012271

: AshtechGps::processRecord() - $GPGGA,210455.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210455.00,,,,,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 R93.32

: Sonardyne - parsing R93.32

: Sonardyne - read R = 93.320000 from 93.32

: Sonardyne - got range only (93.320000), tat = 570
: Sonardyne - POSD response: 
POSD S138.7,N29.6,D-25,U1,Q0.012087

: Sonardyne - POSD response: 
POSD S138.7,N29.6,D-25,U1,Q0.012087

: AshtechGps::processRecord() - $GPGGA,210456.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210456.00,,,,,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 R93.04

: Sonardyne - parsing R93.04

: Sonardyne - read R = 93.040000 from 93.04

: Sonardyne - got range only (93.040000), tat = 570
: Sonardyne - POSD response: 
POSD S134.6,N23.2,D-64,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.6,N23.2,D-64,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210457.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210457.00,,,,,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 R92.79

: Sonardyne - parsing R92.79

: Sonardyne - read R = 92.790000 from 92.79

: Sonardyne - got range only (92.790000), tat = 570
: Sonardyne - POSD response: 
POSD S138.6,N26.6,D-36,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.6,N26.6,D-36,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210458.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210458.00,,,,,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 R92.41

: Sonardyne - parsing R92.41

: Sonardyne - read R = 92.410000 from 92.41

: Sonardyne - got range only (92.410000), tat = 570
: Sonardyne - POSD response: 
POSD S140.8,N30.4,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.8,N30.4,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210459.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210459.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R91.88

: Sonardyne - parsing R91.88

: Sonardyne - read R = 91.880000 from 91.88

: Sonardyne - got range only (91.880000), tat = 570
: Sonardyne - POSD response: 
POSD S142.7,N29.0,D-31,U2,Q0.011372

: Sonardyne - POSD response: 
POSD S142.7,N29.0,D-31,U2,Q0.011372

: AshtechGps::processRecord() - $GPGGA,210500.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210500.00,,,,,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 R91.19

: Sonardyne - parsing R91.19

: Sonardyne - read R = 91.190000 from 91.19

: Sonardyne - got range only (91.190000), tat = 570
: Sonardyne - POSD response: 
POSD S144.6,N30.9,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.6,N30.9,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210501.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210501.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 31.12  6.19 18.26 3.88 3.91 0  2749.53 00:57:34 m

: Sonardyne - POS response: 
POS V4,1 R90.29

: Sonardyne - parsing R90.29

: Sonardyne - read R = 90.290000 from 90.29

: Sonardyne - got range only (90.290000), tat = 570
: Sonardyne - POSD response: 
POSD S142.3,N31.1,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.3,N31.1,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210502.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210502.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - POS response: 
POS V4,1 R89.42

: Sonardyne - parsing R89.42

: Sonardyne - read R = 89.420000 from 89.42

: Sonardyne - got range only (89.420000), tat = 570
: Sonardyne - POSD response: 
POSD S142.2,N30.5,D-14,U1,Q0.016633

: Sonardyne - POSD response: 
POSD S142.2,N30.5,D-14,U1,Q0.016633

: AshtechGps::processRecord() - $GPGGA,210503.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210503.00,,,,,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 R88.55

: Sonardyne - parsing R88.55

: Sonardyne - read R = 88.550000 from 88.55

: Sonardyne - got range only (88.550000), tat = 570
: Sonardyne - POSD response: 
POSD S140.9,N32.3,D-15,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S140.9,N32.3,D-15,U1,Q0.017183

: AshtechGps::processRecord() - $GPGGA,210504.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210504.00,,,,,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 R87.90

: Sonardyne - parsing R87.90

: Sonardyne - read R = 87.900000 from 87.90

: Sonardyne - got range only (87.900000), tat = 570
: Sonardyne - POSD response: 
POSD S145.9,N34.6,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.9,N34.6,D-22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210505.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210505.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R87.11

: Sonardyne - parsing R87.11

: Sonardyne - read R = 87.110000 from 87.11

: Sonardyne - got range only (87.110000), tat = 560
: Sonardyne - POSD response: 
POSD S144.0,N27.6,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.0,N27.6,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210506.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210506.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R86.63

: Sonardyne - parsing R86.63

: Sonardyne - read R = 86.630000 from 86.63

: Sonardyne - got range only (86.630000), tat = 560
: Sonardyne - POSD response: 
POSD S144.4,N30.3,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.4,N30.3,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210507.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210507.00,,,,,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 R86.19

: Sonardyne - parsing R86.19

: Sonardyne - read R = 86.190000 from 86.19

: Sonardyne - got range only (86.190000), tat = 560
: Sonardyne - POSD response: 
POSD S144.3,N30.0,D-7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.3,N30.0,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210508.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210508.00,,,,,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 R85.74

: Sonardyne - parsing R85.74

: Sonardyne - read R = 85.740000 from 85.74

: Sonardyne - got range only (85.740000), tat = 559
: Sonardyne - POSD response: 
POSD S139.6,N33.6,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.6,N33.6,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210509.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210509.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R85.15

: Sonardyne - parsing R85.15

: Sonardyne - read R = 85.150000 from 85.15

: Sonardyne - got range only (85.150000), tat = 560
: Sonardyne - POSD response: 
POSD S137.2,N29.1,D10,U1,Q0.013417

: Sonardyne - POSD response: 
POSD S137.2,N29.1,D10,U1,Q0.013417

: AshtechGps::processRecord() - $GPGGA,210510.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210510.00,,,,,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 R84.54

: Sonardyne - parsing R84.54

: Sonardyne - read R = 84.540000 from 84.54

: Sonardyne - got range only (84.540000), tat = 560
: Sonardyne - POSD response: 
POSD S138.7,N30.9,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.7,N30.9,D-20,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210511.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210511.00,,,,,0,00,,,M,,M,,*4E


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

: BluefinBatt Reply: $aaq0 d- 31.15  5.45 18.26 3.88 3.91 0  2749.11 00:57:44 m

: Sonardyne - POS response: 
POS V4,1 R83.85

: Sonardyne - parsing R83.85

: Sonardyne - read R = 83.850000 from 83.85

: Sonardyne - got range only (83.850000), tat = 560
: Sonardyne - POSD response: 
POSD S140.8,N29.2,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.8,N29.2,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210512.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210512.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - POS response: 
POS V4,1 R83.17

: Sonardyne - parsing R83.17

: Sonardyne - read R = 83.170000 from 83.17

: Sonardyne - got range only (83.170000), tat = 560
: Sonardyne - POSD response: 
POSD S139.2,N28.3,D-39,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.2,N28.3,D-39,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210513.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210513.00,,,,,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 R82.54

: Sonardyne - parsing R82.54

: Sonardyne - read R = 82.540000 from 82.54

: Sonardyne - got range only (82.540000), tat = 560
: Sonardyne - POSD response: 
POSD S143.8,N29.6,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.8,N29.6,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210514.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210514.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R81.96

: Sonardyne - parsing R81.96

: Sonardyne - read R = 81.960000 from 81.96

: Sonardyne - got range only (81.960000), tat = 560
: Sonardyne - POSD response: 
POSD S140.3,N31.1,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.3,N31.1,D-14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210515.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210515.00,,,,,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 R81.48

: Sonardyne - parsing R81.48

: Sonardyne - read R = 81.480000 from 81.48

: Sonardyne - got range only (81.480000), tat = 560
: Sonardyne - POSD response: 
POSD S140.3,N33.7,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.3,N33.7,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210516.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210516.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R81.04

: Sonardyne - parsing R81.04

: Sonardyne - read R = 81.040000 from 81.04

: Sonardyne - got range only (81.040000), tat = 560
: Sonardyne - POSD response: 
POSD S136.7,N35.2,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N35.2,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210517.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210517.00,,,,,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 R80.70

: Sonardyne - parsing R80.70

: Sonardyne - read R = 80.700000 from 80.70

: Sonardyne - got range only (80.700000), tat = 550
: Sonardyne - POSD response: 
POSD S138.3,N30.6,D-14,U2,Q0.003604

: Sonardyne - POSD response: 
POSD S138.3,N30.6,D-14,U2,Q0.003604

: AshtechGps::processRecord() - $GPGGA,210518.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210518.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R80.20

: Sonardyne - parsing R80.20

: Sonardyne - read R = 80.200000 from 80.20

: Sonardyne - got range only (80.200000), tat = 550
: Sonardyne - POSD response: 
POSD S138.5,N30.9,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.5,N30.9,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210519.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210519.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R79.66

: Sonardyne - parsing R79.66

: Sonardyne - read R = 79.660000 from 79.66

: Sonardyne - got range only (79.660000), tat = 550
: Sonardyne - POSD response: 
POSD S138.5,N29.8,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.5,N29.8,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210520.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210520.00,,,,,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 R79.00

: Sonardyne - parsing R79.00

: Sonardyne - read R = 79.000000 from 79.00

: Sonardyne - got range only (79.000000), tat = 550
: Sonardyne - POSD response: 
POSD S136.7,N26.8,D45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N26.8,D45,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210521.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210521.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 31.12  5.66 18.26 3.88 3.91 0  2748.44 00:57:54 m

: Sonardyne - POS response: 
POS V4,1 R78.46

: Sonardyne - parsing R78.46

: Sonardyne - read R = 78.460000 from 78.46

: Sonardyne - got range only (78.460000), tat = 550
: Sonardyne - POSD response: 
POSD S140.8,N31.0,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.8,N31.0,D-19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210522.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210522.00,,,,,0,00,,,M,,M,,*4E


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

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

: Sonardyne - POS response: 
POS V4,1 R77.87

: Sonardyne - parsing R77.87

: Sonardyne - read R = 77.870000 from 77.87

: Sonardyne - got range only (77.870000), tat = 550
: Sonardyne - POSD response: 
POSD S135.3,N25.2,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.3,N25.2,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210523.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210523.00,,,,,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 R77.46

: Sonardyne - parsing R77.46

: Sonardyne - read R = 77.460000 from 77.46

: Sonardyne - got range only (77.460000), tat = 550
: Sonardyne - POSD response: 
POSD S130.5,N27.2,D41,U3,Q0.009321

: Sonardyne - POSD response: 
POSD S130.5,N27.2,D41,U3,Q0.009321

: AshtechGps::processRecord() - $GPGGA,210524.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210524.00,,,,,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 R77.12

