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
Sup: WorkSite::WorkSite -- Finished loading parameters
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
ervis: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
or::: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
cre: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
ate: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
Tas: WorkSite server: 0x22eec
k() - dynamicControlServer
: New Navigation component constructor
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - crossbowServer
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - gpsServer
Supervisor::createTask() - parosciS: Preparing to fork

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

: SerialDevice: done...

: I'm the child...forking

Superv: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
isor::c: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
reat: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
eTa: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
sk(): SerialDevice: done...

 - s: SerialDevice: done...

eabirdServer
Supervisor::createTask() - bluefinBattDriver
Superv: SerialDevice: done...

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

Sup: SerialDevice: done...

erv: SerialDevice: done...

i: Crossbow.cc: Setting polled mode
sor::c: Crossbow.cc: Setting polled mode
rea: Crossbow.cc: In getSerialNumber()
teTask() - dropWeightSe: ahrs if is Ahrs

rver
: SerialDevice: done...

: BluefineBatt::init() - 1 batteries on 10 second interval
: Gps: initializing

: SerialDevice: done...

: Gps: done initializing...

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

: 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

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

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


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

: SerialDevice: done...

Superviso: SerialDevice: done...

r::createTask() - sonardyneServer
: AshtechGps::processRecord() - $GPGGA,212722.00,3636.66105,N,12152.50140,W,1,11,0.9,-2.37,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212722.00,3636.66105,N,12152.50140,W,1,11,0.9,-2.37,M,-33.30,M,,*75


: successfully parse sentence at 21:27:22

: AshtechGPS::processRecord -sample time is 1145309241
: SerialDevice: done...

: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: seabirdDriver RUNNING...

: SerialDevice: done...

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

: SerialDevice: done...

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

: AshtechGps::processRecord() - $GPGGA,212723.00,3636.66100,N,12152.50130,W,1,11,0.9,-2.47,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,212723.00,3636.66100,N,12152.50130,W,1,11,0.9,-2.47,M,-33.30,M,,*71


: successfully parse sentence at 21:27:23

: AshtechGPS::processRecord -sample time is 1145309242
: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681217e-003
	T_b  = 6.006525e-004
	T_c  = 1.574158e-005
	T_d  = 1.973049e-006
	T_f0 = 3081.132000
	C_a  = 8.440420e-007
	C_b  = 1.341363e+000
	C_c  = -10.325094
	C_d  = -8.517875e-005
	C_m  = 5.900
	EPS  = -9.570000e-008
	SOc  = 3.985000e-001
	BOc  = 0.000000e+000
	Voff = -5.038000e-001
	TCor = 4.000000e-004
	PCor = 1.350000e-004

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

: CTDLog.cc -- beginning constructor...

: CTDLog.cc -- constructor succeeded

: SerialDevice: done...

: Seabird/ctdDriver -- constructor succeeded

: seabirdDriver -- constructor succeeded

: Seabird/ctdDriver:initializing Seabird...

: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

:   counters to default

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

: SonardyneDriver - interrogation string is POS V4,1
, timeout is 4000 ms
: Sonardyne - PG response: 
PG0 PAN TDR GAIN: VLOW

: Sonardyne - PL response: 
PL0 PAN POWER: LOW

: Sonardyne - LW response: 
LW3

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: SerialDevice: done...

: Parosci.cc -- Initial pressure = 0.068948
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: AshtechGps::processRecord() - $GPGGA,212724.00,3636.66092,N,12152.50125,W,1,11,0.9,-2.40,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212724.00,3636.66092,N,12152.50125,W,1,11,0.9,-2.40,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:24

: AshtechGPS::processRecord -sample time is 1145309243
: Parosci.cc -- Parosci initial pressure period = 30.138720
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: Parosci.cc -- Parosci initial temp period = 5.841892
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,212725.00,3636.66084,N,12152.50109,W,1,11,0.9,-2.42,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212725.00,3636.66084,N,12152.50109,W,1,11,0.9,-2.42,M,-33.30,M,,*75


: successfully parse sentence at 21:27:25

: AshtechGPS::processRecord -sample time is 1145309244
:  Dvl record header not found.  Resynchronize.

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

:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,212726.00,3636.66077,N,12152.50109,W,1,11,0.9,-2.68,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,212726.00,3636.66077,N,12152.50109,W,1,11,0.9,-2.68,M,-33.30,M,,*72


: successfully parse sentence at 21:27:26

: AshtechGPS::processRecord -sample time is 1145309245
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212727.00,3636.66100,N,12152.50161,W,1,12,0.8,-4.75,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,212727.00,3636.66100,N,12152.50161,W,1,12,0.8,-4.75,M,-33.30,M,,*74


: successfully parse sentence at 21:27:27

: AshtechGPS::processRecord -sample time is 1145309246
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,212728.00,3636.66098,N,12152.50163,W,1,12,0.8,-4.56,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212728.00,3636.66098,N,12152.50163,W,1,12,0.8,-4.56,M,-33.30,M,,*78


: successfully parse sentence at 21:27:28

: AshtechGPS::processRecord -sample time is 1145309247
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212729.00,3636.66097,N,12152.50144,W,1,12,0.8,-4.29,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212729.00,3636.66097,N,12152.50144,W,1,12,0.8,-4.29,M,-33.30,M,,*7B


: successfully parse sentence at 21:27:29

: AshtechGPS::processRecord -sample time is 1145309248
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212730.00,3636.66061,N,12152.50081,W,1,11,0.9,-2.17,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212730.00,3636.66061,N,12152.50081,W,1,11,0.9,-2.17,M,-33.30,M,,*7B


: successfully parse sentence at 21:27:30

: AshtechGPS::processRecord -sample time is 1145309249
: 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,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,212731.00,3636.66049,N,12152.50055,W,1,11,0.9,-2.12,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,212731.00,3636.66049,N,12152.50055,W,1,11,0.9,-2.12,M,-33.30,M,,*7C


: successfully parse sentence at 21:27:31

: AshtechGPS::processRecord -sample time is 1145309250
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212732.00,3636.66035,N,12152.50044,W,1,11,0.9,-2.39,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,212732.00,3636.66035,N,12152.50044,W,1,11,0.9,-2.39,M,-33.30,M,,*7D


: successfully parse sentence at 21:27:32

: AshtechGPS::processRecord -sample time is 1145309251
: Seabird/ctdDriver: sending configure commands...(23918)

: Seabird/ctdDriver: setting scans...

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

: AshtechGps::processRecord() - $GPGGA,212733.00,3636.66032,N,12152.50039,W,1,11,0.9,-2.63,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212733.00,3636.66032,N,12152.50039,W,1,11,0.9,-2.63,M,-33.30,M,,*7E


: successfully parse sentence at 21:27:33

: AshtechGPS::processRecord -sample time is 1145309252
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212734.00,3636.66035,N,12152.50032,W,1,11,0.9,-2.45,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,212734.00,3636.66035,N,12152.50032,W,1,11,0.9,-2.45,M,-33.30,M,,*71


: successfully parse sentence at 21:27:34

: AshtechGPS::processRecord -sample time is 1145309253
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-0.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,212735.00,3636.66018,N,12152.50024,W,1,11,0.9,-2.14,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,212735.00,3636.66018,N,12152.50024,W,1,11,0.9,-2.14,M,-33.30,M,,*7C


: successfully parse sentence at 21:27:35

: AshtechGPS::processRecord -sample time is 1145309254
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,212736.00,3636.66000,N,12152.49994,W,1,11,0.9,-1.97,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,212736.00,3636.66000,N,12152.49994,W,1,11,0.9,-1.97,M,-33.30,M,,*74


: successfully parse sentence at 21:27:36

: AshtechGPS::processRecord -sample time is 1145309255
: SerialDevice::confirm() - Timed Out
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212737.00,3636.65982,N,12152.49969,W,1,11,0.9,-2.15,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212737.00,3636.65982,N,12152.49969,W,1,11,0.9,-2.15,M,-33.30,M,,*7E


: successfully parse sentence at 21:27:37

: AshtechGPS::processRecord -sample time is 1145309256
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N9.1,D0,U0,Q0.000000

: Sonardyne - no valid response
:  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,N9.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212738.00,3636.65968,N,12152.49963,W,1,11,0.9,-2.48,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,212738.00,3636.65968,N,12152.49963,W,1,11,0.9,-2.48,M,-33.30,M,,*77


: successfully parse sentence at 21:27:38

: AshtechGPS::processRecord -sample time is 1145309257
:  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 R186.61

: Sonardyne - parsing R186.61

: Sonardyne - read R = 186.610000 from 186.61

: Sonardyne - got range only (186.610000), tat = 700
: Sonardyne - POSD response: 
POSD S114.7,N15.5,D-85,U4,Q0.006636

: AshtechGps::processRecord() - $GPGGA,212739.00,3636.65978,N,12152.49958,W,1,11,0.9,-2.78,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,212739.00,3636.65978,N,12152.49958,W,1,11,0.9,-2.78,M,-33.30,M,,*7C


: successfully parse sentence at 21:27:39

: AshtechGPS::processRecord -sample time is 1145309258
: Sonardyne - POSD response: 
POSD S114.7,N15.5,D-85,U4,Q0.006636

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

: AshtechGps::processRecord() - $GPGGA,212740.00,3636.65966,N,12152.49959,W,1,11,0.9,-2.58,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212740.00,3636.65966,N,12152.49959,W,1,11,0.9,-2.58,M,-33.30,M,,*7E


: successfully parse sentence at 21:27:40

: AshtechGPS::processRecord -sample time is 1145309259
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver: setting pump freq...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver: setting battery type...

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

: AshtechGps::processRecord() - $GPGGA,212741.00,3636.65973,N,12152.49940,W,1,11,0.9,-2.55,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212741.00,3636.65973,N,12152.49940,W,1,11,0.9,-2.55,M,-33.30,M,,*7E


: successfully parse sentence at 21:27:41

: AshtechGPS::processRecord -sample time is 1145309260
: Seabird/ctdDriver: setting external voltages to 6...(23918)

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

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

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

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

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

: 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,212742.00,3636.65950,N,12152.49937,W,1,11,0.9,-2.44,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,212742.00,3636.65950,N,12152.49937,W,1,11,0.9,-2.44,M,-33.30,M,,*7C


: successfully parse sentence at 21:27:42

: AshtechGPS::processRecord -sample time is 1145309261
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-1.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-1.0,D0,U0,Q0.000000

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

: Seabird/ctdDriver: sending DS command...

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

: AshtechGps::processRecord() - $GPGGA,212743.00,3636.65949,N,12152.49919,W,1,11,0.9,-2.53,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212743.00,3636.65949,N,12152.49919,W,1,11,0.9,-2.53,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:43

: AshtechGPS::processRecord -sample time is 1145309262
: BluefinBatt Reply: $aaq0 d- 31.26  2.52 17.87 3.90 3.92 0  2707.33 01:20:16 m

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

: AshtechGps::processRecord() - $GPGGA,212744.00,3636.65941,N,12152.49922,W,1,11,0.9,-2.54,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212744.00,3636.65941,N,12152.49922,W,1,11,0.9,-2.54,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:44

: AshtechGPS::processRecord -sample time is 1145309263
: batts online 1, min cell voltage 3.900000, mean min cell voltage 3.900000

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

: AshtechGps::processRecord() - $GPGGA,212745.00,3636.65940,N,12152.49908,W,1,11,0.9,-2.57,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,212745.00,3636.65940,N,12152.49908,W,1,11,0.9,-2.57,M,-33.30,M,,*74


: successfully parse sentence at 21:27:45

: AshtechGPS::processRecord -sample time is 1145309264
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-3.1,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,N-3.1,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212746.00,3636.65926,N,12152.49898,W,1,11,0.9,-2.52,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,212746.00,3636.65926,N,12152.49898,W,1,11,0.9,-2.52,M,-33.30,M,,*7A


: successfully parse sentence at 21:27:46

: AshtechGPS::processRecord -sample time is 1145309265
: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
:  Navigation: The utm zone is 10

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

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

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

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

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

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

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

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

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,212747.00,3636.65926,N,12152.49885,W,1,11,0.9,-2.54,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,212747.00,3636.65926,N,12152.49885,W,1,11,0.9,-2.54,M,-33.30,M,,*71


: successfully parse sentence at 21:27:47

: AshtechGPS::processRecord -sample time is 1145309266
: GetGPS::execute() -- Got a new GPS hit: 2 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,212748.00,3636.65916,N,12152.49891,W,1,11,0.9,-2.54,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212748.00,3636.65916,N,12152.49891,W,1,11,0.9,-2.54,M,-33.30,M,,*78


: successfully parse sentence at 21:27:48

: AshtechGPS::processRecord -sample time is 1145309267
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212749.00,3636.65906,N,12152.49869,W,1,11,0.9,-2.31,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,212749.00,3636.65906,N,12152.49869,W,1,11,0.9,-2.31,M,-33.30,M,,*7C


: successfully parse sentence at 21:27:49

: AshtechGPS::processRecord -sample time is 1145309268
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,212750.00,3636.65888,N,12152.49857,W,1,11,0.9,-2.21,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212750.00,3636.65888,N,12152.49857,W,1,11,0.9,-2.21,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:50

: AshtechGPS::processRecord -sample time is 1145309269
: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212751.00,3636.65868,N,12152.49838,W,1,11,0.9,-2.10,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212751.00,3636.65868,N,12152.49838,W,1,11,0.9,-2.10,M,-33.30,M,,*7B


: successfully parse sentence at 21:27:51

: AshtechGPS::processRecord -sample time is 1145309270
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212752.00,3636.65838,N,12152.49823,W,1,11,0.9,-2.09,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212752.00,3636.65838,N,12152.49823,W,1,11,0.9,-2.09,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:52

: AshtechGPS::processRecord -sample time is 1145309271
: GetGPS::execute() -- Got a new GPS hit: 7 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,N3.5,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,212753.00,3636.65818,N,12152.49808,W,1,11,0.9,-2.30,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212753.00,3636.65818,N,12152.49808,W,1,11,0.9,-2.30,M,-33.30,M,,*7F


: successfully parse sentence at 21:27:53

: AshtechGPS::processRecord -sample time is 1145309272
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: BluefinBatt Reply: $aaq0 d- 31.19  4.41 17.77 3.89 3.92 0  2707.13 01:20:26 m

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

: AshtechGps::processRecord() - $GPGGA,212754.00,3636.65804,N,12152.49788,W,1,11,0.9,-2.33,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,212754.00,3636.65804,N,12152.49788,W,1,11,0.9,-2.33,M,-33.30,M,,*71


: successfully parse sentence at 21:27:54

: AshtechGPS::processRecord -sample time is 1145309273
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: batts online 1, min cell voltage 3.890000, mean min cell voltage 3.890000

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

: AshtechGps::processRecord() - $GPGGA,212755.00,3636.65784,N,12152.49772,W,1,11,0.9,-2.34,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212755.00,3636.65784,N,12152.49772,W,1,11,0.9,-2.34,M,-33.30,M,,*75


: successfully parse sentence at 21:27:55

: AshtechGPS::processRecord -sample time is 1145309274
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.599411) Behavior getgps has changed to state Finished

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

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

: AshtechGps::processRecord() - $GPGGA,212756.00,3636.65775,N,12152.49760,W,1,11,0.9,-2.70,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212756.00,3636.65775,N,12152.49760,W,1,11,0.9,-2.70,M,-33.30,M,,*7B


: successfully parse sentence at 21:27:56

: AshtechGPS::processRecord -sample time is 1145309275
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N-0.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N-0.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,212757.00,3636.65775,N,12152.49767,W,1,11,0.9,-2.82,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,212757.00,3636.65775,N,12152.49767,W,1,11,0.9,-2.82,M,-33.30,M,,*70


: successfully parse sentence at 21:27:57

: AshtechGPS::processRecord -sample time is 1145309276
: Sonardyne - POS response: 
POS V4,1 R185.27

: Sonardyne - parsing R185.27

: Sonardyne - read R = 185.270000 from 185.27

: Sonardyne - got range only (185.270000), tat = 700
: Sonardyne - POSD response: 
POSD S118.5,N24.5,D0,U1,Q0.019363

: Sonardyne - POSD response: 
POSD S118.5,N24.5,D0,U1,Q0.019363

: AshtechGps::processRecord() - $GPGGA,212758.00,3636.65786,N,12152.49776,W,1,11,0.9,-2.76,M,-33.30,M,,*78

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

: GpsUtils::parseFix() - $GPGGA,212758.00,3636.65786,N,12152.49776,W,1,11,0.9,-2.76,M,-33.30,M,,*78


: successfully parse sentence at 21:27:58

: AshtechGPS::processRecord -sample time is 1145309277
: Sonardyne - POS response: 
POS V4,1 R188.26

: Sonardyne - parsing R188.26

: Sonardyne - read R = 188.260000 from 188.26

: Sonardyne - got range only (188.260000), tat = 700
: Sonardyne - POSD response: 
POSD S113.1,N15.4,D148,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.1,N15.4,D148,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212759.00,3636.65787,N,12152.49783,W,1,11,0.9,-2.41,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,212759.00,3636.65787,N,12152.49783,W,1,11,0.9,-2.41,M,-33.30,M,,*76


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

: successfully parse sentence at 21:27:59

: AshtechGPS::processRecord -sample time is 1145309278
: AshtechGps::processRecord() - $GPGGA,212800.00,3636.65784,N,12152.49773,W,1,11,0.9,-2.17,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,212800.00,3636.65784,N,12152.49773,W,1,11,0.9,-2.17,M,-33.30,M,,*7A


: successfully parse sentence at 21:28:0

: AshtechGPS::processRecord -sample time is 1145309279
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,212801.00,3636.65778,N,12152.49768,W,1,11,0.9,-2.04,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,212801.00,3636.65778,N,12152.49768,W,1,11,0.9,-2.04,M,-33.30,M,,*70


: successfully parse sentence at 21:28:1

: AshtechGPS::processRecord -sample time is 1145309280
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212802.00,3636.65781,N,12152.49762,W,1,11,0.9,-2.04,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212802.00,3636.65781,N,12152.49762,W,1,11,0.9,-2.04,M,-33.30,M,,*7F


: successfully parse sentence at 21:28:2

: AshtechGPS::processRecord -sample time is 1145309281
:  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 R187.18

: Sonardyne - parsing R187.18

: Sonardyne - read R = 187.180000 from 187.18

: Sonardyne - got range only (187.180000), tat = 700
: AshtechGps::processRecord() - $GPGGA,212803.00,3636.65796,N,12152.49765,W,1,11,0.9,-2.32,M,-33.30,M,,*7A

: Sonardyne - POSD response: 
POSD S116.5,N15.4,D-17,U1,Q0.005102

: GpsUtils::parseFix() - $GPGGA,212803.00,3636.65796,N,12152.49765,W,1,11,0.9,-2.32,M,-33.30,M,,*7A


: successfully parse sentence at 21:28:3

: AshtechGPS::processRecord -sample time is 1145309282
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S116.5,N15.4,D-17,U1,Q0.005102

: BluefinBatt Reply: $aaq0 d- 31.00  9.94 17.77 3.89 3.92 0  2706.35 01:20:36 m

: Sonardyne - POS response: 
POS V4,1 R185.38

: Sonardyne - parsing R185.38

: Sonardyne - read R = 185.380000 from 185.38

: Sonardyne - got range only (185.380000), tat = 700
: Sonardyne - POSD response: 
POSD S118.9,N23.6,D48,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212804.00,3636.65811,N,12152.49789,W,1,11,0.9,-2.71,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212804.00,3636.65811,N,12152.49789,W,1,11,0.9,-2.71,M,-33.30,M,,*78


: successfully parse sentence at 21:28:4

: AshtechGPS::processRecord -sample time is 1145309283
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S118.9,N23.6,D48,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R187.63

: Sonardyne - parsing R187.63

: Sonardyne - read R = 187.630000 from 187.63

: Sonardyne - got range only (187.630000), tat = 750
: AshtechGps::processRecord() - $GPGGA,212805.00,3636.65847,N,12152.49834,W,1,11,0.9,-2.56,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,212805.00,3636.65847,N,12152.49834,W,1,11,0.9,-2.56,M,-33.30,M,,*76


: successfully parse sentence at 21:28:5

: AshtechGPS::processRecord -sample time is 1145309284
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S117.9,N18.4,D79,U1,Q0.005795

: Sonardyne - POSD response: 
POSD S117.9,N18.4,D79,U1,Q0.005795

: Sonardyne - POS response: 
POS V4,1 R183.90

: Sonardyne - parsing R183.90

: Sonardyne - read R = 183.900000 from 183.90

: Sonardyne - got range only (183.900000), tat = 690
: Sonardyne - POSD response: 
POSD S120.2,N22.3,D-58,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212806.00,3636.65869,N,12152.49876,W,1,11,0.9,-2.50,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,212806.00,3636.65869,N,12152.49876,W,1,11,0.9,-2.50,M,-33.30,M,,*79


: successfully parse sentence at 21:28:6

: AshtechGPS::processRecord -sample time is 1145309285
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S120.2,N22.3,D-58,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R183.68,X-169.81,Y-13.18,Z-68.78

: Sonardyne - parsing R183.68,X-169.81,Y-13.18,Z-68.78

: Sonardyne - read R = 183.680000 from 183.68,X-169.81,Y-13.18,Z-68.78

: Sonardyne - got all data, Vehicle coordinates,
    r=183.680000, x=68.780000, y=-169.810000, z=13.180000 tat = 730
: AshtechGps::processRecord() - $GPGGA,212807.00,3636.65883,N,12152.49918,W,1,11,0.9,-2.35,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,212807.00,3636.65883,N,12152.49918,W,1,11,0.9,-2.35,M,-33.30,M,,*76


: successfully parse sentence at 21:28:7

: AshtechGPS::processRecord -sample time is 1145309286
:  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 R183.31

: Sonardyne - parsing R183.31

: Sonardyne - read R = 183.310000 from 183.31

: Sonardyne - got range only (183.310000), tat = 689
: Sonardyne - POSD response: 
POSD S130.6,N33.0,D16,U4,Q0.008213

: AshtechGps::processRecord() - $GPGGA,212808.00,3636.65893,N,12152.49963,W,1,11,0.9,-2.43,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212808.00,3636.65893,N,12152.49963,W,1,11,0.9,-2.43,M,-33.30,M,,*75


: successfully parse sentence at 21:28:8

: AshtechGPS::processRecord -sample time is 1145309287
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S130.6,N33.0,D16,U4,Q0.008213

: Sonardyne - POS response: 
POS V4,1 R183.05

: Sonardyne - parsing R183.05

: Sonardyne - read R = 183.050000 from 183.05

: Sonardyne - got range only (183.050000), tat = 690
: Sonardyne - POSD response: 
POSD S126.1,N31.2,D19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212809.00,3636.65895,N,12152.50010,W,1,11,0.9,-2.22,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,212809.00,3636.65895,N,12152.50010,W,1,11,0.9,-2.22,M,-33.30,M,,*70


: successfully parse sentence at 21:28:9

: AshtechGPS::processRecord -sample time is 1145309288
: Sonardyne - POSD response: 
POSD S126.1,N31.2,D19,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R182.48

: Sonardyne - parsing R182.48

: Sonardyne - read R = 182.480000 from 182.48

: Sonardyne - got range only (182.480000), tat = 690
: Sonardyne - POSD response: 
POSD S121.0,N21.9,D-61,U1,Q0.004065

: AshtechGps::processRecord() - $GPGGA,212810.00,3636.65869,N,12152.50054,W,1,11,0.9,-2.17,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,212810.00,3636.65869,N,12152.50054,W,1,11,0.9,-2.17,M,-33.30,M,,*7D


: successfully parse sentence at 21:28:10

: AshtechGPS::processRecord -sample time is 1145309289
: Sonardyne - POSD response: 
POSD S121.0,N21.9,D-61,U1,Q0.004065

:  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 R181.79

: Sonardyne - parsing R181.79

: Sonardyne - read R = 181.790000 from 181.79

: Sonardyne - got range only (181.790000), tat = 690
: Sonardyne - POSD response: 
POSD S125.0,N28.7,D-33,U1,Q0.014933

: AshtechGps::processRecord() - $GPGGA,212811.00,3636.65863,N,12152.50118,W,1,11,0.9,-2.12,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,212811.00,3636.65863,N,12152.50118,W,1,11,0.9,-2.12,M,-33.30,M,,*7A


: successfully parse sentence at 21:28:11

: AshtechGPS::processRecord -sample time is 1145309290
: Sonardyne - POSD response: 
POSD S125.0,N28.7,D-33,U1,Q0.014933

:  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 R180.99,X144.57,Y108.90,Z0.00