: Sonardyne - parsing R77.12

: Sonardyne - read R = 77.120000 from 77.12

: Sonardyne - got range only (77.120000), tat = 550
: Sonardyne - POSD response: 
POSD S140.3,N29.2,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.3,N29.2,D8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210525.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210525.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R76.80

: Sonardyne - parsing R76.80

: Sonardyne - read R = 76.800000 from 76.80

: Sonardyne - got range only (76.800000), tat = 550
: Sonardyne - POSD response: 
POSD S142.0,N33.8,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.0,N33.8,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210526.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210526.00,,,,,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 R76.47

: Sonardyne - parsing R76.47

: Sonardyne - read R = 76.470000 from 76.47

: Sonardyne - got range only (76.470000), tat = 550
: Sonardyne - POSD response: 
POSD S138.1,N30.4,D-9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.1,N30.4,D-9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210527.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210527.00,,,,,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 R76.19

: Sonardyne - parsing R76.19

: Sonardyne - read R = 76.190000 from 76.19

: Sonardyne - got range only (76.190000), tat = 550
: Sonardyne - POSD response: 
POSD S135.5,N22.6,D27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.5,N22.6,D27,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210528.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210528.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R75.89

: Sonardyne - parsing R75.89

: Sonardyne - read R = 75.890000 from 75.89

: Sonardyne - got range only (75.890000), tat = 550
: Sonardyne - POSD response: 
POSD S128.1,N23.8,D-92,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.1,N23.8,D-92,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210529.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210529.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R75.76

: Sonardyne - parsing R75.76

: Sonardyne - read R = 75.760000 from 75.76

: Sonardyne - got range only (75.760000), tat = 550
: Sonardyne - POSD response: 
POSD S139.6,N30.3,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.6,N30.3,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210530.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210530.00,,,,,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 R75.50

: Sonardyne - parsing R75.50

: Sonardyne - read R = 75.500000 from 75.50

: Sonardyne - got range only (75.500000), tat = 550
: Sonardyne - POSD response: 
POSD S140.5,N37.0,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.5,N37.0,D9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210531.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210531.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  6.16 18.26 3.88 3.91 0  2747.98 00:58:04 m

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

: Sonardyne - POS response: 
POS V4,1 R75.30

: Sonardyne - parsing R75.30

: Sonardyne - read R = 75.300000 from 75.30

: Sonardyne - got range only (75.300000), tat = 550
: Sonardyne - POSD response: 
POSD S139.9,N31.5,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.9,N31.5,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210532.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210532.00,,,,,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 = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R75.18

: Sonardyne - parsing R75.18

: Sonardyne - read R = 75.180000 from 75.18

: Sonardyne - got range only (75.180000), tat = 550
: Sonardyne - POSD response: 
POSD S140.3,N41.1,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.3,N41.1,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210533.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210533.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R74.79

: Sonardyne - parsing R74.79

: Sonardyne - read R = 74.790000 from 74.79

: Sonardyne - got range only (74.790000), tat = 550
: Sonardyne - POSD response: 
POSD S137.5,N33.2,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.5,N33.2,D3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210534.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210534.00,,,,,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 R74.67

: Sonardyne - parsing R74.67

: Sonardyne - read R = 74.670000 from 74.67

: Sonardyne - got range only (74.670000), tat = 550
: Sonardyne - POSD response: 
POSD S135.7,N33.0,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.7,N33.0,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210535.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210535.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R74.37

: Sonardyne - parsing R74.37

: Sonardyne - read R = 74.370000 from 74.37

: Sonardyne - got range only (74.370000), tat = 590
: Sonardyne - POSD response: 
POSD S131.4,N29.6,D-37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.4,N29.6,D-37,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210536.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210536.00,,,,,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 R74.14

: Sonardyne - parsing R74.14

: Sonardyne - read R = 74.140000 from 74.14

: Sonardyne - got range only (74.140000), tat = 550
: Sonardyne - POSD response: 
POSD S128.8,N20.2,D134,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.8,N20.2,D134,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210537.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210537.00,,,,,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 R75.41

: Sonardyne - parsing R75.41

: Sonardyne - read R = 75.410000 from 75.41

: Sonardyne - got range only (75.410000), tat = 549
: Sonardyne - POSD response: 
POSD S128.8,N17.2,D-145,U1,Q0.005038

: Sonardyne - POSD response: 
POSD S128.8,N17.2,D-145,U1,Q0.005038

: AshtechGps::processRecord() - $GPGGA,210538.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210538.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,210539.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210539.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,210540.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210540.00,,,,,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,210541.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210541.00,,,,,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,N4.9,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- 31.12  6.09 18.26 3.88 3.91 0  2747.36 00:58:14 m

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

: AshtechGps::processRecord() - $GPGGA,210542.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210542.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.73

: Sonardyne - parsing R73.73

: Sonardyne - read R = 73.730000 from 73.73

: Sonardyne - got range only (73.730000), tat = 540
: Sonardyne - POSD response: 
POSD S137.0,N25.2,D-33,U4,Q0.017831

: Sonardyne - POSD response: 
POSD S137.0,N25.2,D-33,U4,Q0.017831

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

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

: AshtechGps::processRecord() - $GPGGA,210543.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210543.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.80

: Sonardyne - parsing R73.80

: Sonardyne - read R = 73.800000 from 73.80

: Sonardyne - got range only (73.800000), tat = 550
: Sonardyne - POSD response: 
POSD S136.7,N32.9,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N32.9,D-20,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,210544.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210544.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.82

: Sonardyne - parsing R73.82

: Sonardyne - read R = 73.820000 from 73.82

: Sonardyne - got range only (73.820000), tat = 550
: Sonardyne - POSD response: 
POSD S136.4,N38.5,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.4,N38.5,D-5,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,210545.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210545.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.85

: Sonardyne - parsing R73.85

: Sonardyne - read R = 73.850000 from 73.85

: Sonardyne - got range only (73.850000), tat = 550
: Sonardyne - POSD response: 
POSD S129.0,N28.6,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.0,N28.6,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,210546.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210546.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.87

: Sonardyne - parsing R73.87

: Sonardyne - read R = 73.870000 from 73.87

: Sonardyne - got range only (73.870000), tat = 550
: Sonardyne - POSD response: 
POSD S130.0,N27.4,D-36,U1,Q0.013098

: Sonardyne - POSD response: 
POSD S130.0,N27.4,D-36,U1,Q0.013098

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

: AshtechGps::processRecord() - $GPGGA,210547.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210547.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.88

: Sonardyne - parsing R73.88

: Sonardyne - read R = 73.880000 from 73.88

: Sonardyne - got range only (73.880000), tat = 540
: Sonardyne - POSD response: 
POSD S131.8,N24.2,D-50,U4,Q0.015099

: Sonardyne - POSD response: 
POSD S131.8,N24.2,D-50,U4,Q0.015099

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

: AshtechGps::processRecord() - $GPGGA,210548.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210548.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R73.94,X71.72,Y-7.59,Z-16.26

: Sonardyne - parsing R73.94,X71.72,Y-7.59,Z-16.26

: Sonardyne - read R = 73.940000 from 73.94,X71.72,Y-7.59,Z-16.26

: Sonardyne - got all data, Vehicle coordinates,
    r=73.940000, x=16.260000, y=71.720000, z=7.590000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder
  at t = 484.60          Seconds.
:   The vehicle position is (4052152.5, 600544.9)

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

: AshtechGps::processRecord() - $GPGGA,210549.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210549.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.10,X71.40,Y-10.61,Z-16.71

: Sonardyne - parsing R74.10,X71.40,Y-10.61,Z-16.71

: Sonardyne - read R = 74.100000 from 74.10,X71.40,Y-10.61,Z-16.71

: Sonardyne - got all data, Vehicle coordinates,
    r=74.100000, x=16.710000, y=71.400000, z=10.610000 tat = 570
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210550.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210550.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.05

: Sonardyne - parsing R74.05

: Sonardyne - read R = 74.050000 from 74.05

: Sonardyne - got range only (74.050000), tat = 550
: Sonardyne - POSD response: 
POSD S129.3,N30.9,D14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.3,N30.9,D14,U0,Q0.000000

:  wdt = 00891,  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 = 486.80          Seconds.
:   The vehicle position is is (4052150.9, 600546.7)

: AshtechGps::processRecord() - $GPGGA,210551.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210551.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.08,X71.60,Y-8.15,Z-17.20

: Sonardyne - parsing R74.08,X71.60,Y-8.15,Z-17.20

: Sonardyne - read R = 74.080000 from 74.08,X71.60,Y-8.15,Z-17.20

: Sonardyne - got all data, Vehicle coordinates,
    r=74.080000, x=17.200000, y=71.600000, z=8.150000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder
  at t = 487.60          Seconds.
:   The vehicle position is (4052150.3, 600547.3)

: BluefinBatt Reply: $aaq0 d- 31.15  5.62 18.26 3.88 3.90 0  2746.91 00:58:24 m

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

: AshtechGps::processRecord() - $GPGGA,210552.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210552.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.25,X72.32,Y-8.33,Z-14.62

: Sonardyne - parsing R74.25,X72.32,Y-8.33,Z-14.62

: Sonardyne - read R = 74.250000 from 74.25,X72.32,Y-8.33,Z-14.62

: Sonardyne - got all data, Vehicle coordinates,
    r=74.250000, x=14.620000, y=72.320000, z=8.330000 tat = 619
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

: AshtechGps::processRecord() - $GPGGA,210553.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210553.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.43,X72.46,Y-9.90,Z-13.78

: Sonardyne - parsing R74.43,X72.46,Y-9.90,Z-13.78

: Sonardyne - read R = 74.430000 from 74.43,X72.46,Y-9.90,Z-13.78

: Sonardyne - got all data, Vehicle coordinates,
    r=74.430000, x=13.780000, y=72.460000, z=9.900000 tat = 570
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210554.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210554.00,,,,,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,210555.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210555.00,,,,,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,210556.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210556.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.4,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 493.20          Seconds.
:   The vehicle position is is (4052146.1, 600551.9)

: AshtechGps::processRecord() - $GPGGA,210557.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210557.00,,,,,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 R74.90,X72.37,Y-10.21,Z-16.40

: Sonardyne - parsing R74.90,X72.37,Y-10.21,Z-16.40

: Sonardyne - read R = 74.900000 from 74.90,X72.37,Y-10.21,Z-16.40

: Sonardyne - got all data, Vehicle coordinates,
    r=74.900000, x=16.400000, y=72.370000, z=10.210000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder
  at t = 494.20          Seconds.
:   The vehicle position is (4052145.3, 600552.7)

: AshtechGps::processRecord() - $GPGGA,210558.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210558.00,,,,,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 R75.06,X72.85,Y-10.30,Z-14.85

: Sonardyne - parsing R75.06,X72.85,Y-10.30,Z-14.85

: Sonardyne - read R = 75.060000 from 75.06,X72.85,Y-10.30,Z-14.85

: Sonardyne - got all data, Vehicle coordinates,
    r=75.060000, x=14.850000, y=72.850000, z=10.300000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210559.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210559.00,,,,,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 R75.14,X74.33,Y-11.04,Z0.00

: Sonardyne - parsing R75.14,X74.33,Y-11.04,Z0.00

: Sonardyne - read R = 75.140000 from 75.14,X74.33,Y-11.04,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=75.140000, x=0.000000, y=74.330000, z=11.040000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210600.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210600.00,,,,,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 R75.34,X74.22,Y-12.94,Z0.00

: Sonardyne - parsing R75.34,X74.22,Y-12.94,Z0.00

: Sonardyne - read R = 75.340000 from 75.34,X74.22,Y-12.94,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=75.340000, x=0.000000, y=74.220000, z=12.940000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210601.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210601.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.12  6.16 18.26 3.88 3.90 0  2746.25 00:58:34 m

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

: Sonardyne - POS response: 
POS V4,1 R75.47

: Sonardyne - parsing R75.47

: Sonardyne - read R = 75.470000 from 75.47

: Sonardyne - got range only (75.470000), tat = 550
: Sonardyne - POSD response: 
POSD S127.0,N31.4,D-16,U1,Q0.008945

: Sonardyne - POSD response: 
POSD S127.0,N31.4,D-16,U1,Q0.008945

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 498.20          Seconds.
:   The vehicle position is is (4052142.4, 600555.4)

: AshtechGps::processRecord() - $GPGGA,210602.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210602.00,,,,,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 = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R75.69,X74.56,Y-13.07,Z0.00

: Sonardyne - parsing R75.69,X74.56,Y-13.07,Z0.00

: Sonardyne - read R = 75.690000 from 75.69,X74.56,Y-13.07,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=75.690000, x=0.000000, y=74.560000, z=13.070000 tat = 570
: WaypointHoming: The Usbl has aquired the transponder
  at t = 499.20          Seconds.
:   The vehicle position is (4052141.6, 600556.2)

: AshtechGps::processRecord() - $GPGGA,210603.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210603.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R75.73,X74.50,Y-9.64,Z-9.57

: Sonardyne - parsing R75.73,X74.50,Y-9.64,Z-9.57

: Sonardyne - read R = 75.730000 from 75.73,X74.50,Y-9.64,Z-9.57

: Sonardyne - got all data, Vehicle coordinates,
    r=75.730000, x=9.570000, y=74.500000, z=9.640000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210604.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210604.00,,,,,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 R75.97,X74.15,Y-11.28,Z-12.11

: Sonardyne - parsing R75.97,X74.15,Y-11.28,Z-12.11

: Sonardyne - read R = 75.970000 from 75.97,X74.15,Y-11.28,Z-12.11

: Sonardyne - got all data, Vehicle coordinates,
    r=75.970000, x=12.110000, y=74.150000, z=11.280000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210605.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210605.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R76.19,X74.03,Y-12.81,Z-12.68

: Sonardyne - parsing R76.19,X74.03,Y-12.81,Z-12.68

: Sonardyne - read R = 76.190000 from 76.19,X74.03,Y-12.81,Z-12.68

: Sonardyne - got all data, Vehicle coordinates,
    r=76.190000, x=12.680000, y=74.030000, z=12.810000 tat = 570
: AshtechGps::processRecord() - $GPGGA,210606.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210606.00,,,,,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 R76.45

: Sonardyne - parsing R76.45

: Sonardyne - read R = 76.450000 from 76.45

: Sonardyne - got range only (76.450000), tat = 549
: Sonardyne - POSD response: 
POSD S126.6,N30.0,D23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N30.0,D23,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 503.20          Seconds.
:   The vehicle position is is (4052138.2, 600559.4)

: AshtechGps::processRecord() - $GPGGA,210607.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210607.00,,,,,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 R76.69

: Sonardyne - parsing R76.69

: Sonardyne - read R = 76.690000 from 76.69

: Sonardyne - got range only (76.690000), tat = 550
: Sonardyne - POSD response: 
POSD S123.7,N24.3,D-48,U3,Q0.000521

: Sonardyne - POSD response: 
POSD S123.7,N24.3,D-48,U3,Q0.000521

: AshtechGps::processRecord() - $GPGGA,210608.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210608.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R77.00,X-54.39,Y-49.72,Z-22.32

: Sonardyne - parsing R77.00,X-54.39,Y-49.72,Z-22.32

: Sonardyne - read R = 77.000000 from 77.00,X-54.39,Y-49.72,Z-22.32

: Sonardyne - got all data, Vehicle coordinates,
    r=77.000000, x=22.320000, y=-54.390000, z=49.720000 tat = 580
: WaypointHoming: The Usbl has aquired the transponder
  at t = 505.20          Seconds.
:   The vehicle position is (4052136.8, 600560.9)

: AshtechGps::processRecord() - $GPGGA,210609.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210609.00,,,,,0,00,,,M,,M,,*44


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

:  WaypointHoming has set the state to finished.

: WaypointHoming (4052136.3, 600561.4), 
  reached at t = 506.00                                          (wplog)

: Vehicle Position error is (0.1, -0.1)

: LayeredControl::execute() -- (t = 505.995337) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 506.00                            (wplog)
  The current location (N,E) = 4052136.2      , 600561.5         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 323.4 Degrees.

: LayeredControl::execute() -- (t = 506.005336) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,210610.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210610.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,210611.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210611.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.15  5.59 18.26 3.88 3.90 0  2745.83 00:58:44 m

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

: AshtechGps::processRecord() - $GPGGA,210612.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210612.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210613.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210613.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210614.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210614.00,,,,,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,210615.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210615.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210616.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210616.00,,,,,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,210617.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210617.00,,,,,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,210618.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210618.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,210619.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210619.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,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,210620.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210620.00,,,,,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,210621.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210621.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93 11.25 18.26 3.88 3.90 0  2744.86 00:58:54 m

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

: AshtechGps::processRecord() - $GPGGA,210622.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210622.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.880000, mean min cell voltage 3.880000

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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,210623.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210623.00,,,,,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 R89.87

: Sonardyne - parsing R89.87

: Sonardyne - read R = 89.870000 from 89.87

: Sonardyne - got range only (89.870000), tat = 570
: Sonardyne - POSD response: 
POSD S121.2,N31.7,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.2,N31.7,D18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210624.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210624.00,,,,,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,210625.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210625.00,,,,,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,210626.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210626.00,,,,,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,210627.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210627.00,,,,,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,N11.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N11.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210628.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210628.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.79

: Sonardyne - parsing R90.79

: Sonardyne - read R = 90.790000 from 90.79

: Sonardyne - got range only (90.790000), tat = 570
: Sonardyne - POSD response: 
POSD S130.3,N28.0,D55,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.3,N28.0,D55,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,210629.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210629.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.52

: Sonardyne - parsing R90.52

: Sonardyne - read R = 90.520000 from 90.52

: Sonardyne - got range only (90.520000), tat = 570
: Sonardyne - POSD response: 
POSD S136.7,N32.2,D12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.7,N32.2,D12,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,210630.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210630.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.09

: Sonardyne - parsing R90.09

: Sonardyne - read R = 90.090000 from 90.09

: Sonardyne - got range only (90.090000), tat = 570
: Sonardyne - POSD response: 
POSD S136.0,N31.5,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S136.0,N31.5,D8,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210631.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210631.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.57

: Sonardyne - parsing R89.57

: Sonardyne - read R = 89.570000 from 89.57

: Sonardyne - got range only (89.570000), tat = 570
: Sonardyne - POSD response: 
POSD S137.0,N27.6,D-46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.0,N27.6,D-46,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.93 11.49 18.26 3.86 3.88 0  2744.22 00:59:04 m

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

: AshtechGps::processRecord() - $GPGGA,210632.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210632.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.00

: Sonardyne - parsing R89.00

: Sonardyne - read R = 89.000000 from 89.00

: Sonardyne - got range only (89.000000), tat = 570
: Sonardyne - POSD response: 
POSD S137.6,N29.6,D-50,U1,Q0.020187

: Sonardyne - POSD response: 
POSD S137.6,N29.6,D-50,U1,Q0.020187

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210633.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210633.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.36

: Sonardyne - parsing R88.36

: Sonardyne - read R = 88.360000 from 88.36

: Sonardyne - got range only (88.360000), tat = 570
: Sonardyne - POSD response: 
POSD S138.5,N30.9,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.5,N30.9,D-4,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,210634.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210634.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.72,X-72.47,Y8.19,Z-48.74

: Sonardyne - parsing R87.72,X-72.47,Y8.19,Z-48.74

: Sonardyne - read R = 87.720000 from 87.72,X-72.47,Y8.19,Z-48.74

: Sonardyne - got all data, Vehicle coordinates,
    r=87.720000, x=48.740000, y=-72.470000, z=-8.190000 tat = 590
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210635.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210635.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.43

: Sonardyne - parsing R88.43

: Sonardyne - read R = 88.430000 from 88.43

: Sonardyne - got range only (88.430000), tat = 570
: Sonardyne - POSD response: 
POSD S135.6,N19.6,D-18,U1,Q0.001008

: Sonardyne - POSD response: 
POSD S135.6,N19.6,D-18,U1,Q0.001008

:  Waypoint has set the state to finished.

: Waypoint (4052136.3, 600561.4), 
  reached at t = 531.59                                          (wplog)

: Vehicle Position is error is (-6.8, -9.0)

: LayeredControl::execute() -- (t = 531.603583) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 531.60                            (wplog)
  The current location (N,E) = 4052143.1      , 600570.4         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 331.1 Degrees.