: Sonardyne - parsing R180.99,X144.57,Y108.90,Z0.00

: Sonardyne - read R = 180.990000 from 180.99,X144.57,Y108.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=180.990000, x=0.000000, y=144.570000, z=-108.900000 tat = 710
: AshtechGps::processRecord() - $GPGGA,212812.00,3636.65839,N,12152.50185,W,1,11,0.9,-2.23,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,212812.00,3636.65839,N,12152.50185,W,1,11,0.9,-2.23,M,-33.30,M,,*70


: successfully parse sentence at 21:28:12

: AshtechGPS::processRecord -sample time is 1145309291
:  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 R180.04,X-135.22,Y-31.19,Z-114.70

: Sonardyne - parsing R180.04,X-135.22,Y-31.19,Z-114.70

: Sonardyne - read R = 180.040000 from 180.04,X-135.22,Y-31.19,Z-114.70

: Sonardyne - got all data, Vehicle coordinates,
    r=180.040000, x=114.700000, y=-135.220000, z=31.190000 tat = 720
: AshtechGps::processRecord() - $GPGGA,212813.00,3636.65835,N,12152.50260,W,1,11,0.9,-2.44,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,212813.00,3636.65835,N,12152.50260,W,1,11,0.9,-2.44,M,-33.30,M,,*74


: successfully parse sentence at 21:28:13

: AshtechGPS::processRecord -sample time is 1145309292
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.96 10.51 17.87 3.85 3.88 0  2705.57 01:20:46 m

: Sonardyne - POS response: 
POS V4,1 R179.30

: Sonardyne - parsing R179.30

: Sonardyne - read R = 179.300000 from 179.30

: Sonardyne - got range only (179.300000), tat = 690
: Sonardyne - POSD response: 
POSD S128.2,N26.8,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212814.00,3636.65819,N,12152.50336,W,1,11,0.9,-2.93,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212814.00,3636.65819,N,12152.50336,W,1,11,0.9,-2.93,M,-33.30,M,,*75


: successfully parse sentence at 21:28:14

: AshtechGPS::processRecord -sample time is 1145309293
: Sonardyne - POSD response: 
POSD S128.2,N26.8,D-28,U0,Q0.000000

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R179.00

: Sonardyne - parsing R179.00

: Sonardyne - read R = 179.000000 from 179.00

: Sonardyne - got range only (179.000000), tat = 690
: Sonardyne - POSD response: 
POSD S121.4,N27.0,D-49,U2,Q0.009147

: AshtechGps::processRecord() - $GPGGA,212815.00,3636.65812,N,12152.50420,W,1,11,0.9,-2.87,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,212815.00,3636.65812,N,12152.50420,W,1,11,0.9,-2.87,M,-33.30,M,,*7A


: successfully parse sentence at 21:28:15

: AshtechGPS::processRecord -sample time is 1145309294
: Sonardyne - POSD response: 
POSD S121.4,N27.0,D-49,U2,Q0.009147

:  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 R178.17,X159.15,Y80.10,Z0.00

: Sonardyne - parsing R178.17,X159.15,Y80.10,Z0.00

: Sonardyne - read R = 178.170000 from 178.17,X159.15,Y80.10,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=178.170000, x=0.000000, y=159.150000, z=-80.100000 tat = 710
: AshtechGps::processRecord() - $GPGGA,212816.00,3636.65809,N,12152.50511,W,1,11,0.9,-2.73,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212816.00,3636.65809,N,12152.50511,W,1,11,0.9,-2.73,M,-33.30,M,,*7B


: successfully parse sentence at 21:28:16

: AshtechGPS::processRecord -sample time is 1145309295
:  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 R177.91,X-138.15,Y10.57,Z-111.60

: Sonardyne - parsing R177.91,X-138.15,Y10.57,Z-111.60

: Sonardyne - read R = 177.910000 from 177.91,X-138.15,Y10.57,Z-111.60

: Sonardyne - got all data, Vehicle coordinates,
    r=177.910000, x=111.600000, y=-138.150000, z=-10.570000 tat = 710
: AshtechGps::processRecord() - $GPGGA,212817.00,3636.65786,N,12152.50595,W,1,11,0.9,-2.27,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212817.00,3636.65786,N,12152.50595,W,1,11,0.9,-2.27,M,-33.30,M,,*7F


: successfully parse sentence at 21:28:17

: AshtechGPS::processRecord -sample time is 1145309296
:  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 R176.79

: Sonardyne - parsing R176.79

: Sonardyne - read R = 176.790000 from 176.79

: Sonardyne - got range only (176.790000), tat = 680
: Sonardyne - POSD response: 
POSD S129.0,N24.6,D-46,U1,Q0.003846

: AshtechGps::processRecord() - $GPGGA,212818.00,3636.65762,N,12152.50666,W,1,11,0.9,-2.08,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212818.00,3636.65762,N,12152.50666,W,1,11,0.9,-2.08,M,-33.30,M,,*78


: successfully parse sentence at 21:28:18

: AshtechGPS::processRecord -sample time is 1145309297
: Sonardyne - POSD response: 
POSD S129.0,N24.6,D-46,U1,Q0.003846

:  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 R176.19,X149.83,Y92.71,Z0.00

: Sonardyne - parsing R176.19,X149.83,Y92.71,Z0.00

: Sonardyne - read R = 176.190000 from 176.19,X149.83,Y92.71,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=176.190000, x=0.000000, y=149.830000, z=-92.710000 tat = 710
: AshtechGps::processRecord() - $GPGGA,212819.00,3636.65722,N,12152.50733,W,1,11,0.9,-1.98,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,212819.00,3636.65722,N,12152.50733,W,1,11,0.9,-1.98,M,-33.30,M,,*76


: successfully parse sentence at 21:28:19

: AshtechGPS::processRecord -sample time is 1145309298
:  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 R174.66

: Sonardyne - parsing R174.66

: Sonardyne - read R = 174.660000 from 174.66

: Sonardyne - got range only (174.660000), tat = 680
: Sonardyne - POSD response: 
POSD S130.8,N26.3,D10,U1,Q0.007271

: AshtechGps::processRecord() - $GPGGA,212820.00,3636.65685,N,12152.50803,W,1,11,0.9,-2.00,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212820.00,3636.65685,N,12152.50803,W,1,11,0.9,-2.00,M,-33.30,M,,*7E


: successfully parse sentence at 21:28:20

: AshtechGPS::processRecord -sample time is 1145309299
: Sonardyne - POSD response: 
POSD S130.8,N26.3,D10,U1,Q0.007271

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

: Sonardyne - POS response: 
POS V4,1 R174.21

: Sonardyne - parsing R174.21

: Sonardyne - read R = 174.210000 from 174.21

: Sonardyne - got range only (174.210000), tat = 680
: Sonardyne - POSD response: 
POSD S132.0,N28.8,D2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212821.00,3636.65647,N,12152.50875,W,1,11,0.9,-2.14,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212821.00,3636.65647,N,12152.50875,W,1,11,0.9,-2.14,M,-33.30,M,,*75


: successfully parse sentence at 21:28:21

: AshtechGPS::processRecord -sample time is 1145309300
: Sonardyne - POSD response: 
POSD S132.0,N28.8,D2,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R172.72

: Sonardyne - parsing R172.72

: Sonardyne - read R = 172.720000 from 172.72

: Sonardyne - got range only (172.720000), tat = 680
: Sonardyne - POSD response: 
POSD S139.5,N39.7,D-11,U2,Q0.019353

: AshtechGps::processRecord() - $GPGGA,212822.00,3636.65607,N,12152.50952,W,1,11,0.9,-2.28,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,212822.00,3636.65607,N,12152.50952,W,1,11,0.9,-2.28,M,-33.30,M,,*79


: successfully parse sentence at 21:28:22

: AshtechGPS::processRecord -sample time is 1145309301
: Sonardyne - POSD response: 
POSD S139.5,N39.7,D-11,U2,Q0.019353

:  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 R171.76

: Sonardyne - parsing R171.76

: Sonardyne - read R = 171.760000 from 171.76

: Sonardyne - got range only (171.760000), tat = 680
: Sonardyne - POSD response: 
POSD S134.6,N25.5,D-57,U2,Q0.015747

: AshtechGps::processRecord() - $GPGGA,212823.00,3636.65589,N,12152.51039,W,1,11,0.9,-2.65,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,212823.00,3636.65589,N,12152.51039,W,1,11,0.9,-2.65,M,-33.30,M,,*71


: successfully parse sentence at 21:28:23

: AshtechGPS::processRecord -sample time is 1145309302
: Sonardyne - POSD response: 
POSD S134.6,N25.5,D-57,U2,Q0.015747

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

: BluefinBatt Reply: $aaq0 d- 30.93 10.04 17.87 3.85 3.88 0  2704.53 01:20:56 m

: Sonardyne - POS response: 
POS V4,1 R170.92

: Sonardyne - parsing R170.92

: Sonardyne - read R = 170.920000 from 170.92

: Sonardyne - got range only (170.920000), tat = 680
: Sonardyne - POSD response: 
POSD S131.3,N29.9,D27,U1,Q0.014122

: AshtechGps::processRecord() - $GPGGA,212824.00,3636.65576,N,12152.51137,W,1,11,0.9,-3.06,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,212824.00,3636.65576,N,12152.51137,W,1,11,0.9,-3.06,M,-33.30,M,,*7D


: successfully parse sentence at 21:28:24

: AshtechGPS::processRecord -sample time is 1145309303
: Sonardyne - POSD response: 
POSD S131.3,N29.9,D27,U1,Q0.014122

:  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 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R170.33,X150.16,Y80.39,Z0.00

: Sonardyne - parsing R170.33,X150.16,Y80.39,Z0.00

: Sonardyne - read R = 170.330000 from 170.33,X150.16,Y80.39,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=170.330000, x=0.000000, y=150.160000, z=-80.390000 tat = 700
: AshtechGps::processRecord() - $GPGGA,212825.00,3636.65569,N,12152.51244,W,1,11,0.9,-3.00,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,212825.00,3636.65569,N,12152.51244,W,1,11,0.9,-3.00,M,-33.30,M,,*73


: successfully parse sentence at 21:28:25

: AshtechGPS::processRecord -sample time is 1145309304
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

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

: Sonardyne - POS response: 
POS V4,1 R169.68

: Sonardyne - parsing R169.68

: Sonardyne - read R = 169.680000 from 169.68

: Sonardyne - got range only (169.680000), tat = 680
: Sonardyne - POSD response: 
POSD S130.4,N31.5,D-2,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212826.00,3636.65550,N,12152.51335,W,1,11,0.9,-2.61,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,212826.00,3636.65550,N,12152.51335,W,1,11,0.9,-2.61,M,-33.30,M,,*7B


: successfully parse sentence at 21:28:26

: AshtechGPS::processRecord -sample time is 1145309305
: Sonardyne - POSD response: 
POSD S130.4,N31.5,D-2,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R168.98

: Sonardyne - parsing R168.98

: Sonardyne - read R = 168.980000 from 168.98

: Sonardyne - got range only (168.980000), tat = 670
: Sonardyne - POSD response: 
POSD S130.0,N31.6,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212827.00,3636.65526,N,12152.51419,W,1,11,0.9,-2.49,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212827.00,3636.65526,N,12152.51419,W,1,11,0.9,-2.49,M,-33.30,M,,*78


: successfully parse sentence at 21:28:27

: AshtechGPS::processRecord -sample time is 1145309306
: Sonardyne - POSD response: 
POSD S130.0,N31.6,D-8,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R168.31

: Sonardyne - parsing R168.31

: Sonardyne - read R = 168.310000 from 168.31

: Sonardyne - got range only (168.310000), tat = 670
: Sonardyne - POSD response: 
POSD S130.8,N29.0,D-37,U2,Q0.010735

: AshtechGps::processRecord() - $GPGGA,212828.00,3636.65493,N,12152.51490,W,1,11,0.9,-2.32,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,212828.00,3636.65493,N,12152.51490,W,1,11,0.9,-2.32,M,-33.30,M,,*75


: successfully parse sentence at 21:28:28

: AshtechGPS::processRecord -sample time is 1145309307
: Sonardyne - POSD response: 
POSD S130.8,N29.0,D-37,U2,Q0.010735

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

: Sonardyne - POS response: 
POS V4,1 R167.66,X136.44,Y97.45,Z0.00

: Sonardyne - parsing R167.66,X136.44,Y97.45,Z0.00

: Sonardyne - read R = 167.660000 from 167.66,X136.44,Y97.45,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=167.660000, x=0.000000, y=136.440000, z=-97.450000 tat = 690
: AshtechGps::processRecord() - $GPGGA,212829.00,3636.65462,N,12152.51568,W,1,11,0.9,-2.36,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212829.00,3636.65462,N,12152.51568,W,1,11,0.9,-2.36,M,-33.30,M,,*78


: successfully parse sentence at 21:28:29

: AshtechGPS::processRecord -sample time is 1145309308
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R166.74,X-139.13,Y30.93,Z-86.54

: Sonardyne - parsing R166.74,X-139.13,Y30.93,Z-86.54

: Sonardyne - read R = 166.740000 from 166.74,X-139.13,Y30.93,Z-86.54

: Sonardyne - got all data, Vehicle coordinates,
    r=166.740000, x=86.540000, y=-139.130000, z=-30.930000 tat = 700
: AshtechGps::processRecord() - $GPGGA,212830.00,3636.65422,N,12152.51649,W,1,11,0.9,-2.30,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,212830.00,3636.65422,N,12152.51649,W,1,11,0.9,-2.30,M,-33.30,M,,*72


: successfully parse sentence at 21:28:30

: AshtechGPS::processRecord -sample time is 1145309309
:  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 R165.84,X-135.92,Y20.67,Z-92.75

: Sonardyne - parsing R165.84,X-135.92,Y20.67,Z-92.75

: Sonardyne - read R = 165.840000 from 165.84,X-135.92,Y20.67,Z-92.75

: Sonardyne - got all data, Vehicle coordinates,
    r=165.840000, x=92.750000, y=-135.920000, z=-20.670000 tat = 700
: AshtechGps::processRecord() - $GPGGA,212831.00,3636.65405,N,12152.51744,W,1,11,0.9,-2.42,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,212831.00,3636.65405,N,12152.51744,W,1,11,0.9,-2.42,M,-33.30,M,,*7F


: successfully parse sentence at 21:28:31

: AshtechGPS::processRecord -sample time is 1145309310
:  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 R164.79

: Sonardyne - parsing R164.79

: Sonardyne - read R = 164.790000 from 164.79

: Sonardyne - got range only (164.790000), tat = 670
: Sonardyne - POSD response: 
POSD S133.7,N27.0,D-55,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212832.00,3636.65367,N,12152.51823,W,1,11,0.9,-2.78,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,212832.00,3636.65367,N,12152.51823,W,1,11,0.9,-2.78,M,-33.30,M,,*78


: successfully parse sentence at 21:28:32

: AshtechGPS::processRecord -sample time is 1145309311
: Sonardyne - POSD response: 
POSD S133.7,N27.0,D-55,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R163.91,X-133.56,Y47.79,Z-82.13

: Sonardyne - parsing R163.91,X-133.56,Y47.79,Z-82.13

: Sonardyne - read R = 163.910000 from 163.91,X-133.56,Y47.79,Z-82.13

: Sonardyne - got all data, Vehicle coordinates,
    r=163.910000, x=82.130000, y=-133.560000, z=-47.790000 tat = 690
: AshtechGps::processRecord() - $GPGGA,212833.00,3636.65361,N,12152.51881,W,1,09,1.1,-4.00,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,212833.00,3636.65361,N,12152.51881,W,1,09,1.1,-4.00,M,-33.30,M,,*7E


: successfully parse sentence at 21:28:33

: AshtechGPS::processRecord -sample time is 1145309312
:  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  7.31 17.87 3.86 3.89 0  2703.90 01:21:06 m

: Sonardyne - POS response: 
POS V4,1 R163.20,X-130.29,Y59.04,Z-78.57

: Sonardyne - parsing R163.20,X-130.29,Y59.04,Z-78.57

: Sonardyne - read R = 163.200000 from 163.20,X-130.29,Y59.04,Z-78.57

: Sonardyne - got all data, Vehicle coordinates,
    r=163.200000, x=78.570000, y=-130.290000, z=-59.040000 tat = 690
: AshtechGps::processRecord() - $GPGGA,212834.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212834.00,,,,,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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R162.56,X-127.56,Y58.77,Z-81.86

: Sonardyne - parsing R162.56,X-127.56,Y58.77,Z-81.86

: Sonardyne - read R = 162.560000 from 162.56,X-127.56,Y58.77,Z-81.86

: Sonardyne - got all data, Vehicle coordinates,
    r=162.560000, x=81.860000, y=-127.560000, z=-58.770000 tat = 690
: AshtechGps::processRecord() - $GPGGA,212835.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212835.00,,,,,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 R161.98

: Sonardyne - parsing R161.98

: Sonardyne - read R = 161.980000 from 161.98

: Sonardyne - got range only (161.980000), tat = 670
: AshtechGps::processRecord() - $GPGGA,212836.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212836.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.7,N26.3,D3,U5,Q0.000726

: Sonardyne - POSD response: 
POSD S130.7,N26.3,D3,U5,Q0.000726

:  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 R161.29

: Sonardyne - parsing R161.29

: Sonardyne - read R = 161.290000 from 161.29

: Sonardyne - got range only (161.290000), tat = 659
: AshtechGps::processRecord() - $GPGGA,212837.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212837.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S125.3,N23.5,D56,U1,Q0.004620

: Sonardyne - POSD response: 
POSD S125.3,N23.5,D56,U1,Q0.004620

:  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 R160.74

: Sonardyne - parsing R160.74

: Sonardyne - read R = 160.740000 from 160.74

: Sonardyne - got range only (160.740000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212838.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,212838.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.1,N27.3,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.1,N27.3,D-32,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R159.97

: Sonardyne - parsing R159.97

: Sonardyne - read R = 159.970000 from 159.97

: Sonardyne - got range only (159.970000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212839.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,212839.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.3,N30.8,D9,U1,Q0.012214

: Sonardyne - POSD response: 
POSD S130.3,N30.8,D9,U1,Q0.012214

:  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 R159.10

: Sonardyne - parsing R159.10

: Sonardyne - read R = 159.100000 from 159.10

: Sonardyne - got range only (159.100000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212840.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212840.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S136.2,N28.3,D-26,U3,Q0.013364

: Sonardyne - POSD response: 
POSD S136.2,N28.3,D-26,U3,Q0.013364

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

: AshtechGps::processRecord() - $GPGGA,212841.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212841.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R158.24,X-134.05,Y4.92,Z-83.94

: Sonardyne - parsing R158.24,X-134.05,Y4.92,Z-83.94

: Sonardyne - read R = 158.240000 from 158.24,X-134.05,Y4.92,Z-83.94

: Sonardyne - got all data, Vehicle coordinates,
    r=158.240000, x=83.940000, y=-134.050000, z=-4.920000 tat = 730
:  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 R157.42

: Sonardyne - parsing R157.42

: Sonardyne - read R = 157.420000 from 157.42

: Sonardyne - got range only (157.420000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212842.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212842.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.7,N28.6,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.7,N28.6,D-22,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R156.55

: Sonardyne - parsing R156.55

: Sonardyne - read R = 156.550000 from 156.55

: Sonardyne - got range only (156.550000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212843.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212843.00,,,,,0,00,,,M,,M,,*46


: Sonardyne - POSD response: 
POSD S133.0,N22.9,D79,U0,Q0.000000

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.0,N22.9,D79,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.93 10.00 17.87 3.86 3.89 0  2702.90 01:21:16 m

: Sonardyne - POS response: 
POS V4,1 R155.83

: Sonardyne - parsing R155.83

: Sonardyne - read R = 155.830000 from 155.83

: Sonardyne - got range only (155.830000), tat = 660
: AshtechGps::processRecord() - $GPGGA,212844.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212844.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.8,N27.5,D38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.8,N27.5,D38,U0,Q0.000000

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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R155.17

: Sonardyne - parsing R155.17

: Sonardyne - read R = 155.170000 from 155.17

: Sonardyne - got range only (155.170000), tat = 660
: Sonardyne - POSD response: 
POSD S135.4,N28.5,D-26,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212845.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212845.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.4,N28.5,D-26,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R154.43

: Sonardyne - parsing R154.43

: Sonardyne - read R = 154.430000 from 154.43

: Sonardyne - got range only (154.430000), tat = 650
: Sonardyne - POSD response: 
POSD S124.2,N20.2,D-91,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212846.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212846.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.2,N20.2,D-91,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R153.98

: Sonardyne - parsing R153.98

: Sonardyne - read R = 153.980000 from 153.98

: Sonardyne - got range only (153.980000), tat = 650
: AshtechGps::processRecord() - $GPGGA,212847.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212847.00,,,,,0,00,,,M,,M,,*42


: Sonardyne - POSD response: 
POSD S133.5,N30.1,D-31,U1,Q0.013255

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.5,N30.1,D-31,U1,Q0.013255

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

: Sonardyne - POS response: 
POS V4,1 R153.37

: Sonardyne - parsing R153.37

: Sonardyne - read R = 153.370000 from 153.37

: Sonardyne - got range only (153.370000), tat = 650
: Sonardyne - POSD response: 
POSD S129.6,N31.7,D13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212848.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,212848.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.6,N31.7,D13,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R152.82

: Sonardyne - parsing R152.82

: Sonardyne - read R = 152.820000 from 152.82

: Sonardyne - got range only (152.820000), tat = 650
: Sonardyne - POSD response: 
POSD S135.6,N32.5,D1,U4,Q0.014076

: AshtechGps::processRecord() - $GPGGA,212849.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,212849.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S135.6,N32.5,D1,U4,Q0.014076

:  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 R152.01

: Sonardyne - parsing R152.01

: Sonardyne - read R = 152.010000 from 152.01

: Sonardyne - got range only (152.010000), tat = 650
: Sonardyne - POSD response: 
POSD S126.3,N27.7,D34,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212850.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212850.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S126.3,N27.7,D34,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R151.18

: Sonardyne - parsing R151.18

: Sonardyne - read R = 151.180000 from 151.18

: Sonardyne - got range only (151.180000), tat = 650
: Sonardyne - POSD response: 
POSD S129.1,N27.2,D9,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212851.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212851.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.1,N27.2,D9,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R150.82

: Sonardyne - parsing R150.82

: Sonardyne - read R = 150.820000 from 150.82

: Sonardyne - got range only (150.820000), tat = 650
: Sonardyne - POSD response: 
POSD S127.9,N21.8,D-74,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212852.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212852.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.9,N21.8,D-74,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R149.55

: Sonardyne - parsing R149.55

: Sonardyne - read R = 149.550000 from 149.55

: Sonardyne - got range only (149.550000), tat = 650
: Sonardyne - POSD response: 
POSD S123.6,N21.2,D19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212853.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212853.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S123.6,N21.2,D19,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.93  9.60 17.96 3.85 3.88 0  2702.26 01:21:26 m

: Sonardyne - POS response: 
POS V4,1 R149.16

: Sonardyne - parsing R149.16

: Sonardyne - read R = 149.160000 from 149.16

: Sonardyne - got range only (149.160000), tat = 650
: Sonardyne - POSD response: 
POSD S136.2,N33.3,D-1,U5,Q0.007258

: AshtechGps::processRecord() - $GPGGA,212854.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212854.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S136.2,N33.3,D-1,U5,Q0.007258

:  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 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R148.61

: Sonardyne - parsing R148.61

: Sonardyne - read R = 148.610000 from 148.61

: Sonardyne - got range only (148.610000), tat = 650
: Sonardyne - POSD response: 
POSD S132.8,N30.2,D30,U3,Q0.003692

: AshtechGps::processRecord() - $GPGGA,212855.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212855.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.8,N30.2,D30,U3,Q0.003692

:  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 R149.03

: Sonardyne - parsing R149.03

: Sonardyne - read R = 149.030000 from 149.03

: Sonardyne - got range only (149.030000), tat = 650
: Sonardyne - POSD response: 
POSD S131.6,N28.0,D-61,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212856.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212856.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.6,N28.0,D-61,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R147.39

: Sonardyne - parsing R147.39

: Sonardyne - read R = 147.390000 from 147.39

: Sonardyne - got range only (147.390000), tat = 650
: Sonardyne - POSD response: 
POSD S131.4,N28.2,D-8,U1,Q0.017227

: AshtechGps::processRecord() - $GPGGA,212857.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212857.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.4,N28.2,D-8,U1,Q0.017227

:  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 R146.78

: Sonardyne - parsing R146.78

: Sonardyne - read R = 146.780000 from 146.78

: Sonardyne - got range only (146.780000), tat = 650
: Sonardyne - POSD response: 
POSD S131.1,N24.4,D41,U2,Q0.008972

: AshtechGps::processRecord() - $GPGGA,212858.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,212858.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.1,N24.4,D41,U2,Q0.008972