: LayeredControl::execute() -- (t = 531.603583) 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

: AshtechGps::processRecord() - $GPGGA,210636.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210636.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.39

: Sonardyne - parsing R86.39

: Sonardyne - read R = 86.390000 from 86.39

: Sonardyne - got range only (86.390000), tat = 559
: Sonardyne - POSD response: 
POSD S132.0,N26.0,D48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.0,N26.0,D48,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,210637.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210637.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.94

: Sonardyne - parsing R85.94

: Sonardyne - read R = 85.940000 from 85.94

: Sonardyne - got range only (85.940000), tat = 560
: Sonardyne - POSD response: 
POSD S132.0,N30.1,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.0,N30.1,D28,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,210638.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210638.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.52

: Sonardyne - parsing R85.52

: Sonardyne - read R = 85.520000 from 85.52

: Sonardyne - got range only (85.520000), tat = 560
: Sonardyne - POSD response: 
POSD S122.6,N19.7,D-127,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N19.7,D-127,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,210639.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210639.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.40

: Sonardyne - parsing R85.40

: Sonardyne - read R = 85.400000 from 85.40

: Sonardyne - got range only (85.400000), tat = 560
: Sonardyne - POSD response: 
POSD S125.1,N21.3,D95,U4,Q0.003232

: Sonardyne - POSD response: 
POSD S125.1,N21.3,D95,U4,Q0.003232

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

: AshtechGps::processRecord() - $GPGGA,210640.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210640.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.53

: Sonardyne - parsing R85.53

: Sonardyne - read R = 85.530000 from 85.53

: Sonardyne - got range only (85.530000), tat = 560
: Sonardyne - POSD response: 
POSD S126.6,N23.5,D67,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.6,N23.5,D67,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210641.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210641.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.50

: Sonardyne - parsing R86.50

: Sonardyne - read R = 86.500000 from 86.50

: Sonardyne - got range only (86.500000), tat = 560
: Sonardyne - POSD response: 
POSD S119.7,N21.5,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.7,N21.5,D-22,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96 10.54 18.26 3.86 3.88 0  2743.10 00:59:14 m

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

: AshtechGps::processRecord() - $GPGGA,210642.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210642.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.48

: Sonardyne - parsing R86.48

: Sonardyne - read R = 86.480000 from 86.48

: Sonardyne - got range only (86.480000), tat = 560
: Sonardyne - POSD response: 
POSD S121.4,N31.6,D-10,U1,Q0.006074

: Sonardyne - POSD response: 
POSD S121.4,N31.6,D-10,U1,Q0.006074

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210643.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210643.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.12,X42.69,Y-75.94,Z0.00

: Sonardyne - parsing R87.12,X42.69,Y-75.94,Z0.00

: Sonardyne - read R = 87.120000 from 87.12,X42.69,Y-75.94,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=87.120000, x=0.000000, y=42.690000, z=75.940000 tat = 590
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210644.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210644.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.19

: Sonardyne - parsing R88.19

: Sonardyne - read R = 88.190000 from 88.19

: Sonardyne - got range only (88.190000), tat = 570
: Sonardyne - POSD response: 
POSD S118.1,N24.2,D27,U5,Q0.002033

: Sonardyne - POSD response: 
POSD S118.1,N24.2,D27,U5,Q0.002033

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

: AshtechGps::processRecord() - $GPGGA,210645.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210645.00,,,,,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,210646.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210646.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210647.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210647.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N6.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210648.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210648.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.29,X5.25,Y-23.55,Z-89.08

: Sonardyne - parsing R92.29,X5.25,Y-23.55,Z-89.08

: Sonardyne - read R = 92.290000 from 92.29,X5.25,Y-23.55,Z-89.08

: Sonardyne - got all data, Vehicle coordinates,
    r=92.290000, x=89.080000, y=5.250000, z=23.550000 tat = 590
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210649.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210649.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.27,X2.80,Y-19.05,Z-91.26

: Sonardyne - parsing R93.27,X2.80,Y-19.05,Z-91.26

: Sonardyne - read R = 93.270000 from 93.27,X2.80,Y-19.05,Z-91.26

: Sonardyne - got all data, Vehicle coordinates,
    r=93.270000, x=91.260000, y=2.800000, z=19.050000 tat = 590
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210650.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210650.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.16,X0.81,Y-15.51,Z-92.87

: Sonardyne - parsing R94.16,X0.81,Y-15.51,Z-92.87

: Sonardyne - read R = 94.160000 from 94.16,X0.81,Y-15.51,Z-92.87

: Sonardyne - got all data, Vehicle coordinates,
    r=94.160000, x=92.870000, y=0.810000, z=15.510000 tat = 589
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210651.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210651.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.13 18.26 3.86 3.88 0  2742.39 00:59:24 m

: Sonardyne - POS response: 
POS V4,1 R95.39

: Sonardyne - parsing R95.39

: Sonardyne - read R = 95.390000 from 95.39

: Sonardyne - got range only (95.390000), tat = 570
: Sonardyne - POSD response: 
POSD S115.3,N28.5,D1,U1,Q0.014933

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

: Sonardyne - POSD response: 
POSD S115.3,N28.5,D1,U1,Q0.014933

: AshtechGps::processRecord() - $GPGGA,210652.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210652.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R96.36

: Sonardyne - parsing R96.36

: Sonardyne - read R = 96.360000 from 96.36

: Sonardyne - got range only (96.360000), tat = 580
: Sonardyne - POSD response: 
POSD S117.9,N30.2,D23,U3,Q0.005019

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

: Sonardyne - POSD response: 
POSD S117.9,N30.2,D23,U3,Q0.005019

: AshtechGps::processRecord() - $GPGGA,210653.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210653.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R97.40

: Sonardyne - parsing R97.40

: Sonardyne - read R = 97.400000 from 97.40

: Sonardyne - got range only (97.400000), tat = 580
: Sonardyne - POSD response: 
POSD S115.7,N29.1,D5,U1,Q0.000952

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

: Sonardyne - POSD response: 
POSD S115.7,N29.1,D5,U1,Q0.000952

: AshtechGps::processRecord() - $GPGGA,210654.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210654.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.65

: Sonardyne - parsing R98.65

: Sonardyne - read R = 98.650000 from 98.65

: Sonardyne - got range only (98.650000), tat = 580
: Sonardyne - POSD response: 
POSD S119.6,N29.7,D27,U3,Q0.008892

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

: Sonardyne - POSD response: 
POSD S119.6,N29.7,D27,U3,Q0.008892

: AshtechGps::processRecord() - $GPGGA,210655.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210655.00,,,,,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,210656.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210656.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210657.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210657.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210658.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210658.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210659.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210659.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.19

: Sonardyne - parsing R103.19

: Sonardyne - read R = 103.190000 from 103.19

: Sonardyne - got range only (103.190000), tat = 590
: Sonardyne - POSD response: 
POSD S117.9,N22.5,D45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.9,N22.5,D45,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,210700.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210700.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.57

: Sonardyne - parsing R104.57

: Sonardyne - read R = 104.570000 from 104.57

: Sonardyne - got range only (104.570000), tat = 590
: Sonardyne - POSD response: 
POSD S114.6,N17.9,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.6,N17.9,D29,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210701.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210701.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R105.13

: Sonardyne - parsing R105.13

: Sonardyne - read R = 105.130000 from 105.13

: Sonardyne - got range only (105.130000), tat = 590
: Sonardyne - POSD response: 
POSD S117.1,N25.7,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.1,N25.7,D15,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  9.73 18.35 3.86 3.88 0  2741.37 00:59:34 m

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

: AshtechGps::processRecord() - $GPGGA,210702.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210702.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210703.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210703.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210704.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210704.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210705.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210705.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.49

: Sonardyne - parsing R109.49

: Sonardyne - read R = 109.490000 from 109.49

: Sonardyne - got range only (109.490000), tat = 590
: Sonardyne - POSD response: 
POSD S117.6,N26.9,D36,U2,Q0.008310

: Sonardyne - POSD response: 
POSD S117.6,N26.9,D36,U2,Q0.008310

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

: AshtechGps::processRecord() - $GPGGA,210706.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210706.00,,,,,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,210707.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210707.00,,,,,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,210708.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210708.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,210709.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210709.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.8,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,210710.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210710.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,210711.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210711.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.00  8.42 18.26 3.86 3.89 0  2740.74 00:59:44 m

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

: AshtechGps::processRecord() - $GPGGA,210712.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210712.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210713.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210713.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.08

: Sonardyne - parsing R117.08

: Sonardyne - read R = 117.080000 from 117.08

: Sonardyne - got range only (117.080000), tat = 600
: Sonardyne - POSD response: 
POSD S119.8,N31.7,D28,U1,Q0.011843

: Sonardyne - POSD response: 
POSD S119.8,N31.7,D28,U1,Q0.011843

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

: AshtechGps::processRecord() - $GPGGA,210714.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210714.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.09

: Sonardyne - parsing R118.09

: Sonardyne - read R = 118.090000 from 118.09

: Sonardyne - got range only (118.090000), tat = 610
: Sonardyne - POSD response: 
POSD S122.8,N30.5,D21,U5,Q0.010817

: Sonardyne - POSD response: 
POSD S122.8,N30.5,D21,U5,Q0.010817

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

: AshtechGps::processRecord() - $GPGGA,210715.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210715.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.09,X12.16,Y-28.70,Z-114.94

: Sonardyne - parsing R119.09,X12.16,Y-28.70,Z-114.94

: Sonardyne - read R = 119.090000 from 119.09,X12.16,Y-28.70,Z-114.94

: Sonardyne - got all data, Vehicle coordinates,
    r=119.090000, x=114.940000, y=12.160000, z=28.700000 tat = 630
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210716.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210716.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,210717.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210717.00,,,,,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,210718.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210718.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,210719.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210719.00,,,,,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,N3.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.2,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,210720.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210720.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.49,X75.01,Y-100.60,Z0.00

: Sonardyne - parsing R125.49,X75.01,Y-100.60,Z0.00

: Sonardyne - read R = 125.490000 from 125.49,X75.01,Y-100.60,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=125.490000, x=0.000000, y=75.010000, z=100.600000 tat = 640
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210721.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210721.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.82,X-1.13,Y-9.56,Z-125.45

: Sonardyne - parsing R125.82,X-1.13,Y-9.56,Z-125.45

: Sonardyne - read R = 125.820000 from 125.82,X-1.13,Y-9.56,Z-125.45

: Sonardyne - got all data, Vehicle coordinates,
    r=125.820000, x=125.450000, y=-1.130000, z=9.560000 tat = 640
: BluefinBatt Reply: $aaq0 d- 31.00  9.23 18.26 3.86 3.89 0  2739.71 00:59:54 m