:  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 R146.28

: Sonardyne - parsing R146.28

: Sonardyne - read R = 146.280000 from 146.28

: Sonardyne - got range only (146.280000), tat = 640
: Sonardyne - POSD response: 
POSD S125.5,N25.8,D51,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212859.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,212859.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S125.5,N25.8,D51,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R145.74

: Sonardyne - parsing R145.74

: Sonardyne - read R = 145.740000 from 145.74

: Sonardyne - got range only (145.740000), tat = 640
: Sonardyne - POSD response: 
POSD S130.6,N22.8,D-59,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212900.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212900.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.6,N22.8,D-59,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R145.45

: Sonardyne - parsing R145.45

: Sonardyne - read R = 145.450000 from 145.45

: Sonardyne - got range only (145.450000), tat = 640
: Sonardyne - POSD response: 
POSD S129.9,N27.8,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212901.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212901.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.9,N27.8,D17,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R144.97

: Sonardyne - parsing R144.97

: Sonardyne - read R = 144.970000 from 144.97

: Sonardyne - got range only (144.970000), tat = 640
: Sonardyne - POSD response: 
POSD S131.0,N28.4,D-39,U2,Q0.012432

: AshtechGps::processRecord() - $GPGGA,212902.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212902.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.0,N28.4,D-39,U2,Q0.012432

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

: Sonardyne - POS response: 
POS V4,1 R144.43

: Sonardyne - parsing R144.43

: Sonardyne - read R = 144.430000 from 144.43

: Sonardyne - got range only (144.430000), tat = 640
: Sonardyne - POSD response: 
POSD S131.5,N29.0,D33,U2,Q0.004657

: AshtechGps::processRecord() - $GPGGA,212903.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212903.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.5,N29.0,D33,U2,Q0.004657

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

: BluefinBatt Reply: $aaq0 d- 30.93  9.90 17.96 3.85 3.88 0  2701.31 01:21:36 m

: Sonardyne - POS response: 
POS V4,1 R143.96

: Sonardyne - parsing R143.96

: Sonardyne - read R = 143.960000 from 143.96

: Sonardyne - got range only (143.960000), tat = 640
: Sonardyne - POSD response: 
POSD S127.5,N26.3,D-40,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212904.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212904.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.5,N26.3,D-40,U0,Q0.000000

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R143.42

: Sonardyne - parsing R143.42

: Sonardyne - read R = 143.420000 from 143.42

: Sonardyne - got range only (143.420000), tat = 640
: Sonardyne - POSD response: 
POSD S128.6,N25.8,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212905.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212905.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.6,N25.8,D21,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R142.89

: Sonardyne - parsing R142.89

: Sonardyne - read R = 142.890000 from 142.89

: Sonardyne - got range only (142.890000), tat = 639
: Sonardyne - POSD response: 
POSD S130.3,N26.3,D-79,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212906.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212906.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.3,N26.3,D-79,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R145.99

: Sonardyne - parsing R145.99

: Sonardyne - read R = 145.990000 from 145.99

: Sonardyne - got range only (145.990000), tat = 640
: Sonardyne - POSD response: 
POSD S113.7,N15.3,D-27,U1,Q0.012346

: AshtechGps::processRecord() - $GPGGA,212907.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212907.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S113.7,N15.3,D-27,U1,Q0.012346

:  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 R142.43

: Sonardyne - parsing R142.43

: Sonardyne - read R = 142.430000 from 142.43

: Sonardyne - got range only (142.430000), tat = 640
: Sonardyne - POSD response: 
POSD S126.0,N25.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212908.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,212908.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S126.0,N25.8,D0,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R142.43

: Sonardyne - parsing R142.43

: Sonardyne - read R = 142.430000 from 142.43

: Sonardyne - got range only (142.430000), tat = 640
: Sonardyne - POSD response: 
POSD S129.5,N31.7,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212909.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,212909.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.5,N31.7,D4,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R141.88

: Sonardyne - parsing R141.88

: Sonardyne - read R = 141.880000 from 141.88

: Sonardyne - got range only (141.880000), tat = 640
: Sonardyne - POSD response: 
POSD S129.7,N30.3,D10,U2,Q0.010174

: AshtechGps::processRecord() - $GPGGA,212910.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212910.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.7,N30.3,D10,U2,Q0.010174

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

: Sonardyne - POS response: 
POS V4,1 R141.41

: Sonardyne - parsing R141.41

: Sonardyne - read R = 141.410000 from 141.41

: Sonardyne - got range only (141.410000), tat = 640
: Sonardyne - POSD response: 
POSD S128.5,N29.3,D14,U1,Q0.011843

: AshtechGps::processRecord() - $GPGGA,212911.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212911.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.5,N29.3,D14,U1,Q0.011843

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

: Sonardyne - POS response: 
POS V4,1 R140.83

: Sonardyne - parsing R140.83

: Sonardyne - read R = 140.830000 from 140.83

: Sonardyne - got range only (140.830000), tat = 640
: Sonardyne - POSD response: 
POSD S117.8,N22.0,D53,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212912.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212912.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.8,N22.0,D53,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R140.43

: Sonardyne - parsing R140.43

: Sonardyne - read R = 140.430000 from 140.43

: Sonardyne - got range only (140.430000), tat = 640
: Sonardyne - POSD response: 
POSD S117.1,N22.6,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212913.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212913.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S117.1,N22.6,D4,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.93  9.03 17.96 3.85 3.88 0  2700.66 01:21:46 m

: Sonardyne - POS response: 
POS V4,1 R140.27

: Sonardyne - parsing R140.27

: Sonardyne - read R = 140.270000 from 140.27

: Sonardyne - got range only (140.270000), tat = 640
: Sonardyne - POSD response: 
POSD S126.8,N30.1,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212914.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212914.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S126.8,N30.1,D-7,U0,Q0.000000

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: Sonardyne - POS response: 
POS V4,1 R140.23

: Sonardyne - parsing R140.23

: Sonardyne - read R = 140.230000 from 140.23

: Sonardyne - got range only (140.230000), tat = 640
: Sonardyne - POSD response: 
POSD S131.6,N29.2,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212915.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212915.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.6,N29.2,D-29,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R139.95,X99.85,Y98.06,Z0.00

: Sonardyne - parsing R139.95,X99.85,Y98.06,Z0.00

: Sonardyne - read R = 139.950000 from 139.95,X99.85,Y98.06,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=139.950000, x=0.000000, y=99.850000, z=-98.060000 tat = 660
: AshtechGps::processRecord() - $GPGGA,212916.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212916.00,,,,,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

: Descend::execute() - Descend terminating on depth 12.030171 > 12.000000 at time 90.393808

: LayeredControl::execute() -- (t = 90.393808) Behavior descend has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 90.39                             (wplog)
  The current location (N,E) = 4052266.8      , 600520.3         (wplog)
  The next waypoint          = 4052381.4      , 600381.7         (wplog)
  The bearing to the next w.p. is 309.6 Degrees.

: LayeredControl::execute() -- (t = 90.393808) Behavior waypoint has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R141.24

: Sonardyne - parsing R141.24

: Sonardyne - read R = 141.240000 from 141.24

: Sonardyne - got range only (141.240000), tat = 640
: Sonardyne - POSD response: 
POSD S124.5,N25.2,D-53,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212917.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212917.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.5,N25.2,D-53,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R139.95

: Sonardyne - parsing R139.95

: Sonardyne - read R = 139.950000 from 139.95

: Sonardyne - got range only (139.950000), tat = 640
: Sonardyne - POSD response: 
POSD S123.6,N22.4,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212918.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,212918.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S123.6,N22.4,D-11,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R140.19,X-133.46,Y-0.56,Z-42.91

: Sonardyne - parsing R140.19,X-133.46,Y-0.56,Z-42.91

: Sonardyne - read R = 140.190000 from 140.19,X-133.46,Y-0.56,Z-42.91

: Sonardyne - got all data, Vehicle coordinates,
    r=140.190000, x=42.910000, y=-133.460000, z=0.560000 tat = 660
: AshtechGps::processRecord() - $GPGGA,212919.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,212919.00,,,,,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 R140.18

: Sonardyne - parsing R140.18

: Sonardyne - read R = 140.180000 from 140.18

: Sonardyne - got range only (140.180000), tat = 640
: Sonardyne - POSD response: 
POSD S127.6,N30.4,D12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212920.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212920.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.6,N30.4,D12,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R140.35

: Sonardyne - parsing R140.35

: Sonardyne - read R = 140.350000 from 140.35

: Sonardyne - got range only (140.350000), tat = 639
: Sonardyne - POSD response: 
POSD S122.6,N26.9,D22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212921.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212921.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S122.6,N26.9,D22,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,212922.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212922.00,,,,,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,212923.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212923.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.89 10.41 17.96 3.85 3.88 0  2699.70 01:21:56 m

: AshtechGps::processRecord() - $GPGGA,212924.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212924.00,,,,,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,N1.8,D0,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,212925.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212925.00,,,,,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,212926.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212926.00,,,,,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,212927.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212927.00,,,,,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,N2.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212928.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,212928.00,,,,,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,212929.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,212929.00,,,,,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,212930.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212930.00,,,,,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,212931.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212931.00,,,,,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,N5.6,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,212932.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212932.00,,,,,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,212933.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212933.00,,,,,0,00,,,M,,M,,*40


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

: BluefinBatt Reply: $aaq0 d- 30.89 10.07 18.06 3.85 3.88 0  2699.01 01:22:06 m

: AshtechGps::processRecord() - $GPGGA,212934.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212934.00,,,,,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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,212935.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212935.00,,,,,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,212936.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212936.00,,,,,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,212937.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212937.00,,,,,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,212938.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,212938.00,,,,,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,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.2,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,212939.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,212939.00,,,,,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,212940.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212940.00,,,,,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,212941.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212941.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,212942.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212942.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,212943.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212943.00,,,,,0,00,,,M,,M,,*47


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

: BluefinBatt Reply: $aaq0 d- 30.89  9.46 18.06 3.85 3.88 0  2697.97 01:22:16 m

: AshtechGps::processRecord() - $GPGGA,212944.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212944.00,,,,,0,00,,,M,,M,,*40


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,212945.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212945.00,,,,,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,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,212946.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212946.00,,,,,0,00,,,M,,M,,*42


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

: AshtechGps::processRecord() - $GPGGA,212947.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212947.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,212948.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,212948.00,,,,,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,212949.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,212949.00,,,,,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,212950.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,212950.00,,,,,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,212951.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,212951.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,212952.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,212952.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.0,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,212953.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,212953.00,,,,,0,00,,,M,,M,,*46


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

: BluefinBatt Reply: $aaq0 d- 30.89  9.63 18.06 3.85 3.87 0  2697.31 01:22:26 m

: AshtechGps::processRecord() - $GPGGA,212954.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,212954.00,,,,,0,00,,,M,,M,,*41


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,212955.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,212955.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,212956.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,212956.00,,,,,0,00,,,M,,M,,*43


: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

: 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,212957.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,212957.00,,,,,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,212958.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,212958.00,,,,,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,212959.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,212959.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.3,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,213000.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213000.00,,,,,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,213001.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213001.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213002.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213002.00,,,,,0,00,,,M,,M,,*4A


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213003.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213003.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.89  9.60 18.06 3.85 3.87 0  2696.32 01:22:36 m

: AshtechGps::processRecord() - $GPGGA,213004.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213004.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213005.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213005.00,,,,,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,213006.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213006.00,,,,,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,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,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,213007.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213007.00,,,,,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,213008.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213008.00,,,,,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,213009.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213009.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,213010.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213010.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213011.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213011.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,213012.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213012.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,213013.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213013.00,,,,,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,N3.6,D0,U0,Q0.000000

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

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

: BluefinBatt Reply: $aaq0 d- 30.85  9.46 18.06 3.85 3.88 0  2695.68 01:22:46 m

: AshtechGps::processRecord() - $GPGGA,213014.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213014.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213015.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213015.00,,,,,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,213016.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213016.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213017.00,,,,,0,00,,,M,,M,,*4E

: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,213017.00,,,,,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,213018.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213018.00,,,,,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,213019.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213019.00,,,,,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,213020.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213020.00,,,,,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,N3.7,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,213021.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213021.00,,,,,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,213022.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213022.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,213023.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213023.00,,,,,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- 30.89  8.92 18.06 3.85 3.88 0  2694.68 01:22:56 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,N4.1,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213024.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213024.00,,,,,0,00,,,M,,M,,*4E


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213025.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213025.00,,,,,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,213026.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213026.00,,,,,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,213027.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213027.00,,,,,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,N2.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.6,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,213028.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213028.00,,,,,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,213029.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213029.00,,,,,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,213030.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213030.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213031.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213031.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N1.8,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,213032.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213032.00,,,,,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,213033.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213033.00,,,,,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- 30.89  9.83 18.06 3.85 3.88 0  2694.06 01:23:06 m

: AshtechGps::processRecord() - $GPGGA,213034.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213034.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

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

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

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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213035.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213035.00,,,,,0,00,,,M,,M,,*4E


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

: AshtechGps::processRecord() - $GPGGA,213036.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213036.00,,,,,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,213037.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213037.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,213038.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213038.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,213039.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213039.00,,,,,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,213040.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213040.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,213041.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213041.00,,,,,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,N2.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213042.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213042.00,,,,,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,213043.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213043.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89  8.76 18.06 3.85 3.88 0  2693.00 01:23:16 m

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

: AshtechGps::processRecord() - $GPGGA,213044.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213044.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

:  wdt = 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,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,213045.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213045.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213046.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213046.00,,,,,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,213047.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213047.00,,,,,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,213048.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213048.00,,,,,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,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,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,213049.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213049.00,,,,,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,213050.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213050.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,213051.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213051.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

: Sonardyne - POSD response: 
POSD S-100.0,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,213052.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213052.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,213053.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213053.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.89  9.46 18.16 3.85 3.87 0  2692.35 01:23:26 m

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

: AshtechGps::processRecord() - $GPGGA,213054.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213054.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,213055.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213055.00,,,,,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,N2.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N2.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213056.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213056.00,,,,,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,213057.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213057.00,,,,,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,213058.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213058.00,,,,,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,N4.9,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213059.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213059.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.9,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,213100.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213100.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213101.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213101.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,213102.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213102.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213103.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213103.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.85  9.97 18.16 3.85 3.87 0  2691.39 01:23:36 m

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

: AshtechGps::processRecord() - $GPGGA,213104.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213104.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: AshtechGps::processRecord() - $GPGGA,213105.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213105.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,213106.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213106.00,,,,,0,00,,,M,,M,,*4F


: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: 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,213107.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213107.00,,,,,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,213108.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213108.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
:  Waypoint has set the state to finished.

: Waypoint (4052381.4, 600381.7), 
  reached at t = 201.80                                          (wplog)

: Vehicle Position is error is (0.0, 0.1)

: LayeredControl::execute() -- (t = 201.796176) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 201.81                            (wplog)
  The current location (N,E) = 4052381.5      , 600381.6         (wplog)
  The next waypoint          = 4052292.2      , 600426.6         (wplog)
  The bearing to the next w.p. is 153.2 Degrees.

: LayeredControl::execute() -- (t = 201.806175) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,213109.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213109.00,,,,,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,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,213110.00,,,,,0,00,,,M,,M,,*48

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

: GpsUtils::parseFix() - $GPGGA,213110.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,213111.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213111.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213112.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213112.00,,,,,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,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,213113.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213113.00,,,,,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- 30.89  9.13 18.06 3.85 3.87 0  2690.77 01:23:46 m

: AshtechGps::processRecord() - $GPGGA,213114.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213114.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213115.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213115.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,213116.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213116.00,,,,,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 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,213117.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213117.00,,,,,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 R321.90,X-301.12,Y73.65,Z-86.72

: Sonardyne - parsing R321.90,X-301.12,Y73.65,Z-86.72

: Sonardyne - read R = 321.900000 from 321.90,X-301.12,Y73.65,Z-86.72

: Sonardyne - got all data, Vehicle coordinates,
    r=321.900000, x=86.720000, y=-301.120000, z=-73.650000 tat = 909
: AshtechGps::processRecord() - $GPGGA,213118.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213118.00,,,,,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 R321.69

: Sonardyne - parsing R321.69

: Sonardyne - read R = 321.690000 from 321.69

: Sonardyne - got range only (321.690000), tat = 880
: Sonardyne - POSD response: 
POSD S119.5,N30.3,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.5,N30.3,D-3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213119.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213119.00,,,,,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,213120.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213120.00,,,,,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 R320.67

: Sonardyne - parsing R320.67

: Sonardyne - read R = 320.670000 from 320.67

: Sonardyne - got range only (320.670000), tat = 880
: Sonardyne - POSD response: 
POSD S127.5,N31.5,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.5,N31.5,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213121.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213121.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R319.13

: Sonardyne - parsing R319.13

: Sonardyne - read R = 319.130000 from 319.13

: Sonardyne - got range only (319.130000), tat = 880
: Sonardyne - POSD response: 
POSD S133.6,N32.2,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N32.2,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213122.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213122.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,213123.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213123.00,,,,,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 R317.81,X-129.07,Y-1.24,Z-290.42

: Sonardyne - parsing R317.81,X-129.07,Y-1.24,Z-290.42

: Sonardyne - read R = 317.810000 from 317.81,X-129.07,Y-1.24,Z-290.42

: Sonardyne - got all data, Vehicle coordinates,
    r=317.810000, x=290.420000, y=-129.070000, z=1.240000 tat = 900
: BluefinBatt Reply: $aaq0 d- 30.85  9.13 18.06 3.85 3.87 0  2689.80 01:23:56 m

: AshtechGps::processRecord() - $GPGGA,213124.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213124.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R317.11,X-65.30,Y-11.44,Z-310.10

: Sonardyne - parsing R317.11,X-65.30,Y-11.44,Z-310.10

: Sonardyne - read R = 317.110000 from 317.11,X-65.30,Y-11.44,Z-310.10

: Sonardyne - got all data, Vehicle coordinates,
    r=317.110000, x=310.100000, y=-65.300000, z=11.440000 tat = 900
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213125.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213125.00,,,,,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 R316.49,X-5.32,Y-7.30,Z-316.36

: Sonardyne - parsing R316.49,X-5.32,Y-7.30,Z-316.36

: Sonardyne - read R = 316.490000 from 316.49,X-5.32,Y-7.30,Z-316.36

: Sonardyne - got all data, Vehicle coordinates,
    r=316.490000, x=316.360000, y=-5.320000, z=7.300000 tat = 900
: AshtechGps::processRecord() - $GPGGA,213126.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213126.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R315.77,X50.19,Y-9.24,Z-311.62

: Sonardyne - parsing R315.77,X50.19,Y-9.24,Z-311.62

: Sonardyne - read R = 315.770000 from 315.77,X50.19,Y-9.24,Z-311.62

: Sonardyne - got all data, Vehicle coordinates,
    r=315.770000, x=311.620000, y=50.190000, z=9.240000 tat = 900
: AshtechGps::processRecord() - $GPGGA,213127.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213127.00,,,,,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 R315.03,X115.15,Y-11.18,Z-293.02

: Sonardyne - parsing R315.03,X115.15,Y-11.18,Z-293.02

: Sonardyne - read R = 315.030000 from 315.03,X115.15,Y-11.18,Z-293.02

: Sonardyne - got all data, Vehicle coordinates,
    r=315.030000, x=293.020000, y=115.150000, z=11.180000 tat = 900
: AshtechGps::processRecord() - $GPGGA,213128.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213128.00,,,,,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 R314.21,X158.36,Y-23.14,Z-270.39

: Sonardyne - parsing R314.21,X158.36,Y-23.14,Z-270.39

: Sonardyne - read R = 314.210000 from 314.21,X158.36,Y-23.14,Z-270.39

: Sonardyne - got all data, Vehicle coordinates,
    r=314.210000, x=270.390000, y=158.360000, z=23.140000 tat = 900
: AshtechGps::processRecord() - $GPGGA,213129.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213129.00,,,,,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 R313.15,X182.70,Y-11.45,Z-254.07

: Sonardyne - parsing R313.15,X182.70,Y-11.45,Z-254.07

: Sonardyne - read R = 313.150000 from 313.15,X182.70,Y-11.45,Z-254.07

: Sonardyne - got all data, Vehicle coordinates,
    r=313.150000, x=254.070000, y=182.700000, z=11.450000 tat = 890
: AshtechGps::processRecord() - $GPGGA,213130.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213130.00,,,,,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 R312.09

: Sonardyne - parsing R312.09

: Sonardyne - read R = 312.090000 from 312.09

: Sonardyne - got range only (312.090000), tat = 870
: Sonardyne - POSD response: 
POSD S126.4,N22.6,D-87,U3,Q0.011646

: Sonardyne - POSD response: 
POSD S126.4,N22.6,D-87,U3,Q0.011646

: AshtechGps::processRecord() - $GPGGA,213131.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213131.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R311.08

: Sonardyne - parsing R311.08

: Sonardyne - read R = 311.080000 from 311.08

: Sonardyne - got range only (311.080000), tat = 870
: Sonardyne - POSD response: 
POSD S123.2,N22.7,D-89,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.2,N22.7,D-89,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213132.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213132.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R310.18

: Sonardyne - parsing R310.18

: Sonardyne - read R = 310.180000 from 310.18

: Sonardyne - got range only (310.180000), tat = 859
: Sonardyne - POSD response: 
POSD S119.1,N25.0,D18,U1,Q0.008094

: Sonardyne - POSD response: 
POSD S119.1,N25.0,D18,U1,Q0.008094

: AshtechGps::processRecord() - $GPGGA,213133.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213133.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R309.30

: Sonardyne - parsing R309.30

: Sonardyne - read R = 309.300000 from 309.30

: Sonardyne - got range only (309.300000), tat = 860
: Sonardyne - POSD response: 
POSD S125.6,N27.7,D-7,U2,Q0.011297

: Sonardyne - POSD response: 
POSD S125.6,N27.7,D-7,U2,Q0.011297

: BluefinBatt Reply: $aaq0 d- 30.78 11.42 18.16 3.85 3.87 0  2689.10 01:24:06 m

: AshtechGps::processRecord() - $GPGGA,213134.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213134.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R308.44,X197.93,Y20.99,Z-235.62

: Sonardyne - parsing R308.44,X197.93,Y20.99,Z-235.62

: Sonardyne - read R = 308.440000 from 308.44,X197.93,Y20.99,Z-235.62

: Sonardyne - got all data, Vehicle coordinates,
    r=308.440000, x=235.620000, y=197.930000, z=-20.990000 tat = 890
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213135.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213135.00,,,,,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 R307.44,X188.82,Y21.24,Z-241.69

: Sonardyne - parsing R307.44,X188.82,Y21.24,Z-241.69

: Sonardyne - read R = 307.440000 from 307.44,X188.82,Y21.24,Z-241.69

: Sonardyne - got all data, Vehicle coordinates,
    r=307.440000, x=241.690000, y=188.820000, z=-21.240000 tat = 890
: AshtechGps::processRecord() - $GPGGA,213136.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213136.00,,,,,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 R306.43,X180.67,Y27.59,Z-245.96

: Sonardyne - parsing R306.43,X180.67,Y27.59,Z-245.96

: Sonardyne - read R = 306.430000 from 306.43,X180.67,Y27.59,Z-245.96

: Sonardyne - got all data, Vehicle coordinates,
    r=306.430000, x=245.960000, y=180.670000, z=-27.590000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213137.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213137.00,,,,,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 R305.27,X169.63,Y37.57,Z-251.01

: Sonardyne - parsing R305.27,X169.63,Y37.57,Z-251.01

: Sonardyne - read R = 305.270000 from 305.27,X169.63,Y37.57,Z-251.01

: Sonardyne - got all data, Vehicle coordinates,
    r=305.270000, x=251.010000, y=169.630000, z=-37.570000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213138.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213138.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R304.18,X158.66,Y31.83,Z-257.57

: Sonardyne - parsing R304.18,X158.66,Y31.83,Z-257.57

: Sonardyne - read R = 304.180000 from 304.18,X158.66,Y31.83,Z-257.57

: Sonardyne - got all data, Vehicle coordinates,
    r=304.180000, x=257.570000, y=158.660000, z=-31.830000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213139.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213139.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R302.67,X148.46,Y35.66,Z-261.34

: Sonardyne - parsing R302.67,X148.46,Y35.66,Z-261.34

: Sonardyne - read R = 302.670000 from 302.67,X148.46,Y35.66,Z-261.34

: Sonardyne - got all data, Vehicle coordinates,
    r=302.670000, x=261.340000, y=148.460000, z=-35.660000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213140.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213140.00,,,,,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 R301.22,X141.51,Y33.71,Z-263.77

: Sonardyne - parsing R301.22,X141.51,Y33.71,Z-263.77

: Sonardyne - read R = 301.220000 from 301.22,X141.51,Y33.71,Z-263.77

: Sonardyne - got all data, Vehicle coordinates,
    r=301.220000, x=263.770000, y=141.510000, z=-33.710000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213141.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213141.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R299.85,X135.56,Y30.63,Z-265.69

: Sonardyne - parsing R299.85,X135.56,Y30.63,Z-265.69

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

: Sonardyne - read R = 299.850000 from 299.85,X135.56,Y30.63,Z-265.69

: Sonardyne - got all data, Vehicle coordinates,
    r=299.850000, x=265.690000, y=135.560000, z=-30.630000 tat = 880
: AshtechGps::processRecord() - $GPGGA,213142.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213142.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R298.40,X129.49,Y27.16,Z-267.46

: Sonardyne - parsing R298.40,X129.49,Y27.16,Z-267.46

: Sonardyne - read R = 298.400000 from 298.40,X129.49,Y27.16,Z-267.46

: Sonardyne - got all data, Vehicle coordinates,
    r=298.400000, x=267.460000, y=129.490000, z=-27.160000 tat = 870
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213143.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213143.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.05,X124.05,Y27.16,Z-268.54

: Sonardyne - parsing R297.05,X124.05,Y27.16,Z-268.54

: Sonardyne - read R = 297.050000 from 297.05,X124.05,Y27.16,Z-268.54

: Sonardyne - got all data, Vehicle coordinates,
    r=297.050000, x=268.540000, y=124.050000, z=-27.160000 tat = 870
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.82 10.81 18.06 3.85 3.87 0  2688.03 01:24:16 m

: AshtechGps::processRecord() - $GPGGA,213144.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213144.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R295.74,X118.70,Y23.04,Z-269.89

: Sonardyne - parsing R295.74,X118.70,Y23.04,Z-269.89

: Sonardyne - read R = 295.740000 from 295.74,X118.70,Y23.04,Z-269.89

: Sonardyne - got all data, Vehicle coordinates,
    r=295.740000, x=269.890000, y=118.700000, z=-23.040000 tat = 870
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213145.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213145.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R294.37,X112.37,Y19.90,Z-271.35

: Sonardyne - parsing R294.37,X112.37,Y19.90,Z-271.35

: Sonardyne - read R = 294.370000 from 294.37,X112.37,Y19.90,Z-271.35

: Sonardyne - got all data, Vehicle coordinates,
    r=294.370000, x=271.350000, y=112.370000, z=-19.900000 tat = 870
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213146.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213146.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R292.90,X106.52,Y17.92,Z-272.26

: Sonardyne - parsing R292.90,X106.52,Y17.92,Z-272.26

: Sonardyne - read R = 292.900000 from 292.90,X106.52,Y17.92,Z-272.26

: Sonardyne - got all data, Vehicle coordinates,
    r=292.900000, x=272.260000, y=106.520000, z=-17.920000 tat = 870
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213147.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213147.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R291.37,X97.92,Y11.21,Z-274.20

: Sonardyne - parsing R291.37,X97.92,Y11.21,Z-274.20

: Sonardyne - read R = 291.370000 from 291.37,X97.92,Y11.21,Z-274.20

: Sonardyne - got all data, Vehicle coordinates,
    r=291.370000, x=274.200000, y=97.920000, z=-11.210000 tat = 859
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213148.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213148.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R297.35

: Sonardyne - parsing R297.35

: Sonardyne - read R = 297.350000 from 297.35

: Sonardyne - got range only (297.350000), tat = 850
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S116.0,N26.8,D109,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S116.0,N26.8,D109,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213149.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213149.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R288.13,X90.33,Y10.73,Z-273.39

: Sonardyne - parsing R288.13,X90.33,Y10.73,Z-273.39

: Sonardyne - read R = 288.130000 from 288.13,X90.33,Y10.73,Z-273.39

: Sonardyne - got all data, Vehicle coordinates,
    r=288.130000, x=273.390000, y=90.330000, z=-10.730000 tat = 860
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213150.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213150.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R286.61,X86.21,Y10.76,Z-273.12

: Sonardyne - parsing R286.61,X86.21,Y10.76,Z-273.12

: Sonardyne - read R = 286.610000 from 286.61,X86.21,Y10.76,Z-273.12

: Sonardyne - got all data, Vehicle coordinates,
    r=286.610000, x=273.120000, y=86.210000, z=-10.760000 tat = 860
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213151.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213151.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R285.00,X81.52,Y15.82,Z-272.63

: Sonardyne - parsing R285.00,X81.52,Y15.82,Z-272.63

: Sonardyne - read R = 285.000000 from 285.00,X81.52,Y15.82,Z-272.63

: Sonardyne - got all data, Vehicle coordinates,
    r=285.000000, x=272.630000, y=81.520000, z=-15.820000 tat = 850
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213152.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213152.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R283.30,X74.86,Y16.19,Z-272.75

: Sonardyne - parsing R283.30,X74.86,Y16.19,Z-272.75

: Sonardyne - read R = 283.300000 from 283.30,X74.86,Y16.19,Z-272.75

: Sonardyne - got all data, Vehicle coordinates,
    r=283.300000, x=272.750000, y=74.860000, z=-16.190000 tat = 860
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213153.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213153.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R281.59,X67.01,Y17.72,Z-272.93

: Sonardyne - parsing R281.59,X67.01,Y17.72,Z-272.93

: Sonardyne - read R = 281.590000 from 281.59,X67.01,Y17.72,Z-272.93

: Sonardyne - got all data, Vehicle coordinates,
    r=281.590000, x=272.930000, y=67.010000, z=-17.720000 tat = 850
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.85  8.72 18.16 3.85 3.87 0  2687.38 01:24:26 m

: AshtechGps::processRecord() - $GPGGA,213154.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213154.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R279.90,X59.36,Y15.04,Z-273.12

: Sonardyne - parsing R279.90,X59.36,Y15.04,Z-273.12

: Sonardyne - read R = 279.900000 from 279.90,X59.36,Y15.04,Z-273.12

: Sonardyne - got all data, Vehicle coordinates,
    r=279.900000, x=273.120000, y=59.360000, z=-15.040000 tat = 850
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213155.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213155.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R278.31,X53.98,Y13.72,Z-272.68

: Sonardyne - parsing R278.31,X53.98,Y13.72,Z-272.68

: Sonardyne - read R = 278.310000 from 278.31,X53.98,Y13.72,Z-272.68

: Sonardyne - got all data, Vehicle coordinates,
    r=278.310000, x=272.680000, y=53.980000, z=-13.720000 tat = 850
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213156.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213156.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R276.86,X47.43,Y12.54,Z-272.48

: Sonardyne - parsing R276.86,X47.43,Y12.54,Z-272.48

: Sonardyne - read R = 276.860000 from 276.86,X47.43,Y12.54,Z-272.48

: Sonardyne - got all data, Vehicle coordinates,
    r=276.860000, x=272.480000, y=47.430000, z=-12.540000 tat = 840
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213157.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213157.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R275.41,X43.23,Y12.73,Z-271.70

: Sonardyne - parsing R275.41,X43.23,Y12.73,Z-271.70

: Sonardyne - read R = 275.410000 from 275.41,X43.23,Y12.73,Z-271.70

: Sonardyne - got all data, Vehicle coordinates,
    r=275.410000, x=271.700000, y=43.230000, z=-12.730000 tat = 840
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213158.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213158.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R273.82,X38.37,Y8.51,Z-270.99

: Sonardyne - parsing R273.82,X38.37,Y8.51,Z-270.99

: Sonardyne - read R = 273.820000 from 273.82,X38.37,Y8.51,Z-270.99

: Sonardyne - got all data, Vehicle coordinates,
    r=273.820000, x=270.990000, y=38.370000, z=-8.510000 tat = 840
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213159.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213159.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R273.59,X38.00,Y36.83,Z-268.42

: Sonardyne - parsing R273.59,X38.00,Y36.83,Z-268.42

: Sonardyne - read R = 273.590000 from 273.59,X38.00,Y36.83,Z-268.42

: Sonardyne - got all data, Vehicle coordinates,
    r=273.590000, x=268.420000, y=38.000000, z=-36.830000 tat = 840
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213200.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213200.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R270.49,X29.36,Y9.25,Z-268.74

: Sonardyne - parsing R270.49,X29.36,Y9.25,Z-268.74

: Sonardyne - read R = 270.490000 from 270.49,X29.36,Y9.25,Z-268.74

: Sonardyne - got all data, Vehicle coordinates,
    r=270.490000, x=268.740000, y=29.360000, z=-9.250000 tat = 830
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213201.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213201.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R268.58,X25.68,Y9.27,Z-267.19

: Sonardyne - parsing R268.58,X25.68,Y9.27,Z-267.19

: Sonardyne - read R = 268.580000 from 268.58,X25.68,Y9.27,Z-267.19

: Sonardyne - got all data, Vehicle coordinates,
    r=268.580000, x=267.190000, y=25.680000, z=-9.270000 tat = 829
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213202.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213202.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R266.73,X22.99,Y13.71,Z-265.38

: Sonardyne - parsing R266.73,X22.99,Y13.71,Z-265.38

: Sonardyne - read R = 266.730000 from 266.73,X22.99,Y13.71,Z-265.38

: Sonardyne - got all data, Vehicle coordinates,
    r=266.730000, x=265.380000, y=22.990000, z=-13.710000 tat = 830
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213203.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213203.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R265.02,X19.66,Y13.00,Z-263.97

: Sonardyne - parsing R265.02,X19.66,Y13.00,Z-263.97

: Sonardyne - read R = 265.020000 from 265.02,X19.66,Y13.00,Z-263.97

: Sonardyne - got all data, Vehicle coordinates,
    r=265.020000, x=263.970000, y=19.660000, z=-13.000000 tat = 830
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.82 10.04 18.16 3.85 3.87 0  2686.39 01:24:36 m

: AshtechGps::processRecord() - $GPGGA,213204.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213204.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R263.45,X15.44,Y9.20,Z-262.83

: Sonardyne - parsing R263.45,X15.44,Y9.20,Z-262.83

: Sonardyne - read R = 263.450000 from 263.45,X15.44,Y9.20,Z-262.83

: Sonardyne - got all data, Vehicle coordinates,
    r=263.450000, x=262.830000, y=15.440000, z=-9.200000 tat = 820
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213205.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213205.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R261.83,X11.84,Y14.67,Z-261.15

: Sonardyne - parsing R261.83,X11.84,Y14.67,Z-261.15

: Sonardyne - read R = 261.830000 from 261.83,X11.84,Y14.67,Z-261.15

: Sonardyne - got all data, Vehicle coordinates,
    r=261.830000, x=261.150000, y=11.840000, z=-14.670000 tat = 830
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213206.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213206.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R260.46,X7.53,Y12.74,Z-260.04

: Sonardyne - parsing R260.46,X7.53,Y12.74,Z-260.04

: Sonardyne - read R = 260.460000 from 260.46,X7.53,Y12.74,Z-260.04

: Sonardyne - got all data, Vehicle coordinates,
    r=260.460000, x=260.040000, y=7.530000, z=-12.740000 tat = 820
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213207.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213207.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R258.94,X3.95,Y14.94,Z-258.48

: Sonardyne - parsing R258.94,X3.95,Y14.94,Z-258.48

: Sonardyne - read R = 258.940000 from 258.94,X3.95,Y14.94,Z-258.48

: Sonardyne - got all data, Vehicle coordinates,
    r=258.940000, x=258.480000, y=3.950000, z=-14.940000 tat = 820
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213208.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213208.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R257.24,X2.26,Y14.35,Z-256.83

: Sonardyne - parsing R257.24,X2.26,Y14.35,Z-256.83

: Sonardyne - read R = 257.240000 from 257.24,X2.26,Y14.35,Z-256.83

: Sonardyne - got all data, Vehicle coordinates,
    r=257.240000, x=256.830000, y=2.260000, z=-14.350000 tat = 820
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213209.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213209.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R255.34,X-0.21,Y3.30,Z-255.32

: Sonardyne - parsing R255.34,X-0.21,Y3.30,Z-255.32

: Sonardyne - read R = 255.340000 from 255.34,X-0.21,Y3.30,Z-255.32

: Sonardyne - got all data, Vehicle coordinates,
    r=255.340000, x=255.320000, y=-0.210000, z=-3.300000 tat = 810
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213210.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213210.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R253.47,X-1.07,Y7.08,Z-253.37

: Sonardyne - parsing R253.47,X-1.07,Y7.08,Z-253.37

: Sonardyne - read R = 253.470000 from 253.47,X-1.07,Y7.08,Z-253.37

: Sonardyne - got all data, Vehicle coordinates,
    r=253.470000, x=253.370000, y=-1.070000, z=-7.080000 tat = 810
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213211.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213211.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R251.61,X-2.51,Y-2.84,Z-251.59

: Sonardyne - parsing R251.61,X-2.51,Y-2.84,Z-251.59

: Sonardyne - read R = 251.610000 from 251.61,X-2.51,Y-2.84,Z-251.59

: Sonardyne - got all data, Vehicle coordinates,
    r=251.610000, x=251.590000, y=-2.510000, z=2.840000 tat = 810
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213212.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213212.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R249.82,X-3.22,Y3.54,Z-249.78

: Sonardyne - parsing R249.82,X-3.22,Y3.54,Z-249.78

: Sonardyne - read R = 249.820000 from 249.82,X-3.22,Y3.54,Z-249.78

: Sonardyne - got all data, Vehicle coordinates,
    r=249.820000, x=249.780000, y=-3.220000, z=-3.540000 tat = 810
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213213.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213213.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R248.26,X-4.05,Y-3.14,Z-248.21

: Sonardyne - parsing R248.26,X-4.05,Y-3.14,Z-248.21

: Sonardyne - read R = 248.260000 from 248.26,X-4.05,Y-3.14,Z-248.21

: Sonardyne - got all data, Vehicle coordinates,
    r=248.260000, x=248.210000, y=-4.050000, z=3.140000 tat = 810
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.85  9.60 18.16 3.85 3.87 0  2685.72 01:24:46 m

: AshtechGps::processRecord() - $GPGGA,213214.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213214.00,,,,,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 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213215.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213215.00,,,,,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,213216.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213216.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,213217.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213217.00,,,,,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 R240.93,X-9.57,Y-1.49,Z-240.74

: Sonardyne - parsing R240.93,X-9.57,Y-1.49,Z-240.74

: Sonardyne - read R = 240.930000 from 240.93,X-9.57,Y-1.49,Z-240.74

: Sonardyne - got all data, Vehicle coordinates,
    r=240.930000, x=240.740000, y=-9.570000, z=1.490000 tat = 800
: AshtechGps::processRecord() - $GPGGA,213218.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213218.00,,,,,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 R239.36,X-9.45,Y-2.65,Z-239.16

: Sonardyne - parsing R239.36,X-9.45,Y-2.65,Z-239.16

: Sonardyne - read R = 239.360000 from 239.36,X-9.45,Y-2.65,Z-239.16

: Sonardyne - got all data, Vehicle coordinates,
    r=239.360000, x=239.160000, y=-9.450000, z=2.650000 tat = 790
: AshtechGps::processRecord() - $GPGGA,213219.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213219.00,,,,,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 R237.72,X-10.09,Y3.41,Z-237.48

: Sonardyne - parsing R237.72,X-10.09,Y3.41,Z-237.48

: Sonardyne - read R = 237.720000 from 237.72,X-10.09,Y3.41,Z-237.48

: Sonardyne - got all data, Vehicle coordinates,
    r=237.720000, x=237.480000, y=-10.090000, z=-3.410000 tat = 790
: AshtechGps::processRecord() - $GPGGA,213220.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213220.00,,,,,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 R235.95,X-9.76,Y2.34,Z-235.74

: Sonardyne - parsing R235.95,X-9.76,Y2.34,Z-235.74

: Sonardyne - read R = 235.950000 from 235.95,X-9.76,Y2.34,Z-235.74

: Sonardyne - got all data, Vehicle coordinates,
    r=235.950000, x=235.740000, y=-9.760000, z=-2.340000 tat = 840
: AshtechGps::processRecord() - $GPGGA,213221.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213221.00,,,,,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 R234.43,X-10.08,Y6.21,Z-234.13

: Sonardyne - parsing R234.43,X-10.08,Y6.21,Z-234.13

: Sonardyne - read R = 234.430000 from 234.43,X-10.08,Y6.21,Z-234.13

: Sonardyne - got all data, Vehicle coordinates,
    r=234.430000, x=234.130000, y=-10.080000, z=-6.210000 tat = 790
: AshtechGps::processRecord() - $GPGGA,213222.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213222.00,,,,,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 R232.69,X-10.06,Y3.20,Z-232.45

: Sonardyne - parsing R232.69,X-10.06,Y3.20,Z-232.45

: Sonardyne - read R = 232.690000 from 232.69,X-10.06,Y3.20,Z-232.45

: Sonardyne - got all data, Vehicle coordinates,
    r=232.690000, x=232.450000, y=-10.060000, z=-3.200000 tat = 780
: AshtechGps::processRecord() - $GPGGA,213223.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213223.00,,,,,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 R230.91,X-8.84,Y4.04,Z-230.71

: Sonardyne - parsing R230.91,X-8.84,Y4.04,Z-230.71

: Sonardyne - read R = 230.910000 from 230.91,X-8.84,Y4.04,Z-230.71

: Sonardyne - got all data, Vehicle coordinates,
    r=230.910000, x=230.710000, y=-8.840000, z=-4.040000 tat = 780
: BluefinBatt Reply: $aaq0 d- 30.85  9.43 18.26 3.85 3.87 0  2684.74 01:24:56 m

: AshtechGps::processRecord() - $GPGGA,213224.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213224.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R229.20,X-8.72,Y6.64,Z-228.94

: Sonardyne - parsing R229.20,X-8.72,Y6.64,Z-228.94

: Sonardyne - read R = 229.200000 from 229.20,X-8.72,Y6.64,Z-228.94

: Sonardyne - got all data, Vehicle coordinates,
    r=229.200000, x=228.940000, y=-8.720000, z=-6.640000 tat = 780
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213225.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213225.00,,,,,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 R227.57,X-8.83,Y4.45,Z-227.35

: Sonardyne - parsing R227.57,X-8.83,Y4.45,Z-227.35

: Sonardyne - read R = 227.570000 from 227.57,X-8.83,Y4.45,Z-227.35

: Sonardyne - got all data, Vehicle coordinates,
    r=227.570000, x=227.350000, y=-8.830000, z=-4.450000 tat = 780
: AshtechGps::processRecord() - $GPGGA,213226.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213226.00,,,,,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 R225.99,X-8.08,Y5.82,Z-225.77

: Sonardyne - parsing R225.99,X-8.08,Y5.82,Z-225.77

: Sonardyne - read R = 225.990000 from 225.99,X-8.08,Y5.82,Z-225.77

: Sonardyne - got all data, Vehicle coordinates,
    r=225.990000, x=225.770000, y=-8.080000, z=-5.820000 tat = 780
: AshtechGps::processRecord() - $GPGGA,213227.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213227.00,,,,,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 R224.33,X-8.16,Y3.01,Z-224.16

: Sonardyne - parsing R224.33,X-8.16,Y3.01,Z-224.16

: Sonardyne - read R = 224.330000 from 224.33,X-8.16,Y3.01,Z-224.16

: Sonardyne - got all data, Vehicle coordinates,
    r=224.330000, x=224.160000, y=-8.160000, z=-3.010000 tat = 770
: AshtechGps::processRecord() - $GPGGA,213228.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213228.00,,,,,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 R222.65,X-8.07,Y5.10,Z-222.45

: Sonardyne - parsing R222.65,X-8.07,Y5.10,Z-222.45

: Sonardyne - read R = 222.650000 from 222.65,X-8.07,Y5.10,Z-222.45

: Sonardyne - got all data, Vehicle coordinates,
    r=222.650000, x=222.450000, y=-8.070000, z=-5.100000 tat = 770
: AshtechGps::processRecord() - $GPGGA,213229.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213229.00,,,,,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 R220.97,X-7.86,Y7.47,Z-220.71

: Sonardyne - parsing R220.97,X-7.86,Y7.47,Z-220.71

: Sonardyne - read R = 220.970000 from 220.97,X-7.86,Y7.47,Z-220.71

: Sonardyne - got all data, Vehicle coordinates,
    r=220.970000, x=220.710000, y=-7.860000, z=-7.470000 tat = 770
: AshtechGps::processRecord() - $GPGGA,213230.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213230.00,,,,,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 R219.21,X-5.71,Y6.05,Z-219.05

: Sonardyne - parsing R219.21,X-5.71,Y6.05,Z-219.05

: Sonardyne - read R = 219.210000 from 219.21,X-5.71,Y6.05,Z-219.05

: Sonardyne - got all data, Vehicle coordinates,
    r=219.210000, x=219.050000, y=-5.710000, z=-6.050000 tat = 759
: AshtechGps::processRecord() - $GPGGA,213231.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213231.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R217.43,X-4.76,Y4.47,Z-217.33

: Sonardyne - parsing R217.43,X-4.76,Y4.47,Z-217.33

: Sonardyne - read R = 217.430000 from 217.43,X-4.76,Y4.47,Z-217.33

: Sonardyne - got all data, Vehicle coordinates,
    r=217.430000, x=217.330000, y=-4.760000, z=-4.470000 tat = 760
: AshtechGps::processRecord() - $GPGGA,213232.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213232.00,,,,,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 R215.60,X-3.38,Y2.04,Z-215.56

: Sonardyne - parsing R215.60,X-3.38,Y2.04,Z-215.56

: Sonardyne - read R = 215.600000 from 215.60,X-3.38,Y2.04,Z-215.56

: Sonardyne - got all data, Vehicle coordinates,
    r=215.600000, x=215.560000, y=-3.380000, z=-2.040000 tat = 760
: AshtechGps::processRecord() - $GPGGA,213233.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213233.00,,,,,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 R213.78,X-1.72,Y1.41,Z-213.77

: Sonardyne - parsing R213.78,X-1.72,Y1.41,Z-213.77

: Sonardyne - read R = 213.780000 from 213.78,X-1.72,Y1.41,Z-213.77

: Sonardyne - got all data, Vehicle coordinates,
    r=213.780000, x=213.770000, y=-1.720000, z=-1.410000 tat = 760
: BluefinBatt Reply: $aaq0 d- 30.82 10.10 18.26 3.85 3.87 0  2684.11 01:25:06 m

: AshtechGps::processRecord() - $GPGGA,213234.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213234.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R212.11,X-0.20,Y6.21,Z-212.01

: Sonardyne - parsing R212.11,X-0.20,Y6.21,Z-212.01

: Sonardyne - read R = 212.110000 from 212.11,X-0.20,Y6.21,Z-212.01

: Sonardyne - got all data, Vehicle coordinates,
    r=212.110000, x=212.010000, y=-0.200000, z=-6.210000 tat = 750
: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213235.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213235.00,,,,,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 R210.59,X0.49,Y5.72,Z-210.52

: Sonardyne - parsing R210.59,X0.49,Y5.72,Z-210.52

: Sonardyne - read R = 210.590000 from 210.59,X0.49,Y5.72,Z-210.52

: Sonardyne - got all data, Vehicle coordinates,
    r=210.590000, x=210.520000, y=0.490000, z=-5.720000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213236.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213236.00,,,,,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 R209.21,X0.60,Y4.25,Z-209.16

: Sonardyne - parsing R209.21,X0.60,Y4.25,Z-209.16

: Sonardyne - read R = 209.210000 from 209.21,X0.60,Y4.25,Z-209.16

: Sonardyne - got all data, Vehicle coordinates,
    r=209.210000, x=209.160000, y=0.600000, z=-4.250000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213237.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213237.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052292.2, 600426.6), 
  reached at t = 291.00                                          (wplog)

: Vehicle Position is error is (0.2, 0.1)

: LayeredControl::execute() -- (t = 291.000065) Behavior waypoint has changed to state Finished

: WaypointHoming Initialization: 
  Begin waypoint control at t= 291.00                            (wplog)
  The current location (N,E) = 4052292.0      , 600426.5         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 139.1 Degrees.