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

: AshtechGps::processRecord() - $GPGGA,210722.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210722.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R137.85,X-0.74,Y-13.93,Z-137.14

: Sonardyne - parsing R137.85,X-0.74,Y-13.93,Z-137.14

: Sonardyne - read R = 137.850000 from 137.85,X-0.74,Y-13.93,Z-137.14

: Sonardyne - got all data, Vehicle coordinates,
    r=137.850000, x=137.140000, y=-0.740000, z=13.930000 tat = 660
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210723.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210723.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R127.96,X-1.97,Y-16.08,Z-126.93

: Sonardyne - parsing R127.96,X-1.97,Y-16.08,Z-126.93

: Sonardyne - read R = 127.960000 from 127.96,X-1.97,Y-16.08,Z-126.93

: Sonardyne - got all data, Vehicle coordinates,
    r=127.960000, x=126.930000, y=-1.970000, z=16.080000 tat = 640
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210724.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210724.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R129.26,X-2.07,Y-16.51,Z-128.19

: Sonardyne - parsing R129.26,X-2.07,Y-16.51,Z-128.19

: Sonardyne - read R = 129.260000 from 129.26,X-2.07,Y-16.51,Z-128.19

: Sonardyne - got all data, Vehicle coordinates,
    r=129.260000, x=128.190000, y=-2.070000, z=16.510000 tat = 650
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210725.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210725.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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
: Sonardyne - POSD response: 
POSD S121.0,N27.8,D6,U1,Q0.001691

: Sonardyne - POSD response: 
POSD S121.0,N27.8,D6,U1,Q0.001691

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

: AshtechGps::processRecord() - $GPGGA,210726.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210726.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R131.65

: Sonardyne - parsing R131.65

: Sonardyne - read R = 131.650000 from 131.65

: Sonardyne - got range only (131.650000), tat = 620
: Sonardyne - POSD response: 
POSD S120.7,N30.2,D25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.7,N30.2,D25,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,210727.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210727.00,,,,,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,210728.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210728.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210729.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210729.00,,,,,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,N0.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N0.6,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,210730.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210730.00,,,,,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,210731.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210731.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93 10.21 18.26 3.86 3.89 0  2739.03 01:00:04 m

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

: AshtechGps::processRecord() - $GPGGA,210732.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210732.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210733.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210733.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,210734.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210734.00,,,,,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,210735.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210735.00,,,,,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,210736.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210736.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,210737.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210737.00,,,,,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,210738.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210738.00,,,,,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,210739.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210739.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,210740.00,,,,,0,00,,,M,,M,,*48

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

: GpsUtils::parseFix() - $GPGGA,210740.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210741.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210741.00,,,,,0,00,,,M,,M,,*49


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

: BluefinBatt Reply: $aaq0 d- 31.00  8.32 18.26 3.86 3.89 0  2738.14 01:00:14 m

: AshtechGps::processRecord() - $GPGGA,210742.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210742.00,,,,,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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210743.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210743.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210744.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210744.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,210745.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210745.00,,,,,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,210746.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210746.00,,,,,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,210747.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210747.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 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,210748.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210748.00,,,,,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,210749.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210749.00,,,,,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,210750.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210750.00,,,,,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 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

: AshtechGps::processRecord() - $GPGGA,210751.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210751.00,,,,,0,00,,,M,,M,,*48


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

: BluefinBatt Reply: $aaq0 d- 30.96  8.62 18.26 3.86 3.89 0  2737.49 01:00:24 m

: AshtechGps::processRecord() - $GPGGA,210752.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210752.00,,,,,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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210753.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210753.00,,,,,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,210754.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,210754.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,210755.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,210755.00,,,,,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,210756.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210756.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210757.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210757.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 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,210758.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210758.00,,,,,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,210759.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210759.00,,,,,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,210800.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210800.00,,,,,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,210801.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210801.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 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

: BluefinBatt Reply: $aaq0 d- 30.96  8.92 18.26 3.86 3.89 0  2736.49 01:00:34 m

: AshtechGps::processRecord() - $GPGGA,210802.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210802.00,,,,,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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210803.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210803.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,210804.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210804.00,,,,,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,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,210805.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210805.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210806.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210806.00,,,,,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,210807.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210807.00,,,,,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,210808.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210808.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210809.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210809.00,,,,,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,210810.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210810.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210811.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210811.00,,,,,0,00,,,M,,M,,*43


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

: BluefinBatt Reply: $aaq0 d- 30.96  9.46 18.26 3.86 3.89 0  2735.86 01:00:44 m

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210812.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210812.00,,,,,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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210813.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210813.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,210814.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210814.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210815.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210815.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 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,210816.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210816.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,210817.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210817.00,,,,,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,210818.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210818.00,,,,,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,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,210819.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210819.00,,,,,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,210820.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210820.00,,,,,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,210821.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210821.00,,,,,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- 30.96  8.79 18.26 3.86 3.89 0  2734.92 01:00:54 m

: AshtechGps::processRecord() - $GPGGA,210822.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210822.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.1,D0,U0,Q0.000000

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210823.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210823.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210824.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210824.00,,,,,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,210825.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210825.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210826.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210826.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210827.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210827.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210828.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210828.00,,,,,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,210829.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210829.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210830.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210830.00,,,,,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,210831.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210831.00,,,,,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- 30.93 10.07 18.26 3.86 3.89 0  2734.28 01:01:04 m

: AshtechGps::processRecord() - $GPGGA,210832.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210832.00,,,,,0,00,,,M,,M,,*42


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210833.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210833.00,,,,,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,210834.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210834.00,,,,,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,210835.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210835.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,210836.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210836.00,,,,,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,N5.8,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,N5.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210837.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210837.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210838.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210838.00,,,,,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,210839.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210839.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210840.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210840.00,,,,,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,210841.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210841.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 30.93  9.33 18.26 3.86 3.89 0  2733.28 01:01:14 m

: AshtechGps::processRecord() - $GPGGA,210842.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210842.00,,,,,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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,210843.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210843.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,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,210844.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210844.00,,,,,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,210845.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210845.00,,,,,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,210846.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210846.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,210847.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210847.00,,,,,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,210848.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210848.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,210849.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210849.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210850.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210850.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,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,210851.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210851.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  9.09 18.26 3.86 3.88 0  2732.65 01:01:24 m

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

: AshtechGps::processRecord() - $GPGGA,210852.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210852.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210853.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210853.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210854.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210854.00,,,,,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,210855.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210855.00,,,,,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,210856.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210856.00,,,,,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,210857.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210857.00,,,,,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,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,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,210858.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210858.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,210859.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210859.00,,,,,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,210900.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210900.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210901.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210901.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.26 18.26 3.86 3.88 0  2731.68 01:01:34 m

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

: AshtechGps::processRecord() - $GPGGA,210902.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210902.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

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

: AshtechGps::processRecord() - $GPGGA,210903.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210903.00,,,,,0,00,,,M,,M,,*41


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

: AshtechGps::processRecord() - $GPGGA,210904.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210904.00,,,,,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,N6.4,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210905.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210905.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210906.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210906.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,210907.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210907.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,210908.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210908.00,,,,,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,210909.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210909.00,,,,,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,210910.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210910.00,,,,,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,210911.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210911.00,,,,,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,N5.3,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  8.66 18.35 3.85 3.88 0  2731.08 01:01:44 m

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

: AshtechGps::processRecord() - $GPGGA,210912.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210912.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,210913.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210913.00,,,,,0,00,,,M,,M,,*40


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

: AshtechGps::processRecord() - $GPGGA,210914.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210914.00,,,,,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,210915.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210915.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210916.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210916.00,,,,,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,210917.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210917.00,,,,,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,210918.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,210918.00,,,,,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,N5.2,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,210919.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,210919.00,,,,,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,210920.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210920.00,,,,,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,210921.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210921.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89 10.34 18.35 3.85 3.88 0  2730.13 01:01:54 m

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

: Sonardyne - POS response: 
POS V4,1 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,210922.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210922.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,210923.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210923.00,,,,,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,210924.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210924.00,,,,,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,210925.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210925.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,210926.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210926.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210927.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210927.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210928.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210928.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 705.00                                          (wplog)

: Vehicle Position is error is (0.0, 0.2)

: LayeredControl::execute() -- (t = 705.001704) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 705.011703) Behavior ascend has changed to state Active

: 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,210929.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210929.00,,,,,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,210930.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210930.00,,,,,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,210931.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210931.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  8.35 18.26 3.85 3.88 0  2729.53 01:02:04 m

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

: AshtechGps::processRecord() - $GPGGA,210932.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210932.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,210933.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210933.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,210934.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210934.00,,,,,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,210935.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210935.00,,,,,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 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210936.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210936.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,210937.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210937.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,210938.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,210938.00,,,,,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,210939.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,210939.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210940.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210940.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R337.77

: Sonardyne - parsing R337.77

: Sonardyne - read R = 337.770000 from 337.77

: Sonardyne - got range only (337.770000), tat = 900
: Sonardyne - POSD response: 
POSD S121.2,N28.1,D18,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 S121.2,N28.1,D18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210941.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210941.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.96  8.59 18.35 3.85 3.88 0  2728.62 01:02:14 m

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

: AshtechGps::processRecord() - $GPGGA,210942.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210942.00,,,,,0,00,,,M,,M,,*44


: Sonardyne - POS response: 
POS V4,1 R338.10

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - parsing R338.10

: Sonardyne - read R = 338.100000 from 338.10

: Sonardyne - got range only (338.100000), tat = 900
: Sonardyne - POSD response: 
POSD S123.8,N28.9,D-42,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.8,N28.9,D-42,U0,Q0.000000

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,210943.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210943.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R338.18

: Sonardyne - parsing R338.18

: Sonardyne - read R = 338.180000 from 338.18

: Sonardyne - got range only (338.180000), tat = 900
: Sonardyne - POSD response: 
POSD S128.1,N30.6,D-38,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S128.1,N30.6,D-38,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,210944.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210944.00,,,,,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,210945.00,,,,,0,00,,,M,,M,,*43

: Sonardyne - POS response: 
POS V4,1 R336.88

: GpsUtils::parseFix() - $GPGGA,210945.00,,,,,0,00,,,M,,M,,*43


: Sonardyne - parsing R336.88

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - read R = 336.880000 from 336.88

: Sonardyne - got range only (336.880000), tat = 900
: Sonardyne - POSD response: 
POSD S125.4,N27.3,D-23,U2,Q0.017254