: WaypointHoming: The Usbl has aquired the transponder
  at t = 291.01          Seconds.
:   The vehicle position is (4052292.0, 600426.5)

: LayeredControl::execute() -- (t = 291.010064) Behavior waypoint_homing has changed to state Active

: Sonardyne - POS response: 
POS V4,1 R207.80,X1.41,Y3.58,Z-207.76

: Sonardyne - parsing R207.80,X1.41,Y3.58,Z-207.76

: Sonardyne - read R = 207.800000 from 207.80,X1.41,Y3.58,Z-207.76

: Sonardyne - got all data, Vehicle coordinates,
    r=207.800000, x=207.760000, y=1.410000, z=-3.580000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213238.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213238.00,,,,,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 R206.49,X0.48,Y2.97,Z-206.47

: Sonardyne - parsing R206.49,X0.48,Y2.97,Z-206.47

: Sonardyne - read R = 206.490000 from 206.49,X0.48,Y2.97,Z-206.47

: Sonardyne - got all data, Vehicle coordinates,
    r=206.490000, x=206.470000, y=0.480000, z=-2.970000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213239.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213239.00,,,,,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 R205.10,X-12.03,Y4.13,Z-204.71

: Sonardyne - parsing R205.10,X-12.03,Y4.13,Z-204.71

: Sonardyne - read R = 205.100000 from 205.10,X-12.03,Y4.13,Z-204.71

: Sonardyne - got all data, Vehicle coordinates,
    r=205.100000, x=204.710000, y=-12.030000, z=-4.130000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213240.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213240.00,,,,,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 R203.54,X-32.97,Y6.65,Z-200.74

: Sonardyne - parsing R203.54,X-32.97,Y6.65,Z-200.74

: Sonardyne - read R = 203.540000 from 203.54,X-32.97,Y6.65,Z-200.74

: Sonardyne - got all data, Vehicle coordinates,
    r=203.540000, x=200.740000, y=-32.970000, z=-6.650000 tat = 750
: AshtechGps::processRecord() - $GPGGA,213241.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213241.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R201.90,X-60.68,Y0.47,Z-192.56

: Sonardyne - parsing R201.90,X-60.68,Y0.47,Z-192.56

: Sonardyne - read R = 201.900000 from 201.90,X-60.68,Y0.47,Z-192.56

: Sonardyne - got all data, Vehicle coordinates,
    r=201.900000, x=192.560000, y=-60.680000, z=-0.470000 tat = 740
: AshtechGps::processRecord() - $GPGGA,213242.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213242.00,,,,,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 R200.31,X-90.16,Y-2.65,Z-178.85

: Sonardyne - parsing R200.31,X-90.16,Y-2.65,Z-178.85

: Sonardyne - read R = 200.310000 from 200.31,X-90.16,Y-2.65,Z-178.85

: Sonardyne - got all data, Vehicle coordinates,
    r=200.310000, x=178.850000, y=-90.160000, z=2.650000 tat = 740
: AshtechGps::processRecord() - $GPGGA,213243.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213243.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R198.83

: Sonardyne - parsing R198.83

: Sonardyne - read R = 198.830000 from 198.83

: Sonardyne - got range only (198.830000), tat = 720
: Sonardyne - POSD response: 
POSD S130.0,N20.5,D95,U2,Q0.011569

: Sonardyne - POSD response: 
POSD S130.0,N20.5,D95,U2,Q0.011569

: BluefinBatt Reply: $aaq0 d- 30.96  5.55 18.26 3.85 3.87 0  2683.31 01:25:16 m

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 297.40          Seconds.
:   The vehicle position is is (4052282.6, 600429.4)

: AshtechGps::processRecord() - $GPGGA,213244.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213244.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R197.61

: Sonardyne - parsing R197.61

: Sonardyne - read R = 197.610000 from 197.61

: Sonardyne - got range only (197.610000), tat = 710
: Sonardyne - POSD response: 
POSD S132.9,N21.8,D-72,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.9,N21.8,D-72,U0,Q0.000000

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,213245.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213245.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R196.74

: Sonardyne - parsing R196.74

: Sonardyne - read R = 196.740000 from 196.74

: Sonardyne - got range only (196.740000), tat = 709
: Sonardyne - POSD response: 
POSD S133.2,N23.7,D89,U5,Q0.004142

: Sonardyne - POSD response: 
POSD S133.2,N23.7,D89,U5,Q0.004142

: AshtechGps::processRecord() - $GPGGA,213246.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213246.00,,,,,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 R195.82

: Sonardyne - parsing R195.82

: Sonardyne - read R = 195.820000 from 195.82

: Sonardyne - got range only (195.820000), tat = 760
: Sonardyne - POSD response: 
POSD S127.3,N25.3,D33,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.3,N25.3,D33,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213247.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213247.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R195.29

: Sonardyne - parsing R195.29

: Sonardyne - read R = 195.290000 from 195.29

: Sonardyne - got range only (195.290000), tat = 710
: Sonardyne - POSD response: 
POSD S129.4,N24.1,D51,U1,Q0.006089

: Sonardyne - POSD response: 
POSD S129.4,N24.1,D51,U1,Q0.006089

: AshtechGps::processRecord() - $GPGGA,213248.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213248.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R194.89

: Sonardyne - parsing R194.89

: Sonardyne - read R = 194.890000 from 194.89

: Sonardyne - got range only (194.890000), tat = 720
: Sonardyne - POSD response: 
POSD S133.0,N28.2,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.0,N28.2,D-16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213249.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213249.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R194.61

: Sonardyne - parsing R194.61

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

: Sonardyne - read R = 194.610000 from 194.61

: Sonardyne - got range only (194.610000), tat = 710
: Sonardyne - POSD response: 
POSD S127.2,N24.1,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.2,N24.1,D28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213250.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213250.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R194.51

: Sonardyne - parsing R194.51

: Sonardyne - read R = 194.510000 from 194.51

: Sonardyne - got range only (194.510000), tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S127.6,N30.1,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.6,N30.1,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213251.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213251.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R194.16

: Sonardyne - parsing R194.16

: Sonardyne - read R = 194.160000 from 194.16

: Sonardyne - got range only (194.160000), tat = 710
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S119.1,N22.8,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.1,N22.8,D-26,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213252.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213252.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.90

: Sonardyne - parsing R193.90

: Sonardyne - read R = 193.900000 from 193.90

: Sonardyne - got range only (193.900000), tat = 710
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.5,N25.9,D121,U1,Q0.002877

: Sonardyne - POSD response: 
POSD S123.5,N25.9,D121,U1,Q0.002877

: AshtechGps::processRecord() - $GPGGA,213253.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213253.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.80

: Sonardyne - parsing R193.80

: Sonardyne - read R = 193.800000 from 193.80

: Sonardyne - got range only (193.800000), tat = 710
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S125.3,N31.4,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.3,N31.4,D-21,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  6.26 18.26 3.87 3.89 0  2682.93 01:25:26 m

: AshtechGps::processRecord() - $GPGGA,213254.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213254.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.51

: Sonardyne - parsing R193.51

: Sonardyne - read R = 193.510000 from 193.51

: Sonardyne - got range only (193.510000), tat = 710
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S128.7,N33.3,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N33.3,D4,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213255.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213255.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.25

: Sonardyne - parsing R193.25

: Sonardyne - read R = 193.250000 from 193.25

: Sonardyne - got range only (193.250000), tat = 710
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S127.7,N31.3,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.7,N31.3,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213256.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213256.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.07

: Sonardyne - parsing R193.07

: Sonardyne - read R = 193.070000 from 193.07

: Sonardyne - got range only (193.070000), tat = 710
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.3,N31.9,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N31.9,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213257.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213257.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.93

: Sonardyne - parsing R192.93

: Sonardyne - read R = 192.930000 from 192.93

: Sonardyne - got range only (192.930000), tat = 710
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.0,N28.2,D-24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.0,N28.2,D-24,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213258.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213258.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R193.04

: Sonardyne - parsing R193.04

: Sonardyne - read R = 193.040000 from 193.04

: Sonardyne - got range only (193.040000), tat = 710
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S131.3,N29.0,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.3,N29.0,D-43,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213259.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213259.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.77

: Sonardyne - parsing R192.77

: Sonardyne - read R = 192.770000 from 192.77

: Sonardyne - got range only (192.770000), tat = 709
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S128.0,N33.3,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.0,N33.3,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213300.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213300.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.42

: Sonardyne - parsing R192.42

: Sonardyne - read R = 192.420000 from 192.42

: Sonardyne - got range only (192.420000), tat = 710
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S126.7,N27.7,D-1,U3,Q0.004127

: Sonardyne - POSD response: 
POSD S126.7,N27.7,D-1,U3,Q0.004127

: AshtechGps::processRecord() - $GPGGA,213301.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213301.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.12

: Sonardyne - parsing R192.12

: Sonardyne - read R = 192.120000 from 192.12

: Sonardyne - got range only (192.120000), tat = 710
: Sonardyne - POSD response: 
POSD S126.3,N27.2,D-35,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 S126.3,N27.2,D-35,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213302.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213302.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R191.85

: Sonardyne - parsing R191.85

: Sonardyne - read R = 191.850000 from 191.85

: Sonardyne - got range only (191.850000), tat = 700
: Sonardyne - POSD response: 
POSD S126.1,N27.7,D20,U2,Q0.005295

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

: Sonardyne - POSD response: 
POSD S126.1,N27.7,D20,U2,Q0.005295

: AshtechGps::processRecord() - $GPGGA,213303.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213303.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R192.95

: Sonardyne - parsing R192.95

: Sonardyne - read R = 192.950000 from 192.95

: Sonardyne - got range only (192.950000), tat = 710
: Sonardyne - POSD response: 
POSD S122.6,N21.8,D-81,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S122.6,N21.8,D-81,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.93  6.77 18.26 3.87 3.89 0  2682.33 01:25:36 m

: AshtechGps::processRecord() - $GPGGA,213304.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213304.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.91

: Sonardyne - parsing R190.91

: Sonardyne - read R = 190.910000 from 190.91

: Sonardyne - got range only (190.910000), tat = 700
: Sonardyne - POSD response: 
POSD S120.8,N23.5,D-74,U2,Q0.006179

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

: Sonardyne - POSD response: 
POSD S120.8,N23.5,D-74,U2,Q0.006179

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

: AshtechGps::processRecord() - $GPGGA,213305.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213305.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.78

: Sonardyne - parsing R190.78

: Sonardyne - read R = 190.780000 from 190.78

: Sonardyne - got range only (190.780000), tat = 700
: Sonardyne - POSD response: 
POSD S120.4,N20.1,D-95,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S120.4,N20.1,D-95,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213306.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213306.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R191.82

: Sonardyne - parsing R191.82

: Sonardyne - read R = 191.820000 from 191.82

: Sonardyne - got range only (191.820000), tat = 710
: Sonardyne - POSD response: 
POSD S121.5,N18.8,D3,U1,Q0.003460

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

: Sonardyne - POSD response: 
POSD S121.5,N18.8,D3,U1,Q0.003460

: AshtechGps::processRecord() - $GPGGA,213307.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213307.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.60

: Sonardyne - parsing R190.60

: Sonardyne - read R = 190.600000 from 190.60

: Sonardyne - got range only (190.600000), tat = 700
: Sonardyne - POSD response: 
POSD S122.8,N27.9,D32,U1,Q0.011384

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

: Sonardyne - POSD response: 
POSD S122.8,N27.9,D32,U1,Q0.011384

: AshtechGps::processRecord() - $GPGGA,213308.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213308.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.24

: Sonardyne - parsing R190.24

: Sonardyne - read R = 190.240000 from 190.24

: Sonardyne - got range only (190.240000), tat = 700
: Sonardyne - POSD response: 
POSD S119.1,N24.9,D57,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S119.1,N24.9,D57,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213309.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213309.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.95

: Sonardyne - parsing R190.95

: Sonardyne - read R = 190.950000 from 190.95

: Sonardyne - got range only (190.950000), tat = 700
: Sonardyne - POSD response: 
POSD S126.4,N30.2,D17,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S126.4,N30.2,D17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213310.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213310.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.82

: Sonardyne - parsing R190.82

: Sonardyne - read R = 190.820000 from 190.82

: Sonardyne - got range only (190.820000), tat = 700
: Sonardyne - POSD response: 
POSD S123.9,N26.1,D75,U5,Q0.000380

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

: Sonardyne - POSD response: 
POSD S123.9,N26.1,D75,U5,Q0.000380

: AshtechGps::processRecord() - $GPGGA,213311.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213311.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.57

: Sonardyne - parsing R190.57

: Sonardyne - read R = 190.570000 from 190.57

: Sonardyne - got range only (190.570000), tat = 700
: Sonardyne - POSD response: 
POSD S118.0,N24.7,D0,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 S118.0,N24.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213312.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213312.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.50

: Sonardyne - parsing R190.50

: Sonardyne - read R = 190.500000 from 190.50

: Sonardyne - got range only (190.500000), tat = 700
: Sonardyne - POSD response: 
POSD S122.3,N28.0,D38,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.3,N28.0,D38,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,213313.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213313.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.28

: Sonardyne - parsing R190.28

: Sonardyne - read R = 190.280000 from 190.28

: Sonardyne - got range only (190.280000), tat = 700
: Sonardyne - POSD response: 
POSD S126.0,N29.5,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.0,N29.5,D-18,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  6.83 18.26 3.86 3.88 0  2681.86 01:25:46 m

: AshtechGps::processRecord() - $GPGGA,213314.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213314.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.84

: Sonardyne - parsing R189.84

: Sonardyne - read R = 189.840000 from 189.84

: Sonardyne - got range only (189.840000), tat = 699
: Sonardyne - POSD response: 
POSD S120.7,N26.6,D-35,U2,Q0.002016

: Sonardyne - POSD response: 
POSD S120.7,N26.6,D-35,U2,Q0.002016

:  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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213315.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213315.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.45

: Sonardyne - parsing R189.45

: Sonardyne - read R = 189.450000 from 189.45

: Sonardyne - got range only (189.450000), tat = 700
: Sonardyne - POSD response: 
POSD S121.0,N28.2,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.0,N28.2,D-18,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,213316.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213316.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.25

: Sonardyne - parsing R189.25

: Sonardyne - read R = 189.250000 from 189.25

: Sonardyne - got range only (189.250000), tat = 700
: Sonardyne - POSD response: 
POSD S118.2,N25.4,D40,U3,Q0.001829

: Sonardyne - POSD response: 
POSD S118.2,N25.4,D40,U3,Q0.001829

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

: AshtechGps::processRecord() - $GPGGA,213317.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213317.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.99

: Sonardyne - parsing R188.99

: Sonardyne - read R = 188.990000 from 188.99

: Sonardyne - got range only (188.990000), tat = 700
: Sonardyne - POSD response: 
POSD S120.5,N25.7,D-44,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.5,N25.7,D-44,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,213318.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213318.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.88

: Sonardyne - parsing R188.88

: Sonardyne - read R = 188.880000 from 188.88

: Sonardyne - got range only (188.880000), tat = 700
: Sonardyne - POSD response: 
POSD S125.6,N27.0,D40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N27.0,D40,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,213319.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213319.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.87

: Sonardyne - parsing R188.87

: Sonardyne - read R = 188.870000 from 188.87

: Sonardyne - got range only (188.870000), tat = 700
: Sonardyne - POSD response: 
POSD S125.6,N28.6,D48,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.6,N28.6,D48,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,213320.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213320.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.04

: Sonardyne - parsing R189.04

: Sonardyne - read R = 189.040000 from 189.04

: Sonardyne - got range only (189.040000), tat = 700
: Sonardyne - POSD response: 
POSD S118.8,N26.1,D-21,U5,Q0.002245

: Sonardyne - POSD response: 
POSD S118.8,N26.1,D-21,U5,Q0.002245

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

: AshtechGps::processRecord() - $GPGGA,213321.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213321.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.98

: Sonardyne - parsing R188.98

: Sonardyne - read R = 188.980000 from 188.98

: Sonardyne - got range only (188.980000), tat = 700
: Sonardyne - POSD response: 
POSD S118.3,N25.7,D-25,U5,Q0.001542

: Sonardyne - POSD response: 
POSD S118.3,N25.7,D-25,U5,Q0.001542

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

: AshtechGps::processRecord() - $GPGGA,213322.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213322.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.86

: Sonardyne - parsing R188.86

: Sonardyne - read R = 188.860000 from 188.86

: Sonardyne - got range only (188.860000), tat = 700
: Sonardyne - POSD response: 
POSD S115.0,N15.1,D-41,U4,Q0.004116

: Sonardyne - POSD response: 
POSD S115.0,N15.1,D-41,U4,Q0.004116

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

: AshtechGps::processRecord() - $GPGGA,213323.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213323.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.75

: Sonardyne - parsing R188.75

: Sonardyne - read R = 188.750000 from 188.75

: Sonardyne - got range only (188.750000), tat = 700
: Sonardyne - POSD response: 
POSD S125.2,N28.3,D-43,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S125.2,N28.3,D-43,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  6.30 18.26 3.86 3.88 0  2681.24 01:25:56 m

: AshtechGps::processRecord() - $GPGGA,213324.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213324.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.68

: Sonardyne - parsing R188.68

: Sonardyne - read R = 188.680000 from 188.68

: Sonardyne - got range only (188.680000), tat = 700
: Sonardyne - POSD response: 
POSD S122.6,N27.0,D62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N27.0,D62,U0,Q0.000000

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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213325.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213325.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.71

: Sonardyne - parsing R188.71

: Sonardyne - read R = 188.710000 from 188.71

: Sonardyne - got range only (188.710000), tat = 700
: Sonardyne - POSD response: 
POSD S122.0,N27.0,D13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.0,N27.0,D13,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,213326.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213326.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.89

: Sonardyne - parsing R188.89

: Sonardyne - read R = 188.890000 from 188.89

: Sonardyne - got range only (188.890000), tat = 700
: Sonardyne - POSD response: 
POSD S122.4,N21.8,D-103,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N21.8,D-103,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,213327.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213327.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.94

: Sonardyne - parsing R188.94

: Sonardyne - read R = 188.940000 from 188.94

: Sonardyne - got range only (188.940000), tat = 700
: Sonardyne - POSD response: 
POSD S119.6,N26.1,D1,U1,Q0.017836

: Sonardyne - POSD response: 
POSD S119.6,N26.1,D1,U1,Q0.017836

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

: AshtechGps::processRecord() - $GPGGA,213328.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213328.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.61

: Sonardyne - parsing R188.61

: Sonardyne - read R = 188.610000 from 188.61

: Sonardyne - got range only (188.610000), tat = 700
: Sonardyne - POSD response: 
POSD S121.5,N30.9,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.5,N30.9,D-12,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213329.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213329.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.27

: Sonardyne - parsing R188.27

: Sonardyne - read R = 188.270000 from 188.27

: Sonardyne - got range only (188.270000), tat = 700
: Sonardyne - POSD response: 
POSD S121.0,N28.4,D-47,U1,Q0.017254

: Sonardyne - POSD response: 
POSD S121.0,N28.4,D-47,U1,Q0.017254

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

: AshtechGps::processRecord() - $GPGGA,213330.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213330.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.87

: Sonardyne - parsing R187.87

: Sonardyne - read R = 187.870000 from 187.87

: Sonardyne - got range only (187.870000), tat = 700
: Sonardyne - POSD response: 
POSD S117.0,N18.7,D-50,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.0,N18.7,D-50,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,213331.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213331.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.79

: Sonardyne - parsing R189.79

: Sonardyne - read R = 189.790000 from 189.79

: Sonardyne - got range only (189.790000), tat = 700
: Sonardyne - POSD response: 
POSD S115.4,N16.2,D-110,U2,Q0.003138

: Sonardyne - POSD response: 
POSD S115.4,N16.2,D-110,U2,Q0.003138

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

: AshtechGps::processRecord() - $GPGGA,213332.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213332.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R190.35

: Sonardyne - parsing R190.35

: Sonardyne - read R = 190.350000 from 190.35

: Sonardyne - got range only (190.350000), tat = 700
: Sonardyne - POSD response: 
POSD S115.4,N16.2,D41,U2,Q0.013671

: Sonardyne - POSD response: 
POSD S115.4,N16.2,D41,U2,Q0.013671

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

: AshtechGps::processRecord() - $GPGGA,213333.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213333.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.50

: Sonardyne - parsing R187.50

: Sonardyne - read R = 187.500000 from 187.50

: Sonardyne - got range only (187.500000), tat = 700
: Sonardyne - POSD response: 
POSD S115.6,N17.4,D64,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S115.6,N17.4,D64,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  6.30 18.26 3.86 3.89 0  2680.79 01:26:06 m

: AshtechGps::processRecord() - $GPGGA,213334.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213334.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.69

: Sonardyne - parsing R187.69

: Sonardyne - read R = 187.690000 from 187.69

: Sonardyne - got range only (187.690000), tat = 700
: Sonardyne - POSD response: 
POSD S119.7,N27.0,D11,U2,Q0.005570

: Sonardyne - POSD response: 
POSD S119.7,N27.0,D11,U2,Q0.005570

:  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 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213335.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213335.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.87

: Sonardyne - parsing R187.87

: Sonardyne - read R = 187.870000 from 187.87

: Sonardyne - got range only (187.870000), tat = 700
: Sonardyne - POSD response: 
POSD S113.4,N15.0,D68,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S113.4,N15.0,D68,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,213336.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213336.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R188.01

: Sonardyne - parsing R188.01

: Sonardyne - read R = 188.010000 from 188.01

: Sonardyne - got range only (188.010000), tat = 700
: Sonardyne - POSD response: 
POSD S118.5,N25.0,D32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.5,N25.0,D32,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,213337.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213337.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R189.49

: Sonardyne - parsing R189.49

: Sonardyne - read R = 189.490000 from 189.49

: Sonardyne - got range only (189.490000), tat = 700
: Sonardyne - POSD response: 
POSD S124.2,N29.8,D-6,U4,Q0.001111

: Sonardyne - POSD response: 
POSD S124.2,N29.8,D-6,U4,Q0.001111

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

: AshtechGps::processRecord() - $GPGGA,213338.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213338.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.92

: Sonardyne - parsing R187.92

: Sonardyne - read R = 187.920000 from 187.92

: Sonardyne - got range only (187.920000), tat = 700
: Sonardyne - POSD response: 
POSD S118.3,N27.1,D5,U1,Q0.015155

: Sonardyne - POSD response: 
POSD S118.3,N27.1,D5,U1,Q0.015155

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

: AshtechGps::processRecord() - $GPGGA,213339.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213339.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.73

: Sonardyne - parsing R187.73

: Sonardyne - read R = 187.730000 from 187.73

: Sonardyne - got range only (187.730000), tat = 700
: Sonardyne - POSD response: 
POSD S122.7,N24.4,D-95,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.7,N24.4,D-95,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,213340.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213340.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.48

: Sonardyne - parsing R187.48

: Sonardyne - read R = 187.480000 from 187.48

: Sonardyne - got range only (187.480000), tat = 700
: Sonardyne - POSD response: 
POSD S123.1,N27.4,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.1,N27.4,D29,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,213341.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213341.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R187.13

: Sonardyne - parsing R187.13

: Sonardyne - read R = 187.130000 from 187.13

: Sonardyne - got range only (187.130000), tat = 700
: Sonardyne - POSD response: 
POSD S124.1,N28.4,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N28.4,D-15,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,213342.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213342.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.84

: Sonardyne - parsing R186.84

: Sonardyne - read R = 186.840000 from 186.84

: Sonardyne - got range only (186.840000), tat = 700
: Sonardyne - POSD response: 
POSD S126.3,N28.5,D40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N28.5,D40,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,213343.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213343.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R186.64

: Sonardyne - parsing R186.64

: Sonardyne - read R = 186.640000 from 186.64

: Sonardyne - got range only (186.640000), tat = 699
: Sonardyne - POSD response: 
POSD S129.6,N30.6,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.6,N30.6,D-21,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  6.19 18.26 3.86 3.89 0  2680.17 01:26:16 m

: AshtechGps::processRecord() - $GPGGA,213344.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213344.00,,,,,0,00,,,M,,M,,*4B


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213345.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213345.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,213346.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213346.00,,,,,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,213347.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213347.00,,,,,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 R184.30

: Sonardyne - parsing R184.30

: Sonardyne - read R = 184.300000 from 184.30

: Sonardyne - got range only (184.300000), tat = 700
: AshtechGps::processRecord() - $GPGGA,213348.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213348.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.0,N28.6,D-31,U1,Q0.017183

: Sonardyne - POSD response: 
POSD S132.0,N28.6,D-31,U1,Q0.017183

:  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 R183.69

: Sonardyne - parsing R183.69

: Sonardyne - read R = 183.690000 from 183.69

: Sonardyne - got range only (183.690000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213349.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213349.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.8,N20.7,D-38,U4,Q0.015681

: Sonardyne - POSD response: 
POSD S129.8,N20.7,D-38,U4,Q0.015681

:  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 R183.10

: Sonardyne - parsing R183.10

: Sonardyne - read R = 183.100000 from 183.10

: Sonardyne - got range only (183.100000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213350.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213350.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.3,N25.0,D46,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.3,N25.0,D46,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R182.52

: Sonardyne - parsing R182.52

: Sonardyne - read R = 182.520000 from 182.52

: Sonardyne - got range only (182.520000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213351.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213351.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.1,N24.9,D-66,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.1,N24.9,D-66,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R181.92