: Sonardyne - POSD response: 
POSD S125.4,N27.3,D-23,U2,Q0.017254

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

: AshtechGps::processRecord() - $GPGGA,210946.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210946.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R335.28,X113.92,Y-69.17,Z-307.65

: Sonardyne - parsing R335.28,X113.92,Y-69.17,Z-307.65

: Sonardyne - read R = 335.280000 from 335.28,X113.92,Y-69.17,Z-307.65

: Sonardyne - got all data, Vehicle coordinates,
    r=335.280000, x=307.650000, y=113.920000, z=69.170000 tat = 930
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210947.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210947.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R333.81,X51.81,Y-80.46,Z-319.80

: Sonardyne - parsing R333.81,X51.81,Y-80.46,Z-319.80

: Sonardyne - read R = 333.810000 from 333.81,X51.81,Y-80.46,Z-319.80

: Sonardyne - got all data, Vehicle coordinates,
    r=333.810000, x=319.800000, y=51.810000, z=80.460000 tat = 920
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210948.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210948.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R332.53,X-12.25,Y-92.79,Z-319.09

: Sonardyne - parsing R332.53,X-12.25,Y-92.79,Z-319.09

: Sonardyne - read R = 332.530000 from 332.53,X-12.25,Y-92.79,Z-319.09

: Sonardyne - got all data, Vehicle coordinates,
    r=332.530000, x=319.090000, y=-12.250000, z=92.790000 tat = 920
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210949.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210949.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R331.32,X-71.97,Y-92.75,Z-309.82

: Sonardyne - parsing R331.32,X-71.97,Y-92.75,Z-309.82

: Sonardyne - read R = 331.320000 from 331.32,X-71.97,Y-92.75,Z-309.82

: Sonardyne - got all data, Vehicle coordinates,
    r=331.320000, x=309.820000, y=-71.970000, z=92.750000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210950.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,210950.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R330.73,X-125.99,Y-108.67,Z-285.84

: Sonardyne - parsing R330.73,X-125.99,Y-108.67,Z-285.84

: Sonardyne - read R = 330.730000 from 330.73,X-125.99,Y-108.67,Z-285.84

: Sonardyne - got all data, Vehicle coordinates,
    r=330.730000, x=285.840000, y=-125.990000, z=108.670000 tat = 920
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,210951.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,210951.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.93  9.30 18.35 3.85 3.88 0  2728.02 01:02:24 m

: Sonardyne - POS response: 
POS V4,1 R329.22

: Sonardyne - parsing R329.22

: Sonardyne - read R = 329.220000 from 329.22

: Sonardyne - got range only (329.220000), tat = 890
: Sonardyne - POSD response: 
POSD S138.5,N31.7,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.5,N31.7,D-14,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210952.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,210952.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,210953.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,210953.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R327.78,X304.67,Y120.90,Z0.00

: Sonardyne - parsing R327.78,X304.67,Y120.90,Z0.00

: Sonardyne - read R = 327.780000 from 327.78,X304.67,Y120.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=327.780000, x=0.000000, y=304.670000, z=-120.900000 tat = 910
:  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 R327.04

: Sonardyne - parsing R327.04

: Sonardyne - read R = 327.040000 from 327.04

: Sonardyne - got range only (327.040000), tat = 890
: AshtechGps::processRecord() - $GPGGA,210954.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,210954.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.6,N34.1,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.6,N34.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,210955.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,210955.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R328.89

: Sonardyne - parsing R328.89

: Sonardyne - read R = 328.890000 from 328.89

: Sonardyne - got range only (328.890000), tat = 890
: Sonardyne - POSD response: 
POSD S114.3,N16.1,D32,U3,Q0.000592

: Sonardyne - POSD response: 
POSD S114.3,N16.1,D32,U3,Q0.000592

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

: AshtechGps::processRecord() - $GPGGA,210956.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,210956.00,,,,,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,210957.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,210957.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R325.75

: Sonardyne - parsing R325.75

: Sonardyne - read R = 325.750000 from 325.75

: Sonardyne - got range only (325.750000), tat = 940
: Sonardyne - POSD response: 
POSD S115.6,N29.4,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.6,N29.4,D-17,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,210958.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,210958.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 734.599676) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 734.599676) Behavior getgps has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R326.28

: Sonardyne - parsing R326.28

: Sonardyne - read R = 326.280000 from 326.28

: Sonardyne - got range only (326.280000), tat = 890
: Sonardyne - POSD response: 
POSD S116.4,N22.6,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.4,N22.6,D33,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,210959.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,210959.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,211000.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,211000.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,211001.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,211001.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.08  4.48 18.45 3.85 3.88 0  2726.97 01:02:34 m

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

: AshtechGps::processRecord() - $GPGGA,211002.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,211002.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,211003.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,211003.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,211004.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,211004.00,,,,,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,211005.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,211005.00,,,,,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
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,211006.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,211006.00,,,,,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,211007.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,211007.00,,,,,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,211008.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,211008.00,,,,,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,211009.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,211009.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,211010.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,211010.00,,,,,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,211011.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,211011.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 31.19  2.49 18.45 3.89 3.91 0  2726.71 01:02:44 m

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

: AshtechGps::processRecord() - $GPGGA,211012.00,,,,,0,01,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,211012.00,,,,,0,01,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,211013.00,,,,,0,01,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,211013.00,,,,,0,01,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,211014.00,,,,,0,01,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,211014.00,,,,,0,01,,,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,211015.00,,,,,0,01,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,211015.00,,,,,0,01,,,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,211016.00,,,,,0,01,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,211016.00,,,,,0,01,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,211017.00,,,,,0,01,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,211017.00,,,,,0,01,,,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,211018.00,,,,,0,03,2.8,,M,,M,,*64

: GpsUtils::parseFix() - $GPGGA,211018.00,,,,,0,03,2.8,,M,,M,,*64


: 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,211019.00,,,,,0,03,2.8,,M,,M,,*65

: GpsUtils::parseFix() - $GPGGA,211019.00,,,,,0,03,2.8,,M,,M,,*65


: 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,N6.2,D0,U0,Q0.000000

: Sonardyne - no valid response
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,211020.00,,,,,0,03,2.8,,M,,M,,*6F

: GpsUtils::parseFix() - $GPGGA,211020.00,,,,,0,03,2.8,,M,,M,,*6F


: 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,211021.00,3636.74668,N,12152.58076,W,1,08,1.1,-2.89,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,211021.00,3636.74668,N,12152.58076,W,1,08,1.1,-2.89,M,-33.30,M,,*75


: successfully parse sentence at 21:10:21

: AshtechGPS::processRecord -sample time is 1145308220
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: BluefinBatt Reply: $aaq0 d- 31.12  4.31 18.35 3.89 3.91 0  2726.31 01:02:54 m

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

: AshtechGps::processRecord() - $GPGGA,211022.00,3636.74690,N,12152.58064,W,1,08,1.1,-2.32,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,211022.00,3636.74690,N,12152.58064,W,1,08,1.1,-2.32,M,-33.30,M,,*72


: successfully parse sentence at 21:10:22

: AshtechGPS::processRecord -sample time is 1145308221
: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,211023.00,3636.74693,N,12152.58050,W,1,09,1.0,-1.95,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,211023.00,3636.74693,N,12152.58050,W,1,09,1.0,-1.95,M,-33.30,M,,*79


: successfully parse sentence at 21:10:23

: AshtechGPS::processRecord -sample time is 1145308222
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,211024.00,3636.74756,N,12152.58073,W,1,09,1.0,-3.75,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,211024.00,3636.74756,N,12152.58073,W,1,09,1.0,-3.75,M,-33.30,M,,*7B


: successfully parse sentence at 21:10:24

: AshtechGPS::processRecord -sample time is 1145308223
: GetGPS::execute() -- Got a new GPS hit: 4 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,211025.00,3636.74739,N,12152.58062,W,1,09,1.0,-3.54,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211025.00,3636.74739,N,12152.58062,W,1,09,1.0,-3.54,M,-33.30,M,,*70


: successfully parse sentence at 21:10:25

: AshtechGPS::processRecord -sample time is 1145308224
: GetGPS::execute() -- Got a new GPS hit: 5 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,211026.00,3636.74751,N,12152.58063,W,1,09,1.0,-3.19,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,211026.00,3636.74751,N,12152.58063,W,1,09,1.0,-3.19,M,-33.30,M,,*75


: successfully parse sentence at 21:10:26

: AshtechGPS::processRecord -sample time is 1145308225
: 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,N8.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,211027.00,3636.74758,N,12152.58047,W,1,09,1.0,-3.41,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,211027.00,3636.74758,N,12152.58047,W,1,09,1.0,-3.41,M,-33.30,M,,*76


: successfully parse sentence at 21:10:27

: AshtechGPS::processRecord -sample time is 1145308226
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211028.00,3636.74777,N,12152.58061,W,1,09,1.0,-3.52,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,211028.00,3636.74777,N,12152.58061,W,1,09,1.0,-3.52,M,-33.30,M,,*72


: successfully parse sentence at 21:10:28

: AshtechGPS::processRecord -sample time is 1145308227
: GetGPS::execute() -- Got a new GPS hit: 8 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,211029.00,3636.74803,N,12152.58072,W,1,09,1.0,-3.68,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,211029.00,3636.74803,N,12152.58072,W,1,09,1.0,-3.68,M,-33.30,M,,*74


: successfully parse sentence at 21:10:29

: AshtechGPS::processRecord -sample time is 1145308228
: GetGPS::execute() -- Got a new GPS hit: 9 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,211030.00,3636.74813,N,12152.58085,W,1,09,1.0,-3.05,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211030.00,3636.74813,N,12152.58085,W,1,09,1.0,-3.05,M,-33.30,M,,*7E


: successfully parse sentence at 21:10:30

: AshtechGPS::processRecord -sample time is 1145308229
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 766.397498) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.5,D0,U0,Q0.000000

: LayeredControl::execute() -- (t = 766.597484) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 766.597484) Behavior missionTimer 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,211031.00,3636.74809,N,12152.58078,W,1,09,1.0,-2.67,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,211031.00,3636.74809,N,12152.58078,W,1,09,1.0,-2.67,M,-33.30,M,,*73


: successfully parse sentence at 21:10:31

: AshtechGPS::processRecord -sample time is 1145308230
: BluefinBatt Reply: $aaq0 d- 31.19  3.30 18.35 3.88 3.91 0  2726.09 01:03:04 m