: Sonardyne - parsing R181.92

: Sonardyne - read R = 181.920000 from 181.92

: Sonardyne - got range only (181.920000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213352.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213352.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.1,N25.6,D38,U1,Q0.005646

: Sonardyne - POSD response: 
POSD S127.1,N25.6,D38,U1,Q0.005646

:  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 R181.33,X-110.68,Y14.46,Z-142.90

: Sonardyne - parsing R181.33,X-110.68,Y14.46,Z-142.90

: AshtechGps::processRecord() - $GPGGA,213353.00,,,,,0,00,,,M,,M,,*4D

: Sonardyne - read R = 181.330000 from 181.33,X-110.68,Y14.46,Z-142.90

: GpsUtils::parseFix() - $GPGGA,213353.00,,,,,0,00,,,M,,M,,*4D


: Sonardyne - got all data, Vehicle coordinates,
    r=181.330000, x=142.900000, y=-110.680000, z=-14.460000 tat = 720
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 366.79          Seconds.
:   The vehicle position is (4052225.9, 600387.3)

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

: BluefinBatt Reply: $aaq0 d- 30.96  5.76 18.26 3.86 3.89 0  2679.71 01:26:26 m

: Sonardyne - POS response: 
POS V4,1 R180.67,X-103.35,Y8.10,Z-147.96

: Sonardyne - parsing R180.67,X-103.35,Y8.10,Z-147.96

: Sonardyne - read R = 180.670000 from 180.67,X-103.35,Y8.10,Z-147.96

: AshtechGps::processRecord() - $GPGGA,213354.00,,,,,0,00,,,M,,M,,*4A

: Sonardyne - got all data, Vehicle coordinates,
    r=180.670000, x=147.960000, y=-103.350000, z=-8.100000 tat = 720
: GpsUtils::parseFix() - $GPGGA,213354.00,,,,,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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R179.93,X-98.01,Y12.58,Z-150.37

: Sonardyne - parsing R179.93,X-98.01,Y12.58,Z-150.37

: Sonardyne - read R = 179.930000 from 179.93,X-98.01,Y12.58,Z-150.37

: Sonardyne - got all data, Vehicle coordinates,
    r=179.930000, x=150.370000, y=-98.010000, z=-12.580000 tat = 710
: AshtechGps::processRecord() - $GPGGA,213355.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213355.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R179.05,X-93.31,Y13.41,Z-152.23

: Sonardyne - parsing R179.05,X-93.31,Y13.41,Z-152.23

: Sonardyne - read R = 179.050000 from 179.05,X-93.31,Y13.41,Z-152.23

: Sonardyne - got all data, Vehicle coordinates,
    r=179.050000, x=152.230000, y=-93.310000, z=-13.410000 tat = 710
: AshtechGps::processRecord() - $GPGGA,213356.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213356.00,,,,,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 R178.14,X-86.47,Y15.38,Z-154.98

: Sonardyne - parsing R178.14,X-86.47,Y15.38,Z-154.98

: Sonardyne - read R = 178.140000 from 178.14,X-86.47,Y15.38,Z-154.98

: Sonardyne - got all data, Vehicle coordinates,
    r=178.140000, x=154.980000, y=-86.470000, z=-15.380000 tat = 710
: AshtechGps::processRecord() - $GPGGA,213357.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213357.00,,,,,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 R177.18,X-81.20,Y18.87,Z-156.35

: Sonardyne - parsing R177.18,X-81.20,Y18.87,Z-156.35

: Sonardyne - read R = 177.180000 from 177.18,X-81.20,Y18.87,Z-156.35

: Sonardyne - got all data, Vehicle coordinates,
    r=177.180000, x=156.350000, y=-81.200000, z=-18.870000 tat = 709
: AshtechGps::processRecord() - $GPGGA,213358.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213358.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R178.96

: Sonardyne - parsing R178.96

: Sonardyne - read R = 178.960000 from 178.96

: Sonardyne - got range only (178.960000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213359.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213359.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.7,N21.1,D-117,U3,Q0.000312

: Sonardyne - POSD response: 
POSD S129.7,N21.1,D-117,U3,Q0.000312

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 372.79          Seconds.
:   The vehicle position is is (4052219.3, 600388.1)

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

: Sonardyne - POS response: 
POS V4,1 R177.91

: Sonardyne - parsing R177.91

: Sonardyne - read R = 177.910000 from 177.91

: Sonardyne - got range only (177.910000), tat = 690
: AshtechGps::processRecord() - $GPGGA,213400.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213400.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S127.9,N24.3,D-57,U1,Q0.007558

: Sonardyne - POSD response: 
POSD S127.9,N24.3,D-57,U1,Q0.007558

:  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 R173.81,X-53.67,Y16.20,Z-164.52

: Sonardyne - parsing R173.81,X-53.67,Y16.20,Z-164.52

: Sonardyne - read R = 173.810000 from 173.81,X-53.67,Y16.20,Z-164.52

: Sonardyne - got all data, Vehicle coordinates,
    r=173.810000, x=164.520000, y=-53.670000, z=-16.200000 tat = 710
: AshtechGps::processRecord() - $GPGGA,213401.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213401.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 374.79          Seconds.
:   The vehicle position is (4052217.3, 600388.6)

:  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 R172.69,X-41.29,Y23.26,Z-166.06

: Sonardyne - parsing R172.69,X-41.29,Y23.26,Z-166.06

: Sonardyne - read R = 172.690000 from 172.69,X-41.29,Y23.26,Z-166.06

: Sonardyne - got all data, Vehicle coordinates,
    r=172.690000, x=166.060000, y=-41.290000, z=-23.260000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213402.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213402.00,,,,,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 R171.55

: Sonardyne - parsing R171.55

: Sonardyne - read R = 171.550000 from 171.55

: Sonardyne - got range only (171.550000), tat = 680
: AshtechGps::processRecord() - $GPGGA,213403.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213403.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.8,N17.9,D-8,U1,Q0.011501

: Sonardyne - POSD response: 
POSD S133.8,N17.9,D-8,U1,Q0.011501

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 376.79          Seconds.
:   The vehicle position is is (4052215.4, 600389.4)

: BluefinBatt Reply: $aaq0 d- 30.96  6.19 18.26 3.86 3.89 0  2679.04 01:26:36 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 R170.53,X-12.69,Y15.74,Z-169.33

: Sonardyne - parsing R170.53,X-12.69,Y15.74,Z-169.33

: Sonardyne - read R = 170.530000 from 170.53,X-12.69,Y15.74,Z-169.33

: Sonardyne - got all data, Vehicle coordinates,
    r=170.530000, x=169.330000, y=-12.690000, z=-15.740000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213404.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213404.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 377.79          Seconds.
:   The vehicle position is (4052214.5, 600389.9)

: 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

: Sonardyne - POS response: 
POS V4,1 R169.72,X5.33,Y16.75,Z-168.81

: Sonardyne - parsing R169.72,X5.33,Y16.75,Z-168.81

: Sonardyne - read R = 169.720000 from 169.72,X5.33,Y16.75,Z-168.81

: Sonardyne - got all data, Vehicle coordinates,
    r=169.720000, x=168.810000, y=5.330000, z=-16.750000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213405.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213405.00,,,,,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 R169.00,X23.92,Y10.06,Z-167.00

: Sonardyne - parsing R169.00,X23.92,Y10.06,Z-167.00

: Sonardyne - read R = 169.000000 from 169.00,X23.92,Y10.06,Z-167.00

: Sonardyne - got all data, Vehicle coordinates,
    r=169.000000, x=167.000000, y=23.920000, z=-10.060000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213406.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213406.00,,,,,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 R168.43

: Sonardyne - parsing R168.43

: Sonardyne - read R = 168.430000 from 168.43

: Sonardyne - got range only (168.430000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213407.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213407.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S139.4,N24.5,D-75,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.4,N24.5,D-75,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 380.79          Seconds.
:   The vehicle position is is (4052212.4, 600391.7)

:  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 R167.77,X66.52,Y0.53,Z-154.02

: Sonardyne - parsing R167.77,X66.52,Y0.53,Z-154.02

: Sonardyne - read R = 167.770000 from 167.77,X66.52,Y0.53,Z-154.02

: Sonardyne - got all data, Vehicle coordinates,
    r=167.770000, x=154.020000, y=66.520000, z=-0.530000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213408.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213408.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 381.79          Seconds.
:   The vehicle position is (4052211.9, 600392.4)

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

: Sonardyne - POS response: 
POS V4,1 R167.07,X83.98,Y-6.06,Z-144.30

: Sonardyne - parsing R167.07,X83.98,Y-6.06,Z-144.30

: Sonardyne - read R = 167.070000 from 167.07,X83.98,Y-6.06,Z-144.30

: Sonardyne - got all data, Vehicle coordinates,
    r=167.070000, x=144.300000, y=83.980000, z=6.060000 tat = 700
: AshtechGps::processRecord() - $GPGGA,213409.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213409.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R166.32

: Sonardyne - parsing R166.32

: Sonardyne - read R = 166.320000 from 166.32

: Sonardyne - got range only (166.320000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213410.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213410.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.4,N23.5,D-94,U2,Q0.005016

: Sonardyne - POSD response: 
POSD S133.4,N23.5,D-94,U2,Q0.005016

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 383.79          Seconds.
:   The vehicle position is is (4052211.1, 600394.1)

:  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 R165.64

: Sonardyne - parsing R165.64

: Sonardyne - read R = 165.640000 from 165.64

: Sonardyne - got range only (165.640000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213411.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213411.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S129.8,N29.6,D-41,U1,Q0.014122

: Sonardyne - POSD response: 
POSD S129.8,N29.6,D-41,U1,Q0.014122

:  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 R165.03

: Sonardyne - parsing R165.03

: Sonardyne - read R = 165.030000 from 165.03

: Sonardyne - got range only (165.030000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213412.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213412.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.2,N26.4,D-32,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.2,N26.4,D-32,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R164.40

: Sonardyne - parsing R164.40

: Sonardyne - read R = 164.400000 from 164.40

: Sonardyne - got range only (164.400000), tat = 669
: AshtechGps::processRecord() - $GPGGA,213413.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213413.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.7,N25.3,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N25.3,D-14,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  6.30 18.26 3.86 3.88 0  2678.62 01:26:46 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 R163.97

: Sonardyne - parsing R163.97

: Sonardyne - read R = 163.970000 from 163.97

: Sonardyne - got range only (163.970000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213414.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213414.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S133.4,N30.6,D5,U1,Q0.008181

: Sonardyne - POSD response: 
POSD S133.4,N30.6,D5,U1,Q0.008181

: 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

: Sonardyne - POS response: 
POS V4,1 R163.57

: Sonardyne - parsing R163.57

: Sonardyne - read R = 163.570000 from 163.57

: Sonardyne - got range only (163.570000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213415.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213415.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S131.5,N28.7,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N28.7,D-31,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R163.39

: Sonardyne - parsing R163.39

: Sonardyne - read R = 163.390000 from 163.39

: Sonardyne - got range only (163.390000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213416.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213416.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S128.7,N34.4,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.7,N34.4,D16,U0,Q0.000000

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

: Sonardyne - POS response: 
POS V4,1 R163.23

: Sonardyne - parsing R163.23

: Sonardyne - read R = 163.230000 from 163.23

: Sonardyne - got range only (163.230000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213417.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213417.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S123.9,N26.7,D48,U4,Q0.000514

: Sonardyne - POSD response: 
POSD S123.9,N26.7,D48,U4,Q0.000514

:  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 R163.21,X158.62,Y-18.83,Z-33.48

: Sonardyne - parsing R163.21,X158.62,Y-18.83,Z-33.48

: Sonardyne - read R = 163.210000 from 163.21,X158.62,Y-18.83,Z-33.48

: Sonardyne - got all data, Vehicle coordinates,
    r=163.210000, x=33.480000, y=158.620000, z=18.830000 tat = 690
: AshtechGps::processRecord() - $GPGGA,213418.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213418.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 391.79          Seconds.
:   The vehicle position is (4052211.9, 600401.3)

:  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 R163.41,X157.52,Y-20.81,Z-38.15

: Sonardyne - parsing R163.41,X157.52,Y-20.81,Z-38.15

: Sonardyne - read R = 163.410000 from 163.41,X157.52,Y-20.81,Z-38.15

: Sonardyne - got all data, Vehicle coordinates,
    r=163.410000, x=38.150000, y=157.520000, z=20.810000 tat = 690
: AshtechGps::processRecord() - $GPGGA,213419.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213419.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R163.77,X162.03,Y-19.23,Z-14.11

: Sonardyne - parsing R163.77,X162.03,Y-19.23,Z-14.11

: Sonardyne - read R = 163.770000 from 163.77,X162.03,Y-19.23,Z-14.11

: Sonardyne - got all data, Vehicle coordinates,
    r=163.770000, x=14.110000, y=162.030000, z=19.230000 tat = 690
: AshtechGps::processRecord() - $GPGGA,213420.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213420.00,,,,,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 R164.39,X162.00,Y-27.90,Z0.00

: Sonardyne - parsing R164.39,X162.00,Y-27.90,Z0.00

: Sonardyne - read R = 164.390000 from 164.39,X162.00,Y-27.90,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=164.390000, x=0.000000, y=162.000000, z=27.900000 tat = 690
: AshtechGps::processRecord() - $GPGGA,213421.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213421.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R164.02

: Sonardyne - parsing R164.02

: Sonardyne - read R = 164.020000 from 164.02

: Sonardyne - got range only (164.020000), tat = 670
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213422.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213422.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.6,N26.2,D36,U1,Q0.010195

: Sonardyne - POSD response: 
POSD S119.6,N26.2,D36,U1,Q0.010195

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 395.79          Seconds.
:   The vehicle position is is (4052214.8, 600403.8)

: Sonardyne - POS response: 
POS V4,1 R163.91

: Sonardyne - parsing R163.91

: Sonardyne - read R = 163.910000 from 163.91

: Sonardyne - got range only (163.910000), tat = 670
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213423.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213423.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S120.1,N24.5,D-26,U1,Q0.006056

: Sonardyne - POSD response: 
POSD S120.1,N24.5,D-26,U1,Q0.006056

: BluefinBatt Reply: $aaq0 d- 30.96  6.57 18.26 3.86 3.88 0  2677.91 01:26:56 m

: Sonardyne - POS response: 
POS V4,1 R163.57

: Sonardyne - parsing R163.57

: Sonardyne - read R = 163.570000 from 163.57

: Sonardyne - got range only (163.570000), tat = 670
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213424.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213424.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S115.0,N16.8,D95,U3,Q0.008573

: Sonardyne - POSD response: 
POSD S115.0,N16.8,D95,U3,Q0.008573

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R165.50

: Sonardyne - parsing R165.50

: Sonardyne - read R = 165.500000 from 165.50

: Sonardyne - got range only (165.500000), tat = 670
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213425.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213425.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.0,N30.2,D21,U1,Q0.002877

: Sonardyne - POSD response: 
POSD S119.0,N30.2,D21,U1,Q0.002877

: Sonardyne - POS response: 
POS V4,1 R165.92

: Sonardyne - parsing R165.92

: Sonardyne - read R = 165.920000 from 165.92

: Sonardyne - got range only (165.920000), tat = 670
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213426.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213426.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.7,N24.9,D-82,U5,Q0.001012

: Sonardyne - POSD response: 
POSD S121.7,N24.9,D-82,U5,Q0.001012

: Sonardyne - POS response: 
POS V4,1 R163.64,X159.99,Y-19.29,Z-28.44

: Sonardyne - parsing R163.64,X159.99,Y-19.29,Z-28.44

: Sonardyne - read R = 163.640000 from 163.64,X159.99,Y-19.29,Z-28.44

: Sonardyne - got all data, Vehicle coordinates,
    r=163.640000, x=28.440000, y=159.990000, z=19.290000 tat = 690
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213427.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213427.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: WaypointHoming: The Usbl has aquired the transponder
  at t = 400.79          Seconds.
:   The vehicle position is (4052217.8, 600407.3)

: Sonardyne - POS response: 
POS V4,1 R163.78,X156.62,Y-10.06,Z-46.85

: Sonardyne - parsing R163.78,X156.62,Y-10.06,Z-46.85

: Sonardyne - read R = 163.780000 from 163.78,X156.62,Y-10.06,Z-46.85

: Sonardyne - got all data, Vehicle coordinates,
    r=163.780000, x=46.850000, y=156.620000, z=10.060000 tat = 690
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213428.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213428.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.81,X160.25,Y-9.93,Z-32.43

: Sonardyne - parsing R163.81,X160.25,Y-9.93,Z-32.43

: Sonardyne - read R = 163.810000 from 163.81,X160.25,Y-9.93,Z-32.43

: Sonardyne - got all data, Vehicle coordinates,
    r=163.810000, x=32.430000, y=160.250000, z=9.930000 tat = 690
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213429.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213429.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R163.68

: Sonardyne - parsing R163.68

: Sonardyne - read R = 163.680000 from 163.68

: Sonardyne - got range only (163.680000), tat = 670
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213430.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213430.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S122.5,N24.8,D-74,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.5,N24.8,D-74,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 403.79          Seconds.
:   The vehicle position is is (4052220.2, 600409.3)

: Sonardyne - POS response: 
POS V4,1 R163.35

: Sonardyne - parsing R163.35

: Sonardyne - read R = 163.350000 from 163.35

: Sonardyne - got range only (163.350000), tat = 670
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213431.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213431.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S122.7,N29.3,D26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.7,N29.3,D26,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R163.06

: Sonardyne - parsing R163.06

: Sonardyne - read R = 163.060000 from 163.06

: Sonardyne - got range only (163.060000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213432.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213432.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POSD response: 
POSD S119.2,N25.4,D28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S119.2,N25.4,D28,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R162.84

: Sonardyne - parsing R162.84

: Sonardyne - read R = 162.840000 from 162.84

: Sonardyne - got range only (162.840000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213433.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213433.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S119.7,N24.1,D81,U2,Q0.010634

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

: Sonardyne - POSD response: 
POSD S119.7,N24.1,D81,U2,Q0.010634

: BluefinBatt Reply: $aaq0 d- 30.96  6.46 18.26 3.86 3.89 0  2677.47 01:27:06 m

: Sonardyne - POS response: 
POS V4,1 R162.76

: Sonardyne - parsing R162.76

: Sonardyne - read R = 162.760000 from 162.76

: Sonardyne - got range only (162.760000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213434.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213434.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S121.7,N21.8,D-126,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S121.7,N21.8,D-126,U0,Q0.000000

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: Sonardyne - POS response: 
POS V4,1 R162.76

: Sonardyne - parsing R162.76

: Sonardyne - read R = 162.760000 from 162.76

: Sonardyne - got range only (162.760000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213435.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213435.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S118.1,N22.1,D-71,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 S118.1,N22.1,D-71,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R162.77

: Sonardyne - parsing R162.77

: Sonardyne - read R = 162.770000 from 162.77

: Sonardyne - got range only (162.770000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213436.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213436.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S124.7,N27.8,D-37,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S124.7,N27.8,D-37,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R162.67

: Sonardyne - parsing R162.67

: Sonardyne - read R = 162.670000 from 162.67

: Sonardyne - got range only (162.670000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213437.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213437.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.1,N31.4,D-61,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S132.1,N31.4,D-61,U0,Q0.000000

: Sonardyne - POS response: 
POS V4,1 R162.31

: Sonardyne - parsing R162.31

: Sonardyne - read R = 162.310000 from 162.31

: Sonardyne - got range only (162.310000), tat = 670
: AshtechGps::processRecord() - $GPGGA,213438.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213438.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.4,N24.3,D133,U2,Q0.008147

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

: Sonardyne - POSD response: 
POSD S130.4,N24.3,D133,U2,Q0.008147

: Sonardyne - POS response: 
POS V4,1 R161.83

: Sonardyne - parsing R161.83

: Sonardyne - read R = 161.830000 from 161.83

: Sonardyne - got range only (161.830000), tat = 660
: AshtechGps::processRecord() - $GPGGA,213439.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213439.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S130.9,N27.9,D-52,U1,Q0.013255

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

: Sonardyne - POSD response: 
POSD S130.9,N27.9,D-52,U1,Q0.013255

: Sonardyne - POS response: 
POS V4,1 R161.19,X132.85,Y6.00,Z-91.09

: Sonardyne - parsing R161.19,X132.85,Y6.00,Z-91.09

: Sonardyne - read R = 161.190000 from 161.19,X132.85,Y6.00,Z-91.09

: Sonardyne - got all data, Vehicle coordinates,
    r=161.190000, x=91.090000, y=132.850000, z=-6.000000 tat = 690
: AshtechGps::processRecord() - $GPGGA,213440.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213440.00,,,,,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

: WaypointHoming: The Usbl has aquired the transponder
  at t = 413.80          Seconds.
:   The vehicle position is (4052226.2, 600417.6)

: Sonardyne - POS response: 
POS V4,1 R160.39

: Sonardyne - parsing R160.39

: Sonardyne - read R = 160.390000 from 160.39

: Sonardyne - got range only (160.390000), tat = 660
: AshtechGps::processRecord() - $GPGGA,213441.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213441.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S132.9,N27.7,D29,U4,Q0.013016

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

: Sonardyne - POSD response: 
POSD S132.9,N27.7,D29,U4,Q0.013016

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 414.80          Seconds.
:   The vehicle position is is (4052226.5, 600418.7)

: Sonardyne - POS response: 
POS V4,1 R159.49

: Sonardyne - parsing R159.49

: Sonardyne - read R = 159.490000 from 159.49

: Sonardyne - got range only (159.490000), tat = 659
: AshtechGps::processRecord() - $GPGGA,213442.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213442.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S137.4,N32.9,D-3,U4,Q0.009804

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

: Sonardyne - POSD response: 
POSD S137.4,N32.9,D-3,U4,Q0.009804

: Sonardyne - POS response: 
POS V4,1 R158.69

: Sonardyne - parsing R158.69

: Sonardyne - read R = 158.690000 from 158.69

: Sonardyne - got range only (158.690000), tat = 660
: AshtechGps::processRecord() - $GPGGA,213443.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213443.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S136.9,N29.9,D-28,U2,Q0.015269

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

: Sonardyne - POSD response: 
POSD S136.9,N29.9,D-28,U2,Q0.015269

: BluefinBatt Reply: $aaq0 d- 30.96  6.53 18.26 3.86 3.89 0  2676.78 01:27:16 m

: AshtechGps::processRecord() - $GPGGA,213444.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213444.00,,,,,0,00,,,M,,M,,*4C


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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213445.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213445.00,,,,,0,00,,,M,,M,,*4D


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

: AshtechGps::processRecord() - $GPGGA,213446.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213446.00,,,,,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 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,213447.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213447.00,,,,,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 R156.33,X95.51,Y6.90,Z-123.57

: Sonardyne - parsing R156.33,X95.51,Y6.90,Z-123.57

: Sonardyne - read R = 156.330000 from 156.33,X95.51,Y6.90,Z-123.57

: Sonardyne - got all data, Vehicle coordinates,
    r=156.330000, x=123.570000, y=95.510000, z=-6.900000 tat = 680
: WaypointHoming: The Usbl has aquired the transponder
  at t = 421.20          Seconds.
:   The vehicle position is (4052227.2, 600425.4)

: AshtechGps::processRecord() - $GPGGA,213448.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213448.00,,,,,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 R155.97,X93.41,Y7.33,Z-124.68

: Sonardyne - parsing R155.97,X93.41,Y7.33,Z-124.68

: Sonardyne - read R = 155.970000 from 155.97,X93.41,Y7.33,Z-124.68

: Sonardyne - got all data, Vehicle coordinates,
    r=155.970000, x=124.680000, y=93.410000, z=-7.330000 tat = 680
: AshtechGps::processRecord() - $GPGGA,213449.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213449.00,,,,,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 R155.52,X90.17,Y13.15,Z-126.03

: Sonardyne - parsing R155.52,X90.17,Y13.15,Z-126.03

: Sonardyne - read R = 155.520000 from 155.52,X90.17,Y13.15,Z-126.03

: Sonardyne - got all data, Vehicle coordinates,
    r=155.520000, x=126.030000, y=90.170000, z=-13.150000 tat = 680
: AshtechGps::processRecord() - $GPGGA,213450.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213450.00,,,,,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 R154.57,X83.18,Y16.53,Z-129.22

: Sonardyne - parsing R154.57,X83.18,Y16.53,Z-129.22

: Sonardyne - read R = 154.570000 from 154.57,X83.18,Y16.53,Z-129.22

: Sonardyne - got all data, Vehicle coordinates,
    r=154.570000, x=129.220000, y=83.180000, z=-16.530000 tat = 680
: AshtechGps::processRecord() - $GPGGA,213451.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213451.00,,,,,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 R153.55,X73.61,Y14.11,Z-134.02