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

: AshtechGps::processRecord() - $GPGGA,211032.00,3636.74803,N,12152.58061,W,1,09,1.0,-2.52,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,211032.00,3636.74803,N,12152.58061,W,1,09,1.0,-2.52,M,-33.30,M,,*74


: successfully parse sentence at 21:10:32

: AshtechGPS::processRecord -sample time is 1145308231
: 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,211033.00,3636.74806,N,12152.58058,W,1,09,1.0,-2.84,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211033.00,3636.74806,N,12152.58058,W,1,09,1.0,-2.84,M,-33.30,M,,*71


: successfully parse sentence at 21:10:33

: AshtechGPS::processRecord -sample time is 1145308232
: 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 = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211034.00,3636.74821,N,12152.58050,W,1,10,0.9,-2.96,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211034.00,3636.74821,N,12152.58050,W,1,10,0.9,-2.96,M,-33.30,M,,*78


: successfully parse sentence at 21:10:34

: AshtechGPS::processRecord -sample time is 1145308233
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211035.00,3636.74842,N,12152.58061,W,1,10,0.9,-2.82,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,211035.00,3636.74842,N,12152.58061,W,1,10,0.9,-2.82,M,-33.30,M,,*7B


: successfully parse sentence at 21:10:35

: AshtechGPS::processRecord -sample time is 1145308234
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211036.00,3636.74861,N,12152.58070,W,1,10,0.9,-2.90,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211036.00,3636.74861,N,12152.58070,W,1,10,0.9,-2.90,M,-33.30,M,,*7A


: successfully parse sentence at 21:10:36

: AshtechGPS::processRecord -sample time is 1145308235
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211037.00,3636.74870,N,12152.58071,W,1,11,0.9,-2.48,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211037.00,3636.74870,N,12152.58071,W,1,11,0.9,-2.48,M,-33.30,M,,*7E


: successfully parse sentence at 21:10:37

: AshtechGPS::processRecord -sample time is 1145308236
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211038.00,3636.74862,N,12152.58059,W,1,11,0.9,-2.21,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,211038.00,3636.74862,N,12152.58059,W,1,11,0.9,-2.21,M,-33.30,M,,*77


: successfully parse sentence at 21:10:38

: AshtechGPS::processRecord -sample time is 1145308237
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211039.00,3636.74836,N,12152.58038,W,1,11,0.9,-2.64,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211039.00,3636.74836,N,12152.58038,W,1,11,0.9,-2.64,M,-33.30,M,,*71


: successfully parse sentence at 21:10:39

: AshtechGPS::processRecord -sample time is 1145308238
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211040.00,3636.74844,N,12152.58040,W,1,11,0.9,-2.90,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211040.00,3636.74844,N,12152.58040,W,1,11,0.9,-2.90,M,-33.30,M,,*7E


: successfully parse sentence at 21:10:40

: AshtechGPS::processRecord -sample time is 1145308239
: 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 = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211041.00,3636.74867,N,12152.58043,W,1,11,0.9,-3.23,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,211041.00,3636.74867,N,12152.58043,W,1,11,0.9,-3.23,M,-33.30,M,,*74


: successfully parse sentence at 21:10:41

: AshtechGPS::processRecord -sample time is 1145308240
: BluefinBatt Reply: $aaq0 d- 31.19  2.42 18.35 3.88 3.91 0  2725.79 01:03:14 m

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

: AshtechGps::processRecord() - $GPGGA,211042.00,3636.74886,N,12152.58063,W,1,11,0.9,-2.88,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211042.00,3636.74886,N,12152.58063,W,1,11,0.9,-2.88,M,-33.30,M,,*7A


: successfully parse sentence at 21:10:42

: AshtechGPS::processRecord -sample time is 1145308241
: 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,211043.00,3636.74898,N,12152.58067,W,1,11,0.9,-2.75,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,211043.00,3636.74898,N,12152.58067,W,1,11,0.9,-2.75,M,-33.30,M,,*72


: successfully parse sentence at 21:10:43

: AshtechGPS::processRecord -sample time is 1145308242
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211044.00,3636.74906,N,12152.58064,W,1,11,0.9,-2.48,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211044.00,3636.74906,N,12152.58064,W,1,11,0.9,-2.48,M,-33.30,M,,*7E


: successfully parse sentence at 21:10:44

: AshtechGPS::processRecord -sample time is 1145308243
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,211045.00,3636.74902,N,12152.58070,W,1,11,0.9,-2.29,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,211045.00,3636.74902,N,12152.58070,W,1,11,0.9,-2.29,M,-33.30,M,,*79


: successfully parse sentence at 21:10:45

: AshtechGPS::processRecord -sample time is 1145308244
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211046.00,3636.74903,N,12152.58056,W,1,11,0.9,-2.18,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,211046.00,3636.74903,N,12152.58056,W,1,11,0.9,-2.18,M,-33.30,M,,*7D


: successfully parse sentence at 21:10:46

: AshtechGPS::processRecord -sample time is 1145308245
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211047.00,3636.74895,N,12152.58050,W,1,11,0.9,-2.27,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211047.00,3636.74895,N,12152.58050,W,1,11,0.9,-2.27,M,-33.30,M,,*78


: successfully parse sentence at 21:10:47

: AshtechGPS::processRecord -sample time is 1145308246
: 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 = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211048.00,3636.74887,N,12152.58041,W,1,11,0.9,-2.29,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211048.00,3636.74887,N,12152.58041,W,1,11,0.9,-2.29,M,-33.30,M,,*7A


: successfully parse sentence at 21:10:48

: AshtechGPS::processRecord -sample time is 1145308247
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211049.00,3636.74895,N,12152.58037,W,1,11,0.9,-2.64,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211049.00,3636.74895,N,12152.58037,W,1,11,0.9,-2.64,M,-33.30,M,,*70


: successfully parse sentence at 21:10:49

: AshtechGPS::processRecord -sample time is 1145308248
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211050.00,3636.74908,N,12152.58052,W,1,11,0.9,-2.81,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,211050.00,3636.74908,N,12152.58052,W,1,11,0.9,-2.81,M,-33.30,M,,*75


: successfully parse sentence at 21:10:50

: AshtechGPS::processRecord -sample time is 1145308249
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211051.00,3636.74920,N,12152.58047,W,1,11,0.9,-2.62,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,211051.00,3636.74920,N,12152.58047,W,1,11,0.9,-2.62,M,-33.30,M,,*77


: successfully parse sentence at 21:10:51

: AshtechGPS::processRecord -sample time is 1145308250
: 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

: BluefinBatt Reply: $aaq0 d- 31.19  2.89 18.26 3.89 3.91 0  2725.59 01:03:24 m

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

: AshtechGps::processRecord() - $GPGGA,211052.00,3636.74928,N,12152.58051,W,1,11,0.9,-2.70,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211052.00,3636.74928,N,12152.58051,W,1,11,0.9,-2.70,M,-33.30,M,,*78


: successfully parse sentence at 21:10:52

: AshtechGPS::processRecord -sample time is 1145308251
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,211053.00,3636.74937,N,12152.58069,W,1,11,0.9,-2.74,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211053.00,3636.74937,N,12152.58069,W,1,11,0.9,-2.74,M,-33.30,M,,*78


: successfully parse sentence at 21:10:53

: AshtechGPS::processRecord -sample time is 1145308252
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211054.00,3636.74953,N,12152.58071,W,1,11,0.9,-2.60,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211054.00,3636.74953,N,12152.58071,W,1,11,0.9,-2.60,M,-33.30,M,,*71


: successfully parse sentence at 21:10:54

: AshtechGPS::processRecord -sample time is 1145308253
: 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 = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211055.00,3636.74948,N,12152.58080,W,1,11,0.9,-2.32,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,211055.00,3636.74948,N,12152.58080,W,1,11,0.9,-2.32,M,-33.30,M,,*73


: successfully parse sentence at 21:10:55

: AshtechGPS::processRecord -sample time is 1145308254
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211056.00,3636.74949,N,12152.58073,W,1,11,0.9,-2.26,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211056.00,3636.74949,N,12152.58073,W,1,11,0.9,-2.26,M,-33.30,M,,*78


: successfully parse sentence at 21:10:56

: AshtechGPS::processRecord -sample time is 1145308255
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211057.00,3636.74935,N,12152.58064,W,1,11,0.9,-2.10,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211057.00,3636.74935,N,12152.58064,W,1,11,0.9,-2.10,M,-33.30,M,,*71


: successfully parse sentence at 21:10:57

: AshtechGPS::processRecord -sample time is 1145308256
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211058.00,3636.74916,N,12152.58062,W,1,11,0.9,-2.17,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211058.00,3636.74916,N,12152.58062,W,1,11,0.9,-2.17,M,-33.30,M,,*7E


: successfully parse sentence at 21:10:58

: AshtechGPS::processRecord -sample time is 1145308257
: 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 = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211059.00,3636.74917,N,12152.58049,W,1,11,0.9,-2.59,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,211059.00,3636.74917,N,12152.58049,W,1,11,0.9,-2.59,M,-33.30,M,,*7D


: successfully parse sentence at 21:10:59

: AshtechGPS::processRecord -sample time is 1145308258
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211100.00,3636.74914,N,12152.58063,W,1,11,0.9,-2.86,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,211100.00,3636.74914,N,12152.58063,W,1,11,0.9,-2.86,M,-33.30,M,,*79


: successfully parse sentence at 21:11:0

: AshtechGPS::processRecord -sample time is 1145308259
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211101.00,3636.74930,N,12152.58077,W,1,11,0.9,-2.87,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211101.00,3636.74930,N,12152.58077,W,1,11,0.9,-2.87,M,-33.30,M,,*7A


: successfully parse sentence at 21:11:1

: AshtechGPS::processRecord -sample time is 1145308260
: BluefinBatt Reply: $aaq0 d- 31.23  2.35 18.26 3.89 3.91 0  2725.34 01:03:34 m

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

: Sonardyne - parsing R0.00

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

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

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

: AshtechGps::processRecord() - $GPGGA,211102.00,3636.74933,N,12152.58089,W,1,11,0.9,-2.71,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,211102.00,3636.74933,N,12152.58089,W,1,11,0.9,-2.71,M,-33.30,M,,*72