: Sonardyne - parsing R153.55,X73.61,Y14.11,Z-134.02

: Sonardyne - read R = 153.550000 from 153.55,X73.61,Y14.11,Z-134.02

: Sonardyne - got all data, Vehicle coordinates,
    r=153.550000, x=134.020000, y=73.610000, z=-14.110000 tat = 680
: AshtechGps::processRecord() - $GPGGA,213452.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213452.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R152.54,X60.30,Y17.35,Z-139.04

: Sonardyne - parsing R152.54,X60.30,Y17.35,Z-139.04

: Sonardyne - read R = 152.540000 from 152.54,X60.30,Y17.35,Z-139.04

: Sonardyne - got all data, Vehicle coordinates,
    r=152.540000, x=139.040000, y=60.300000, z=-17.350000 tat = 680
: AshtechGps::processRecord() - $GPGGA,213453.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213453.00,,,,,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 R151.57,X44.02,Y13.68,Z-144.40

: Sonardyne - parsing R151.57,X44.02,Y13.68,Z-144.40

: Sonardyne - read R = 151.570000 from 151.57,X44.02,Y13.68,Z-144.40

: Sonardyne - got all data, Vehicle coordinates,
    r=151.570000, x=144.400000, y=44.020000, z=-13.680000 tat = 680
: BluefinBatt Reply: $aaq0 d- 31.00  5.39 18.26 3.86 3.89 0  2676.36 01:27:26 m

: AshtechGps::processRecord() - $GPGGA,213454.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213454.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R150.46,X24.95,Y8.02,Z-148.16

: Sonardyne - parsing R150.46,X24.95,Y8.02,Z-148.16

: Sonardyne - read R = 150.460000 from 150.46,X24.95,Y8.02,Z-148.16

: Sonardyne - got all data, Vehicle coordinates,
    r=150.460000, x=148.160000, y=24.950000, z=-8.020000 tat = 670
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213455.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213455.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R149.44,X6.39,Y7.10,Z-149.13

: Sonardyne - parsing R149.44,X6.39,Y7.10,Z-149.13

: Sonardyne - read R = 149.440000 from 149.44,X6.39,Y7.10,Z-149.13

: Sonardyne - got all data, Vehicle coordinates,
    r=149.440000, x=149.130000, y=6.390000, z=-7.100000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213456.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213456.00,,,,,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 R148.39,X-10.84,Y6.02,Z-147.87

: Sonardyne - parsing R148.39,X-10.84,Y6.02,Z-147.87

: Sonardyne - read R = 148.390000 from 148.39,X-10.84,Y6.02,Z-147.87

: Sonardyne - got all data, Vehicle coordinates,
    r=148.390000, x=147.870000, y=-10.840000, z=-6.020000 tat = 669
: AshtechGps::processRecord() - $GPGGA,213457.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213457.00,,,,,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 R147.53,X-30.17,Y2.84,Z-144.38

: Sonardyne - parsing R147.53,X-30.17,Y2.84,Z-144.38

: Sonardyne - read R = 147.530000 from 147.53,X-30.17,Y2.84,Z-144.38

: Sonardyne - got all data, Vehicle coordinates,
    r=147.530000, x=144.380000, y=-30.170000, z=-2.840000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213458.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213458.00,,,,,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 R146.54,X-49.02,Y0.71,Z-138.09

: Sonardyne - parsing R146.54,X-49.02,Y0.71,Z-138.09

: Sonardyne - read R = 146.540000 from 146.54,X-49.02,Y0.71,Z-138.09

: Sonardyne - got all data, Vehicle coordinates,
    r=146.540000, x=138.090000, y=-49.020000, z=-0.710000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213459.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213459.00,,,,,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 R145.61,X-64.24,Y-1.10,Z-130.67

: Sonardyne - parsing R145.61,X-64.24,Y-1.10,Z-130.67

: Sonardyne - read R = 145.610000 from 145.61,X-64.24,Y-1.10,Z-130.67

: Sonardyne - got all data, Vehicle coordinates,
    r=145.610000, x=130.670000, y=-64.240000, z=1.100000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213500.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213500.00,,,,,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 R144.83,X-73.45,Y-1.59,Z-124.81

: Sonardyne - parsing R144.83,X-73.45,Y-1.59,Z-124.81

: Sonardyne - read R = 144.830000 from 144.83,X-73.45,Y-1.59,Z-124.81

: Sonardyne - got all data, Vehicle coordinates,
    r=144.830000, x=124.810000, y=-73.450000, z=1.590000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213501.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213501.00,,,,,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 R144.12,X-79.36,Y-0.20,Z-120.30

: Sonardyne - parsing R144.12,X-79.36,Y-0.20,Z-120.30

: Sonardyne - read R = 144.120000 from 144.12,X-79.36,Y-0.20,Z-120.30

: Sonardyne - got all data, Vehicle coordinates,
    r=144.120000, x=120.300000, y=-79.360000, z=0.200000 tat = 670
: AshtechGps::processRecord() - $GPGGA,213502.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213502.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - POS response: 
POS V4,1 R143.57,X-84.16,Y1.06,Z-116.31

: Sonardyne - parsing R143.57,X-84.16,Y1.06,Z-116.31

: Sonardyne - read R = 143.570000 from 143.57,X-84.16,Y1.06,Z-116.31

: Sonardyne - got all data, Vehicle coordinates,
    r=143.570000, x=116.310000, y=-84.160000, z=-1.060000 tat = 660
: AshtechGps::processRecord() - $GPGGA,213503.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213503.00,,,,,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 R143.12,X-86.84,Y4.29,Z-113.69

: Sonardyne - parsing R143.12,X-86.84,Y4.29,Z-113.69

: Sonardyne - read R = 143.120000 from 143.12,X-86.84,Y4.29,Z-113.69

: Sonardyne - got all data, Vehicle coordinates,
    r=143.120000, x=113.690000, y=-86.840000, z=-4.290000 tat = 710
: BluefinBatt Reply: $aaq0 d- 30.96  6.19 18.26 3.86 3.89 0  2675.72 01:27:36 m

: AshtechGps::processRecord() - $GPGGA,213504.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213504.00,,,,,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 R142.59,X-90.36,Y10.17,Z-109.84

: Sonardyne - parsing R142.59,X-90.36,Y10.17,Z-109.84

: Sonardyne - read R = 142.590000 from 142.59,X-90.36,Y10.17,Z-109.84

: Sonardyne - got all data, Vehicle coordinates,
    r=142.590000, x=109.840000, y=-90.360000, z=-10.170000 tat = 660
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213505.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213505.00,,,,,0,00,,,M,,M,,*48


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

: Sonardyne - POS response: 
POS V4,1 R142.41

: Sonardyne - parsing R142.41

: Sonardyne - read R = 142.410000 from 142.41

: Sonardyne - got range only (142.410000), tat = 640
: Sonardyne - POSD response: 
POSD S139.8,N30.1,D44,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S139.8,N30.1,D44,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 439.40          Seconds.
:   The vehicle position is is (4052217.6, 600436.1)

: AshtechGps::processRecord() - $GPGGA,213506.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213506.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R142.01,X-105.46,Y9.28,Z-94.65

: Sonardyne - parsing R142.01,X-105.46,Y9.28,Z-94.65

: Sonardyne - read R = 142.010000 from 142.01,X-105.46,Y9.28,Z-94.65

: Sonardyne - got all data, Vehicle coordinates,
    r=142.010000, x=94.650000, y=-105.460000, z=-9.280000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder
  at t = 440.20          Seconds.
:   The vehicle position is (4052216.9, 600436.1)

: AshtechGps::processRecord() - $GPGGA,213507.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213507.00,,,,,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 R141.34

: Sonardyne - parsing R141.34

: Sonardyne - read R = 141.340000 from 141.34

: Sonardyne - got range only (141.340000), tat = 690
: Sonardyne - POSD response: 
POSD S136.7,N33.0,D-27,U2,Q0.013161

: Sonardyne - POSD response: 
POSD S136.7,N33.0,D-27,U2,Q0.013161

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 441.40          Seconds.
:   The vehicle position is is (4052215.6, 600436.1)

: AshtechGps::processRecord() - $GPGGA,213508.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213508.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R140.78

: Sonardyne - parsing R140.78

: Sonardyne - read R = 140.780000 from 140.78

: Sonardyne - got range only (140.780000), tat = 640
: Sonardyne - POSD response: 
POSD S134.6,N37.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.6,N37.1,D-10,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213509.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213509.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R140.07

: Sonardyne - parsing R140.07

: Sonardyne - read R = 140.070000 from 140.07

: Sonardyne - got range only (140.070000), tat = 640
: Sonardyne - POSD response: 
POSD S133.6,N36.0,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N36.0,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213510.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213510.00,,,,,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 R139.18

: Sonardyne - parsing R139.18

: Sonardyne - read R = 139.180000 from 139.18

: Sonardyne - got range only (139.180000), tat = 630
: Sonardyne - POSD response: 
POSD S132.2,N30.2,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.2,N30.2,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213511.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213511.00,,,,,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 R138.68

: Sonardyne - parsing R138.68

: Sonardyne - read R = 138.680000 from 138.68

: Sonardyne - got range only (138.680000), tat = 629
: Sonardyne - POSD response: 
POSD S130.4,N34.9,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.4,N34.9,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213512.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213512.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R138.28

: Sonardyne - parsing R138.28

: Sonardyne - read R = 138.280000 from 138.28

: Sonardyne - got range only (138.280000), tat = 630
: Sonardyne - POSD response: 
POSD S131.4,N36.2,D-6,U1,Q0.005811

: Sonardyne - POSD response: 
POSD S131.4,N36.2,D-6,U1,Q0.005811

: AshtechGps::processRecord() - $GPGGA,213513.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213513.00,,,,,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 R138.05

: Sonardyne - parsing R138.05

: Sonardyne - read R = 138.050000 from 138.05

: Sonardyne - got range only (138.050000), tat = 630
: Sonardyne - POSD response: 
POSD S128.1,N28.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.1,N28.2,D-6,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.93  6.33 18.26 3.87 3.89 0  2675.31 01:27:46 m

: AshtechGps::processRecord() - $GPGGA,213514.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213514.00,,,,,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 R137.98,X-129.29,Y4.31,Z-48.01

: Sonardyne - parsing R137.98,X-129.29,Y4.31,Z-48.01

: Sonardyne - read R = 137.980000 from 137.98,X-129.29,Y4.31,Z-48.01

: Sonardyne - got all data, Vehicle coordinates,
    r=137.980000, x=48.010000, y=-129.290000, z=-4.310000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder
  at t = 448.20          Seconds.
:   The vehicle position is (4052209.2, 600433.9)

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

: AshtechGps::processRecord() - $GPGGA,213515.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213515.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R138.02,X-127.22,Y6.71,Z-53.10

: Sonardyne - parsing R138.02,X-127.22,Y6.71,Z-53.10

: Sonardyne - read R = 138.020000 from 138.02,X-127.22,Y6.71,Z-53.10

: Sonardyne - got all data, Vehicle coordinates,
    r=138.020000, x=53.100000, y=-127.220000, z=-6.710000 tat = 660
: AshtechGps::processRecord() - $GPGGA,213516.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213516.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R138.04

: Sonardyne - parsing R138.04

: Sonardyne - read R = 138.040000 from 138.04

: Sonardyne - got range only (138.040000), tat = 630
: Sonardyne - POSD response: 
POSD S117.0,N23.7,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S117.0,N23.7,D15,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 450.40          Seconds.
:   The vehicle position is is (4052207.9, 600432.6)

: AshtechGps::processRecord() - $GPGGA,213517.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213517.00,,,,,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 R141.94

: Sonardyne - parsing R141.94

: Sonardyne - read R = 141.940000 from 141.94

: Sonardyne - got range only (141.940000), tat = 640
: Sonardyne - POSD response: 
POSD S119.4,N24.2,D-118,U2,Q0.004475

: Sonardyne - POSD response: 
POSD S119.4,N24.2,D-118,U2,Q0.004475

: AshtechGps::processRecord() - $GPGGA,213518.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213518.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R138.12

: Sonardyne - parsing R138.12

: Sonardyne - read R = 138.120000 from 138.12

: Sonardyne - got range only (138.120000), tat = 630
: Sonardyne - POSD response: 
POSD S115.3,N25.2,D13,U1,Q0.004239

: Sonardyne - POSD response: 
POSD S115.3,N25.2,D13,U1,Q0.004239

: AshtechGps::processRecord() - $GPGGA,213519.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213519.00,,,,,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 R137.97

: Sonardyne - parsing R137.97

: Sonardyne - read R = 137.970000 from 137.97

: Sonardyne - got range only (137.970000), tat = 630
: Sonardyne - POSD response: 
POSD S118.0,N27.2,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S118.0,N27.2,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213520.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213520.00,,,,,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 R137.87

: Sonardyne - parsing R137.87

: Sonardyne - read R = 137.870000 from 137.87

: Sonardyne - got range only (137.870000), tat = 630
: Sonardyne - POSD response: 
POSD S116.3,N17.6,D53,U2,Q0.014513

: Sonardyne - POSD response: 
POSD S116.3,N17.6,D53,U2,Q0.014513

: AshtechGps::processRecord() - $GPGGA,213521.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213521.00,,,,,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 R137.62,X-131.01,Y7.44,Z-41.48

: Sonardyne - parsing R137.62,X-131.01,Y7.44,Z-41.48

: Sonardyne - read R = 137.620000 from 137.62,X-131.01,Y7.44,Z-41.48

: Sonardyne - got all data, Vehicle coordinates,
    r=137.620000, x=41.480000, y=-131.010000, z=-7.440000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder
  at t = 455.20          Seconds.
:   The vehicle position is (4052203.9, 600429.9)

: AshtechGps::processRecord() - $GPGGA,213522.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213522.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R137.56,X-131.06,Y6.52,Z-41.27

: Sonardyne - parsing R137.56,X-131.06,Y6.52,Z-41.27

: Sonardyne - read R = 137.560000 from 137.56,X-131.06,Y6.52,Z-41.27

: Sonardyne - got all data, Vehicle coordinates,
    r=137.560000, x=41.270000, y=-131.060000, z=-6.520000 tat = 660
: AshtechGps::processRecord() - $GPGGA,213523.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213523.00,,,,,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 R137.52,X-130.45,Y7.42,Z-42.91

: Sonardyne - parsing R137.52,X-130.45,Y7.42,Z-42.91

: Sonardyne - read R = 137.520000 from 137.52,X-130.45,Y7.42,Z-42.91

: Sonardyne - got all data, Vehicle coordinates,
    r=137.520000, x=42.910000, y=-130.450000, z=-7.420000 tat = 660
: BluefinBatt Reply: $aaq0 d- 30.96  5.59 18.26 3.87 3.89 0  2674.64 01:27:56 m

: AshtechGps::processRecord() - $GPGGA,213524.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213524.00,,,,,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 R137.47,X-130.53,Y9.65,Z-42.06

: Sonardyne - parsing R137.47,X-130.53,Y9.65,Z-42.06

: Sonardyne - read R = 137.470000 from 137.47,X-130.53,Y9.65,Z-42.06

: Sonardyne - got all data, Vehicle coordinates,
    r=137.470000, x=42.060000, y=-130.530000, z=-9.650000 tat = 660
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,213525.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213525.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R137.38,X-130.38,Y11.84,Z-41.63

: Sonardyne - parsing R137.38,X-130.38,Y11.84,Z-41.63

: Sonardyne - read R = 137.380000 from 137.38,X-130.38,Y11.84,Z-41.63

: Sonardyne - got all data, Vehicle coordinates,
    r=137.380000, x=41.630000, y=-130.380000, z=-11.840000 tat = 659
: AshtechGps::processRecord() - $GPGGA,213526.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213526.00,,,,,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 R137.12,X-130.37,Y18.26,Z-38.39

: Sonardyne - parsing R137.12,X-130.37,Y18.26,Z-38.39

: Sonardyne - read R = 137.120000 from 137.12,X-130.37,Y18.26,Z-38.39

: Sonardyne - got all data, Vehicle coordinates,
    r=137.120000, x=38.390000, y=-130.370000, z=-18.260000 tat = 660
: AshtechGps::processRecord() - $GPGGA,213527.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213527.00,,,,,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 R136.90

: Sonardyne - parsing R136.90

: Sonardyne - read R = 136.900000 from 136.90

: Sonardyne - got range only (136.900000), tat = 630
: Sonardyne - POSD response: 
POSD S124.3,N28.5,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.3,N28.5,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 461.40          Seconds.
:   The vehicle position is is (4052199.4, 600425.8)

: AshtechGps::processRecord() - $GPGGA,213528.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213528.00,,,,,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 R136.58

: Sonardyne - parsing R136.58

: Sonardyne - read R = 136.580000 from 136.58

: Sonardyne - got range only (136.580000), tat = 630
: Sonardyne - POSD response: 
POSD S122.4,N27.1,D-15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.4,N27.1,D-15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213529.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213529.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R136.51

: Sonardyne - parsing R136.51

: Sonardyne - read R = 136.510000 from 136.51

: Sonardyne - got range only (136.510000), tat = 630
: Sonardyne - POSD response: 
POSD S118.1,N27.8,D-18,U1,Q0.008181

: Sonardyne - POSD response: 
POSD S118.1,N27.8,D-18,U1,Q0.008181

: AshtechGps::processRecord() - $GPGGA,213530.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213530.00,,,,,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 R136.60

: Sonardyne - parsing R136.60

: Sonardyne - read R = 136.600000 from 136.60

: Sonardyne - got range only (136.600000), tat = 630
: Sonardyne - POSD response: 
POSD S120.8,N28.8,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.8,N28.8,D-21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213531.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213531.00,,,,,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 R136.61,X-129.89,Y7.89,Z-41.57

: Sonardyne - parsing R136.61,X-129.89,Y7.89,Z-41.57

: Sonardyne - read R = 136.610000 from 136.61,X-129.89,Y7.89,Z-41.57

: Sonardyne - got all data, Vehicle coordinates,
    r=136.610000, x=41.570000, y=-129.890000, z=-7.890000 tat = 660
: WaypointHoming: The Usbl has aquired the transponder
  at t = 465.20          Seconds.
:   The vehicle position is (4052195.9, 600423.8)

: AshtechGps::processRecord() - $GPGGA,213532.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213532.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R136.71

: Sonardyne - parsing R136.71

: Sonardyne - read R = 136.710000 from 136.71

: Sonardyne - got range only (136.710000), tat = 630
: Sonardyne - POSD response: 
POSD S124.1,N28.9,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N28.9,D29,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 466.40          Seconds.
:   The vehicle position is is (4052195.2, 600422.9)

: AshtechGps::processRecord() - $GPGGA,213533.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213533.00,,,,,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 R137.01

: Sonardyne - parsing R137.01

: Sonardyne - read R = 137.010000 from 137.01

: Sonardyne - got range only (137.010000), tat = 630
: Sonardyne - POSD response: 
POSD S121.4,N30.1,D0,U3,Q0.013398

: Sonardyne - POSD response: 
POSD S121.4,N30.1,D0,U3,Q0.013398

: BluefinBatt Reply: $aaq0 d- 30.96  6.36 18.26 3.86 3.89 0  2674.22 01:28:06 m

: AshtechGps::processRecord() - $GPGGA,213534.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213534.00,,,,,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 R137.12

: Sonardyne - parsing R137.12

: Sonardyne - read R = 137.120000 from 137.12

: Sonardyne - got range only (137.120000), tat = 630
: Sonardyne - POSD response: 
POSD S123.8,N29.2,D-15,U1,Q0.017254

: Sonardyne - POSD response: 
POSD S123.8,N29.2,D-15,U1,Q0.017254

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213535.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213535.00,,,,,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 R137.08

: Sonardyne - parsing R137.08

: Sonardyne - read R = 137.080000 from 137.08

: Sonardyne - got range only (137.080000), tat = 630
: Sonardyne - POSD response: 
POSD S120.3,N26.8,D-50,U3,Q0.010930

: Sonardyne - POSD response: 
POSD S120.3,N26.8,D-50,U3,Q0.010930

: AshtechGps::processRecord() - $GPGGA,213536.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213536.00,,,,,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 R136.87

: Sonardyne - parsing R136.87

: Sonardyne - read R = 136.870000 from 136.87

: Sonardyne - got range only (136.870000), tat = 630
: Sonardyne - POSD response: 
POSD S121.9,N21.1,D-53,U2,Q0.009839

: Sonardyne - POSD response: 
POSD S121.9,N21.1,D-53,U2,Q0.009839

: AshtechGps::processRecord() - $GPGGA,213537.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213537.00,,,,,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 R138.01

: Sonardyne - parsing R138.01

: Sonardyne - read R = 138.010000 from 138.01

: Sonardyne - got range only (138.010000), tat = 630
: Sonardyne - POSD response: 
POSD S119.1,N17.6,D-129,U4,Q0.004266

: Sonardyne - POSD response: 
POSD S119.1,N17.6,D-129,U4,Q0.004266

: AshtechGps::processRecord() - $GPGGA,213538.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213538.00,,,,,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 R136.24

: Sonardyne - parsing R136.24

: Sonardyne - read R = 136.240000 from 136.24

: Sonardyne - got range only (136.240000), tat = 630
: Sonardyne - POSD response: 
POSD S119.6,N24.0,D-45,U1,Q0.009529

: Sonardyne - POSD response: 
POSD S119.6,N24.0,D-45,U1,Q0.009529

: AshtechGps::processRecord() - $GPGGA,213539.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213539.00,,,,,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 R135.83

: Sonardyne - parsing R135.83

: Sonardyne - read R = 135.830000 from 135.83

: Sonardyne - got range only (135.830000), tat = 630
: Sonardyne - POSD response: 
POSD S120.6,N25.8,D-25,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.6,N25.8,D-25,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213540.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213540.00,,,,,0,00,,,M,,M,,*49


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

: Sonardyne - POS response: 
POS V4,1 R135.84

: Sonardyne - parsing R135.84

: Sonardyne - read R = 135.840000 from 135.84

: Sonardyne - got range only (135.840000), tat = 629
: Sonardyne - POSD response: 
POSD S128.8,N27.2,D32,U1,Q0.001726

: Sonardyne - POSD response: 
POSD S128.8,N27.2,D32,U1,Q0.001726

: AshtechGps::processRecord() - $GPGGA,213541.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213541.00,,,,,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 R135.71

: Sonardyne - parsing R135.71

: Sonardyne - read R = 135.710000 from 135.71

: Sonardyne - got range only (135.710000), tat = 630
: Sonardyne - POSD response: 
POSD S129.5,N29.7,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.5,N29.7,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213542.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213542.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - POS response: 
POS V4,1 R135.39

: Sonardyne - parsing R135.39

: Sonardyne - read R = 135.390000 from 135.39

: Sonardyne - got range only (135.390000), tat = 630
: Sonardyne - POSD response: 
POSD S134.7,N29.9,D-26,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.7,N29.9,D-26,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213543.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213543.00,,,,,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 R135.07

: Sonardyne - parsing R135.07

: Sonardyne - read R = 135.070000 from 135.07

: Sonardyne - got range only (135.070000), tat = 630
: Sonardyne - POSD response: 
POSD S130.7,N34.2,D6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.7,N34.2,D6,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  5.66 18.26 3.86 3.89 0  2673.59 01:28:16 m

: AshtechGps::processRecord() - $GPGGA,213544.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213544.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R134.68

: Sonardyne - parsing R134.68

: Sonardyne - read R = 134.680000 from 134.68

: Sonardyne - got range only (134.680000), tat = 630
: Sonardyne - POSD response: 
POSD S132.3,N32.1,D-1,U2,Q0.011442

: Sonardyne - POSD response: 
POSD S132.3,N32.1,D-1,U2,Q0.011442

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213545.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213545.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R134.02

: Sonardyne - parsing R134.02

: Sonardyne - read R = 134.020000 from 134.02

: Sonardyne - got range only (134.020000), tat = 630
: Sonardyne - POSD response: 
POSD S130.2,N31.4,D4,U1,Q0.011726

: Sonardyne - POSD response: 
POSD S130.2,N31.4,D4,U1,Q0.011726

: AshtechGps::processRecord() - $GPGGA,213546.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213546.00,,,,,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 R137.44

: Sonardyne - parsing R137.44

: Sonardyne - read R = 137.440000 from 137.44

: Sonardyne - got range only (137.440000), tat = 630
: Sonardyne - POSD response: 
POSD S122.0,N18.1,D-71,U1,Q0.009783

: Sonardyne - POSD response: 
POSD S122.0,N18.1,D-71,U1,Q0.009783

: AshtechGps::processRecord() - $GPGGA,213547.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213547.00,,,,,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 R132.81

: Sonardyne - parsing R132.81

: Sonardyne - read R = 132.810000 from 132.81

: Sonardyne - got range only (132.810000), tat = 630
: Sonardyne - POSD response: 
POSD S128.9,N22.1,D-39,U5,Q0.012494