: successfully parse sentence at 21:11:2

: AshtechGPS::processRecord -sample time is 1145308261
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,211103.00,3636.74929,N,12152.58087,W,1,11,0.9,-2.33,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211103.00,3636.74929,N,12152.58087,W,1,11,0.9,-2.33,M,-33.30,M,,*70


: successfully parse sentence at 21:11:3

: AshtechGPS::processRecord -sample time is 1145308262
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211104.00,3636.74923,N,12152.58074,W,1,11,0.9,-2.22,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211104.00,3636.74923,N,12152.58074,W,1,11,0.9,-2.22,M,-33.30,M,,*71


: successfully parse sentence at 21:11:4

: AshtechGPS::processRecord -sample time is 1145308263
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211105.00,3636.74901,N,12152.58064,W,1,11,0.9,-2.29,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211105.00,3636.74901,N,12152.58064,W,1,11,0.9,-2.29,M,-33.30,M,,*7A


: successfully parse sentence at 21:11:5

: AshtechGPS::processRecord -sample time is 1145308264
: 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 = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211106.00,3636.74908,N,12152.58057,W,1,11,0.9,-2.58,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,211106.00,3636.74908,N,12152.58057,W,1,11,0.9,-2.58,M,-33.30,M,,*76


: successfully parse sentence at 21:11:6

: AshtechGPS::processRecord -sample time is 1145308265
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211107.00,3636.74902,N,12152.58066,W,1,11,0.9,-2.84,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211107.00,3636.74902,N,12152.58066,W,1,11,0.9,-2.84,M,-33.30,M,,*7E


: successfully parse sentence at 21:11:7

: AshtechGPS::processRecord -sample time is 1145308266
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211108.00,3636.74919,N,12152.58073,W,1,11,0.9,-3.02,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211108.00,3636.74919,N,12152.58073,W,1,11,0.9,-3.02,M,-33.30,M,,*70


: successfully parse sentence at 21:11:8

: AshtechGPS::processRecord -sample time is 1145308267
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,211109.00,3636.74925,N,12152.58092,W,1,11,0.9,-2.91,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211109.00,3636.74925,N,12152.58092,W,1,11,0.9,-2.91,M,-33.30,M,,*7A


: successfully parse sentence at 21:11:9

: AshtechGPS::processRecord -sample time is 1145308268
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211110.00,3636.74926,N,12152.58100,W,1,11,0.9,-2.63,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,211110.00,3636.74926,N,12152.58100,W,1,11,0.9,-2.63,M,-33.30,M,,*76


: successfully parse sentence at 21:11:10

: AshtechGPS::processRecord -sample time is 1145308269
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211111.00,3636.74923,N,12152.58095,W,1,11,0.9,-2.47,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,211111.00,3636.74923,N,12152.58095,W,1,11,0.9,-2.47,M,-33.30,M,,*79


: successfully parse sentence at 21:11:11

: AshtechGPS::processRecord -sample time is 1145308270
: BluefinBatt Reply: $aaq0 d- 31.23  2.35 18.26 3.89 3.91 0  2725.16 01:03:44 m

: AshtechGps::processRecord() - $GPGGA,211112.00,3636.74909,N,12152.58088,W,1,11,0.9,-2.17,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,211112.00,3636.74909,N,12152.58088,W,1,11,0.9,-2.17,M,-33.30,M,,*7B


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

: successfully parse sentence at 21:11:12

: AshtechGPS::processRecord -sample time is 1145308271
: 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

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

: AshtechGps::processRecord() - $GPGGA,211113.00,3636.74895,N,12152.58077,W,1,11,0.9,-2.02,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211113.00,3636.74895,N,12152.58077,W,1,11,0.9,-2.02,M,-33.30,M,,*7A


: successfully parse sentence at 21:11:13

: AshtechGPS::processRecord -sample time is 1145308272
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211114.00,3636.74877,N,12152.58071,W,1,11,0.9,-2.04,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211114.00,3636.74877,N,12152.58071,W,1,11,0.9,-2.04,M,-33.30,M,,*71


: successfully parse sentence at 21:11:14

: AshtechGPS::processRecord -sample time is 1145308273
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211115.00,3636.74856,N,12152.58059,W,1,11,0.9,-2.11,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,211115.00,3636.74856,N,12152.58059,W,1,11,0.9,-2.11,M,-33.30,M,,*7D


: successfully parse sentence at 21:11:15

: AshtechGPS::processRecord -sample time is 1145308274
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,211116.00,3636.74849,N,12152.58055,W,1,11,0.9,-2.47,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,211116.00,3636.74849,N,12152.58055,W,1,11,0.9,-2.47,M,-33.30,M,,*7F


: successfully parse sentence at 21:11:16

: AshtechGPS::processRecord -sample time is 1145308275
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211117.00,3636.74842,N,12152.58064,W,1,11,0.9,-2.59,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211117.00,3636.74842,N,12152.58064,W,1,11,0.9,-2.59,M,-33.30,M,,*78


: successfully parse sentence at 21:11:17

: AshtechGPS::processRecord -sample time is 1145308276
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211118.00,3636.74850,N,12152.58064,W,1,11,0.9,-2.64,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,211118.00,3636.74850,N,12152.58064,W,1,11,0.9,-2.64,M,-33.30,M,,*7A


: successfully parse sentence at 21:11:18

: AshtechGPS::processRecord -sample time is 1145308277
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211119.00,3636.74842,N,12152.58073,W,1,11,0.9,-2.72,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,211119.00,3636.74842,N,12152.58073,W,1,11,0.9,-2.72,M,-33.30,M,,*79


: successfully parse sentence at 21:11:19

: AshtechGPS::processRecord -sample time is 1145308278
:  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,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,211120.00,3636.74855,N,12152.58083,W,1,11,0.9,-2.86,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,211120.00,3636.74855,N,12152.58083,W,1,11,0.9,-2.86,M,-33.30,M,,*71


: successfully parse sentence at 21:11:20

: AshtechGPS::processRecord -sample time is 1145308279
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211121.00,3636.74852,N,12152.58098,W,1,11,0.9,-2.74,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211121.00,3636.74852,N,12152.58098,W,1,11,0.9,-2.74,M,-33.30,M,,*70


: successfully parse sentence at 21:11:21

: AshtechGPS::processRecord -sample time is 1145308280
:  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  3.16 18.26 3.89 3.91 0  2724.90 01:03:54 m

: AshtechGps::processRecord() - $GPGGA,211122.00,3636.74863,N,12152.58101,W,1,11,0.9,-2.65,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211122.00,3636.74863,N,12152.58101,W,1,11,0.9,-2.65,M,-33.30,M,,*70


: successfully parse sentence at 21:11:22

: AshtechGPS::processRecord -sample time is 1145308281
:  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 3.890000, mean min cell voltage 3.890000

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,211123.00,3636.74851,N,12152.58098,W,1,11,0.9,-2.33,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,211123.00,3636.74851,N,12152.58098,W,1,11,0.9,-2.33,M,-33.30,M,,*72


: successfully parse sentence at 21:11:23

: AshtechGPS::processRecord -sample time is 1145308282
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211124.00,3636.74842,N,12152.58083,W,1,11,0.9,-2.12,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,211124.00,3636.74842,N,12152.58083,W,1,11,0.9,-2.12,M,-33.30,M,,*7E


: successfully parse sentence at 21:11:24

: AshtechGPS::processRecord -sample time is 1145308283
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211125.00,3636.74834,N,12152.58076,W,1,11,0.9,-2.22,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,211125.00,3636.74834,N,12152.58076,W,1,11,0.9,-2.22,M,-33.30,M,,*77


: successfully parse sentence at 21:11:25

: AshtechGPS::processRecord -sample time is 1145308284
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211126.00,3636.74811,N,12152.58070,W,1,11,0.9,-2.17,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,211126.00,3636.74811,N,12152.58070,W,1,11,0.9,-2.17,M,-33.30,M,,*73


: successfully parse sentence at 21:11:26

: AshtechGPS::processRecord -sample time is 1145308285
:  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,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,211127.00,3636.74802,N,12152.58059,W,1,11,0.9,-2.32,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,211127.00,3636.74802,N,12152.58059,W,1,11,0.9,-2.32,M,-33.30,M,,*7C


: successfully parse sentence at 21:11:27

: AshtechGPS::processRecord -sample time is 1145308286
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211128.00,3636.74792,N,12152.58057,W,1,11,0.9,-2.46,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,211128.00,3636.74792,N,12152.58057,W,1,11,0.9,-2.46,M,-33.30,M,,*78


: successfully parse sentence at 21:11:28

: AshtechGPS::processRecord -sample time is 1145308287
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,211129.00,3636.74778,N,12152.58052,W,1,11,0.9,-2.28,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,211129.00,3636.74778,N,12152.58052,W,1,11,0.9,-2.28,M,-33.30,M,,*70


: successfully parse sentence at 21:11:29

: AshtechGPS::processRecord -sample time is 1145308288
:  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,N4.0,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,211130.00,3636.74769,N,12152.58040,W,1,11,0.9,-2.40,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,211130.00,3636.74769,N,12152.58040,W,1,11,0.9,-2.40,M,-33.30,M,,*75


: successfully parse sentence at 21:11:30

: AshtechGPS::processRecord -sample time is 1145308289
:  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 R337.50

: Sonardyne - parsing R337.50

: Sonardyne - read R = 337.500000 from 337.50

: Sonardyne - got range only (337.500000), tat = 910
: AshtechGps::processRecord() - $GPGGA,211131.00,3636.74765,N,12152.58039,W,1,11,0.9,-2.73,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,211131.00,3636.74765,N,12152.58039,W,1,11,0.9,-2.73,M,-33.30,M,,*76


: successfully parse sentence at 21:11:31

: Sonardyne - POSD response: 
POSD S114.2,N21.1,D39,U2,Q0.005109

: AshtechGPS::processRecord -sample time is 1145308290
: Sonardyne - POSD response: 
POSD S114.2,N21.1,D39,U2,Q0.005109

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

: BluefinBatt Reply: $aaq0 d- 31.23  2.45 18.26 3.89 3.92 0  2724.72 01:04:04 m

: 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 crossbowOutput ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D78.
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object crossbowCommand ****


//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task AhrsIFServer - exit()
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: StepGetStat (3) failed to read chars, rcvd=2, want=8
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: StepGetStat (3) 5d 5d 00 00 01 00 00
: SerialDevice: done...

: StepGetStat (3) failed to read chars, rcvd=2, want=8
: StepGetStat (3) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