: Sonardyne - POSD response: 
POSD S128.9,N22.1,D-39,U5,Q0.012494

: AshtechGps::processRecord() - $GPGGA,213548.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213548.00,,,,,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 R132.51,X-101.87,Y13.93,Z-83.59

: Sonardyne - parsing R132.51,X-101.87,Y13.93,Z-83.59

: Sonardyne - read R = 132.510000 from 132.51,X-101.87,Y13.93,Z-83.59

: Sonardyne - got all data, Vehicle coordinates,
    r=132.510000, x=83.590000, y=-101.870000, z=-13.930000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder
  at t = 482.20          Seconds.
:   The vehicle position is (4052181.8, 600414.3)

: AshtechGps::processRecord() - $GPGGA,213549.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213549.00,,,,,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 R132.23

: Sonardyne - parsing R132.23

: Sonardyne - read R = 132.230000 from 132.23

: Sonardyne - got range only (132.230000), tat = 630
: Sonardyne - POSD response: 
POSD S133.6,N25.2,D-44,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N25.2,D-44,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 483.20          Seconds.
:   The vehicle position is is (4052180.8, 600414.1)

: AshtechGps::processRecord() - $GPGGA,213550.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213550.00,,,,,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 R131.69

: Sonardyne - parsing R131.69

: Sonardyne - read R = 131.690000 from 131.69

: Sonardyne - got range only (131.690000), tat = 620
: Sonardyne - POSD response: 
POSD S132.3,N20.3,D-31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.3,N20.3,D-31,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213551.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213551.00,,,,,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 R130.88,X-78.10,Y13.04,Z-104.22

: Sonardyne - parsing R130.88,X-78.10,Y13.04,Z-104.22

: Sonardyne - read R = 130.880000 from 130.88,X-78.10,Y13.04,Z-104.22

: Sonardyne - got all data, Vehicle coordinates,
    r=130.880000, x=104.220000, y=-78.100000, z=-13.040000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder
  at t = 485.20          Seconds.
:   The vehicle position is (4052178.7, 600414.0)

: AshtechGps::processRecord() - $GPGGA,213552.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213552.00,,,,,0,00,,,M,,M,,*4A


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

: Sonardyne - POS response: 
POS V4,1 R129.81,X-65.24,Y9.79,Z-111.79

: Sonardyne - parsing R129.81,X-65.24,Y9.79,Z-111.79

: Sonardyne - read R = 129.810000 from 129.81,X-65.24,Y9.79,Z-111.79

: Sonardyne - got all data, Vehicle coordinates,
    r=129.810000, x=111.790000, y=-65.240000, z=-9.790000 tat = 650
: AshtechGps::processRecord() - $GPGGA,213553.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213553.00,,,,,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 R128.46,X-47.82,Y7.25,Z-119.01

: Sonardyne - parsing R128.46,X-47.82,Y7.25,Z-119.01

: Sonardyne - read R = 128.460000 from 128.46,X-47.82,Y7.25,Z-119.01

: Sonardyne - got all data, Vehicle coordinates,
    r=128.460000, x=119.010000, y=-47.820000, z=-7.250000 tat = 640
: BluefinBatt Reply: $aaq0 d- 30.96  5.32 18.26 3.86 3.89 0  2673.13 01:28:26 m

: AshtechGps::processRecord() - $GPGGA,213554.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213554.00,,,,,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 R127.08,X-28.01,Y2.99,Z-123.92

: Sonardyne - parsing R127.08,X-28.01,Y2.99,Z-123.92

: Sonardyne - read R = 127.080000 from 127.08,X-28.01,Y2.99,Z-123.92

: Sonardyne - got all data, Vehicle coordinates,
    r=127.080000, x=123.920000, y=-28.010000, z=-2.990000 tat = 640
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213555.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213555.00,,,,,0,00,,,M,,M,,*4D


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

: Sonardyne - POS response: 
POS V4,1 R125.89,X-10.39,Y-2.43,Z-125.44

: Sonardyne - parsing R125.89,X-10.39,Y-2.43,Z-125.44

: Sonardyne - read R = 125.890000 from 125.89,X-10.39,Y-2.43,Z-125.44

: Sonardyne - got all data, Vehicle coordinates,
    r=125.890000, x=125.440000, y=-10.390000, z=2.430000 tat = 640
: AshtechGps::processRecord() - $GPGGA,213556.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213556.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R125.10,X4.22,Y-5.27,Z-124.91

: Sonardyne - parsing R125.10,X4.22,Y-5.27,Z-124.91

: Sonardyne - read R = 125.100000 from 125.10,X4.22,Y-5.27,Z-124.91

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

: Sonardyne - got all data, Vehicle coordinates,
    r=125.100000, x=124.910000, y=4.220000, z=5.270000 tat = 640
: AshtechGps::processRecord() - $GPGGA,213557.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213557.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.64,X20.28,Y-5.49,Z-122.85

: Sonardyne - parsing R124.64,X20.28,Y-5.49,Z-122.85

: Sonardyne - read R = 124.640000 from 124.64,X20.28,Y-5.49,Z-122.85

: Sonardyne - got all data, Vehicle coordinates,
    r=124.640000, x=122.850000, y=20.280000, z=5.490000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213558.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213558.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.36,X38.24,Y-8.98,Z-117.99

: Sonardyne - parsing R124.36,X38.24,Y-8.98,Z-117.99

: Sonardyne - read R = 124.360000 from 124.36,X38.24,Y-8.98,Z-117.99

: Sonardyne - got all data, Vehicle coordinates,
    r=124.360000, x=117.990000, y=38.240000, z=8.980000 tat = 640
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213559.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213559.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R124.04,X56.07,Y-4.50,Z-110.55

: Sonardyne - parsing R124.04,X56.07,Y-4.50,Z-110.55

: Sonardyne - read R = 124.040000 from 124.04,X56.07,Y-4.50,Z-110.55

: Sonardyne - got all data, Vehicle coordinates,
    r=124.040000, x=110.550000, y=56.070000, z=4.500000 tat = 640
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213600.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213600.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.80

: Sonardyne - parsing R123.80

: Sonardyne - read R = 123.800000 from 123.80

: Sonardyne - got range only (123.800000), tat = 610
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S139.3,N30.0,D-26,U1,Q0.017254

: Sonardyne - POSD response: 
POSD S139.3,N30.0,D-26,U1,Q0.017254

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 494.20          Seconds.
:   The vehicle position is is (4052172.4, 600417.7)

: AshtechGps::processRecord() - $GPGGA,213601.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213601.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R123.39

: Sonardyne - parsing R123.39

: Sonardyne - read R = 123.390000 from 123.39

: Sonardyne - got range only (123.390000), tat = 610
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S135.7,N28.7,D21,U2,Q0.010613

: Sonardyne - POSD response: 
POSD S135.7,N28.7,D21,U2,Q0.010613

: AshtechGps::processRecord() - $GPGGA,213602.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213602.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.78

: Sonardyne - parsing R122.78

: Sonardyne - read R = 122.780000 from 122.78

: Sonardyne - got range only (122.780000), tat = 610
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S134.1,N21.0,D-8,U1,Q0.019439

: Sonardyne - POSD response: 
POSD S134.1,N21.0,D-8,U1,Q0.019439

: AshtechGps::processRecord() - $GPGGA,213603.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213603.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R122.11

: Sonardyne - parsing R122.11

: Sonardyne - read R = 122.110000 from 122.11

: Sonardyne - got range only (122.110000), tat = 610
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S132.6,N24.0,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.6,N24.0,D-5,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  6.57 18.26 3.86 3.89 0  2672.56 01:28:36 m

: AshtechGps::processRecord() - $GPGGA,213604.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213604.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.69

: Sonardyne - parsing R121.69

: Sonardyne - read R = 121.690000 from 121.69

: Sonardyne - got range only (121.690000), tat = 610
: Sonardyne - POSD response: 
POSD S130.0,N26.2,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S130.0,N26.2,D-8,U0,Q0.000000

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213605.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213605.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.36

: Sonardyne - parsing R121.36

: Sonardyne - read R = 121.360000 from 121.36

: Sonardyne - got range only (121.360000), tat = 610
: Sonardyne - POSD response: 
POSD S125.2,N24.0,D14,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 S125.2,N24.0,D14,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213606.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213606.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.10

: Sonardyne - parsing R121.10

: Sonardyne - read R = 121.100000 from 121.10

: Sonardyne - got range only (121.100000), tat = 610
: Sonardyne - POSD response: 
POSD S127.9,N29.6,D-7,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S127.9,N29.6,D-7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213607.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213607.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.85

: Sonardyne - parsing R120.85

: Sonardyne - read R = 120.850000 from 120.85

: Sonardyne - got range only (120.850000), tat = 610
: Sonardyne - POSD response: 
POSD S129.1,N29.1,D-8,U0,Q0.000000

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

: Sonardyne - POSD response: 
POSD S129.1,N29.1,D-8,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213608.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213608.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.73

: Sonardyne - parsing R120.73

: Sonardyne - read R = 120.730000 from 120.73

: Sonardyne - got range only (120.730000), tat = 610
: Sonardyne - POSD response: 
POSD S124.8,N25.0,D-29,U4,Q0.013456

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

: Sonardyne - POSD response: 
POSD S124.8,N25.0,D-29,U4,Q0.013456

: AshtechGps::processRecord() - $GPGGA,213609.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213609.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.58

: Sonardyne - parsing R120.58

: Sonardyne - read R = 120.580000 from 120.58

: Sonardyne - got range only (120.580000), tat = 609
: Sonardyne - POSD response: 
POSD S122.2,N22.6,D-55,U2,Q0.003343

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

: Sonardyne - POSD response: 
POSD S122.2,N22.6,D-55,U2,Q0.003343

: AshtechGps::processRecord() - $GPGGA,213610.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213610.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.63,X118.53,Y-13.85,Z-17.63

: Sonardyne - parsing R120.63,X118.53,Y-13.85,Z-17.63

: Sonardyne - read R = 120.630000 from 120.63,X118.53,Y-13.85,Z-17.63

: Sonardyne - got all data, Vehicle coordinates,
    r=120.630000, x=17.630000, y=118.530000, z=13.850000 tat = 630
:  wdt = 00894,  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 = 504.20          Seconds.
:   The vehicle position is (4052174.4, 600425.2)

: AshtechGps::processRecord() - $GPGGA,213611.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213611.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.71,X118.20,Y-14.14,Z-19.98

: Sonardyne - parsing R120.71,X118.20,Y-14.14,Z-19.98

: Sonardyne - read R = 120.710000 from 120.71,X118.20,Y-14.14,Z-19.98

: Sonardyne - got all data, Vehicle coordinates,
    r=120.710000, x=19.980000, y=118.200000, z=14.140000 tat = 640
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213612.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213612.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.05,X117.01,Y-13.37,Z-27.99

: Sonardyne - parsing R121.05,X117.01,Y-13.37,Z-27.99

: Sonardyne - read R = 121.050000 from 121.05,X117.01,Y-13.37,Z-27.99

: Sonardyne - got all data, Vehicle coordinates,
    r=121.050000, x=27.990000, y=117.010000, z=13.370000 tat = 640
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213613.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213613.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.35,X116.77,Y-13.55,Z-30.12

: Sonardyne - parsing R121.35,X116.77,Y-13.55,Z-30.12

: Sonardyne - read R = 121.350000 from 121.35,X116.77,Y-13.55,Z-30.12

: Sonardyne - got all data, Vehicle coordinates,
    r=121.350000, x=30.120000, y=116.770000, z=13.550000 tat = 640
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.89  7.21 18.26 3.86 3.88 0  2672.10 01:28:46 m

: AshtechGps::processRecord() - $GPGGA,213614.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213614.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.52,X117.01,Y-13.05,Z-30.10

: Sonardyne - parsing R121.52,X117.01,Y-13.05,Z-30.10

: Sonardyne - read R = 121.520000 from 121.52,X117.01,Y-13.05,Z-30.10

: Sonardyne - got all data, Vehicle coordinates,
    r=121.520000, x=30.100000, y=117.010000, z=13.050000 tat = 640
:  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,213615.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213615.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.66,X117.37,Y-12.10,Z-29.66

: Sonardyne - parsing R121.66,X117.37,Y-12.10,Z-29.66

: Sonardyne - read R = 121.660000 from 121.66,X117.37,Y-12.10,Z-29.66

: Sonardyne - got all data, Vehicle coordinates,
    r=121.660000, x=29.660000, y=117.370000, z=12.100000 tat = 640
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213616.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213616.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.50,X117.63,Y-13.34,Z-27.33

: Sonardyne - parsing R121.50,X117.63,Y-13.34,Z-27.33

: Sonardyne - read R = 121.500000 from 121.50,X117.63,Y-13.34,Z-27.33

: Sonardyne - got all data, Vehicle coordinates,
    r=121.500000, x=27.330000, y=117.630000, z=13.340000 tat = 640
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213617.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213617.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.32,X117.07,Y-12.14,Z-29.42

: Sonardyne - parsing R121.32,X117.07,Y-12.14,Z-29.42

: Sonardyne - read R = 121.320000 from 121.32,X117.07,Y-12.14,Z-29.42

: Sonardyne - got all data, Vehicle coordinates,
    r=121.320000, x=29.420000, y=117.070000, z=12.140000 tat = 640
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213618.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213618.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.05,X117.52,Y-12.24,Z-26.29

: Sonardyne - parsing R121.05,X117.52,Y-12.24,Z-26.29

: Sonardyne - read R = 121.050000 from 121.05,X117.52,Y-12.24,Z-26.29

: Sonardyne - got all data, Vehicle coordinates,
    r=121.050000, x=26.290000, y=117.520000, z=12.240000 tat = 630
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213619.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213619.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.93,X117.76,Y-6.26,Z-26.79

: Sonardyne - parsing R120.93,X117.76,Y-6.26,Z-26.79

: Sonardyne - read R = 120.930000 from 120.93,X117.76,Y-6.26,Z-26.79

: Sonardyne - got all data, Vehicle coordinates,
    r=120.930000, x=26.790000, y=117.760000, z=6.260000 tat = 630
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213620.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213620.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.09

: Sonardyne - parsing R121.09

: Sonardyne - read R = 121.090000 from 121.09

: Sonardyne - got range only (121.090000), tat = 610
: Sonardyne - POSD response: 
POSD S122.6,N33.0,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.6,N33.0,D-11,U0,Q0.000000

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

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 514.19          Seconds.
:   The vehicle position is is (4052181.5, 600431.0)

: AshtechGps::processRecord() - $GPGGA,213621.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213621.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.27

: Sonardyne - parsing R121.27

: Sonardyne - read R = 121.270000 from 121.27

: Sonardyne - got range only (121.270000), tat = 610
: Sonardyne - POSD response: 
POSD S114.3,N20.2,D18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.3,N20.2,D18,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,213622.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213622.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.32

: Sonardyne - parsing R121.32

: Sonardyne - read R = 121.320000 from 121.32

: Sonardyne - got range only (121.320000), tat = 610
: Sonardyne - POSD response: 
POSD S120.8,N26.7,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.8,N26.7,D-14,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,213623.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213623.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.20

: Sonardyne - parsing R121.20

: Sonardyne - read R = 121.200000 from 121.20

: Sonardyne - got range only (121.200000), tat = 610
: Sonardyne - POSD response: 
POSD S124.5,N31.1,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.5,N31.1,D-10,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.93  7.00 18.26 3.86 3.88 0  2671.40 01:28:56 m

: AshtechGps::processRecord() - $GPGGA,213624.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213624.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R121.03

: Sonardyne - parsing R121.03

: Sonardyne - read R = 121.030000 from 121.03

: Sonardyne - got range only (121.030000), tat = 609
: Sonardyne - POSD response: 
POSD S123.4,N30.2,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S123.4,N30.2,D3,U0,Q0.000000

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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213625.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213625.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.64

: Sonardyne - parsing R120.64

: Sonardyne - read R = 120.640000 from 120.64

: Sonardyne - got range only (120.640000), tat = 610
: Sonardyne - POSD response: 
POSD S128.8,N27.7,D31,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.8,N27.7,D31,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,213626.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213626.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.34

: Sonardyne - parsing R120.34

: Sonardyne - read R = 120.340000 from 120.34

: Sonardyne - got range only (120.340000), tat = 610
: Sonardyne - POSD response: 
POSD S126.4,N28.0,D-21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.4,N28.0,D-21,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,213627.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213627.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R120.03

: Sonardyne - parsing R120.03

: Sonardyne - read R = 120.030000 from 120.03

: Sonardyne - got range only (120.030000), tat = 610
: Sonardyne - POSD response: 
POSD S131.4,N32.6,D-16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.4,N32.6,D-16,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,213628.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213628.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.66

: Sonardyne - parsing R119.66

: Sonardyne - read R = 119.660000 from 119.66

: Sonardyne - got range only (119.660000), tat = 610
: Sonardyne - POSD response: 
POSD S133.5,N35.4,D-14,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.5,N35.4,D-14,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,213629.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213629.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R119.16

: Sonardyne - parsing R119.16

: Sonardyne - read R = 119.160000 from 119.16

: Sonardyne - got range only (119.160000), tat = 610
: Sonardyne - POSD response: 
POSD S133.7,N35.6,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.7,N35.6,D-20,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,213630.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213630.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R118.61

: Sonardyne - parsing R118.61

: Sonardyne - read R = 118.610000 from 118.61

: Sonardyne - got range only (118.610000), tat = 610
: Sonardyne - POSD response: 
POSD S132.8,N28.0,D-35,U4,Q0.011902

: Sonardyne - POSD response: 
POSD S132.8,N28.0,D-35,U4,Q0.011902

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

: AshtechGps::processRecord() - $GPGGA,213631.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213631.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.92

: Sonardyne - parsing R117.92

: Sonardyne - read R = 117.920000 from 117.92

: Sonardyne - got range only (117.920000), tat = 610
: Sonardyne - POSD response: 
POSD S135.2,N29.1,D-20,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.2,N29.1,D-20,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,213632.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213632.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R117.42

: Sonardyne - parsing R117.42

: Sonardyne - read R = 117.420000 from 117.42

: Sonardyne - got range only (117.420000), tat = 600
: Sonardyne - POSD response: 
POSD S139.1,N35.3,D-3,U3,Q0.012444

: Sonardyne - POSD response: 
POSD S139.1,N35.3,D-3,U3,Q0.012444

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

: AshtechGps::processRecord() - $GPGGA,213633.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213633.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.88

: Sonardyne - parsing R116.88

: Sonardyne - read R = 116.880000 from 116.88

: Sonardyne - got range only (116.880000), tat = 600
: Sonardyne - POSD response: 
POSD S139.5,N34.2,D-2,U1,Q0.013098

: Sonardyne - POSD response: 
POSD S139.5,N34.2,D-2,U1,Q0.013098

:  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  6.40 18.16 3.86 3.88 0  2670.97 01:29:06 m

: AshtechGps::processRecord() - $GPGGA,213634.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213634.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R116.40

: Sonardyne - parsing R116.40

: Sonardyne - read R = 116.400000 from 116.40

: Sonardyne - got range only (116.400000), tat = 600
: Sonardyne - POSD response: 
POSD S139.3,N30.8,D-5,U1,Q0.013937

: Sonardyne - POSD response: 
POSD S139.3,N30.8,D-5,U1,Q0.013937

:  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,213635.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213635.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.94

: Sonardyne - parsing R115.94

: Sonardyne - read R = 115.940000 from 115.94

: Sonardyne - got range only (115.940000), tat = 600
: Sonardyne - POSD response: 
POSD S141.7,N31.1,D-9,U3,Q0.015008

: Sonardyne - POSD response: 
POSD S141.7,N31.1,D-9,U3,Q0.015008

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

: AshtechGps::processRecord() - $GPGGA,213636.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213636.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R115.38,X77.38,Y7.47,Z-85.26

: Sonardyne - parsing R115.38,X77.38,Y7.47,Z-85.26

: Sonardyne - read R = 115.380000 from 115.38,X77.38,Y7.47,Z-85.26

: Sonardyne - got all data, Vehicle coordinates,
    r=115.380000, x=85.260000, y=77.380000, z=-7.470000 tat = 630
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: WaypointHoming: The Usbl has aquired the transponder
  at t = 530.19          Seconds.
:   The vehicle position is (4052190.2, 600445.2)

: AshtechGps::processRecord() - $GPGGA,213637.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213637.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.89,X74.36,Y8.99,Z-87.12

: Sonardyne - parsing R114.89,X74.36,Y8.99,Z-87.12

: Sonardyne - read R = 114.890000 from 114.89,X74.36,Y8.99,Z-87.12

: Sonardyne - got all data, Vehicle coordinates,
    r=114.890000, x=87.120000, y=74.360000, z=-8.990000 tat = 620
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213638.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213638.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R114.12,X71.46,Y10.42,Z-88.37

: Sonardyne - parsing R114.12,X71.46,Y10.42,Z-88.37

: Sonardyne - read R = 114.120000 from 114.12,X71.46,Y10.42,Z-88.37

: Sonardyne - got all data, Vehicle coordinates,
    r=114.120000, x=88.370000, y=71.460000, z=-10.420000 tat = 619
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213639.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213639.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R113.16,X68.28,Y7.96,Z-89.89

: Sonardyne - parsing R113.16,X68.28,Y7.96,Z-89.89

: Sonardyne - read R = 113.160000 from 113.16,X68.28,Y7.96,Z-89.89

: Sonardyne - got all data, Vehicle coordinates,
    r=113.160000, x=89.890000, y=68.280000, z=-7.960000 tat = 620
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213640.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213640.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R112.20,X65.28,Y5.34,Z-91.10

: Sonardyne - parsing R112.20,X65.28,Y5.34,Z-91.10

: Sonardyne - read R = 112.200000 from 112.20,X65.28,Y5.34,Z-91.10

: Sonardyne - got all data, Vehicle coordinates,
    r=112.200000, x=91.100000, y=65.280000, z=-5.340000 tat = 620
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213641.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213641.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R111.20,X62.87,Y3.28,Z-91.66

: Sonardyne - parsing R111.20,X62.87,Y3.28,Z-91.66

: Sonardyne - read R = 111.200000 from 111.20,X62.87,Y3.28,Z-91.66

: Sonardyne - got all data, Vehicle coordinates,
    r=111.200000, x=91.660000, y=62.870000, z=-3.280000 tat = 620
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213642.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213642.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R110.33,X59.60,Y1.44,Z-92.84

: Sonardyne - parsing R110.33,X59.60,Y1.44,Z-92.84

: Sonardyne - read R = 110.330000 from 110.33,X59.60,Y1.44,Z-92.84

: Sonardyne - got all data, Vehicle coordinates,
    r=110.330000, x=92.840000, y=59.600000, z=-1.440000 tat = 620
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213643.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213643.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R109.32,X55.81,Y5.13,Z-93.86

: Sonardyne - parsing R109.32,X55.81,Y5.13,Z-93.86

: Sonardyne - read R = 109.320000 from 109.32,X55.81,Y5.13,Z-93.86

: Sonardyne - got all data, Vehicle coordinates,
    r=109.320000, x=93.860000, y=55.810000, z=-5.130000 tat = 620
:  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  6.26 18.16 3.86 3.88 0  2670.32 01:29:16 m

: AshtechGps::processRecord() - $GPGGA,213644.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213644.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R108.39,X47.80,Y7.53,Z-96.99

: Sonardyne - parsing R108.39,X47.80,Y7.53,Z-96.99

: Sonardyne - read R = 108.390000 from 108.39,X47.80,Y7.53,Z-96.99

: Sonardyne - got all data, Vehicle coordinates,
    r=108.390000, x=96.990000, y=47.800000, z=-7.530000 tat = 620
:  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,213645.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213645.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R107.40,X38.07,Y6.69,Z-100.20

: Sonardyne - parsing R107.40,X38.07,Y6.69,Z-100.20

: Sonardyne - read R = 107.400000 from 107.40,X38.07,Y6.69,Z-100.20

: Sonardyne - got all data, Vehicle coordinates,
    r=107.400000, x=100.200000, y=38.070000, z=-6.690000 tat = 610
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213646.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213646.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.74,X26.15,Y7.12,Z-103.24

: Sonardyne - parsing R106.74,X26.15,Y7.12,Z-103.24

: Sonardyne - read R = 106.740000 from 106.74,X26.15,Y7.12,Z-103.24

: Sonardyne - got all data, Vehicle coordinates,
    r=106.740000, x=103.240000, y=26.150000, z=-7.120000 tat = 610
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213647.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213647.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R106.11,X12.67,Y5.21,Z-105.22

: Sonardyne - parsing R106.11,X12.67,Y5.21,Z-105.22

: Sonardyne - read R = 106.110000 from 106.11,X12.67,Y5.21,Z-105.22

: Sonardyne - got all data, Vehicle coordinates,
    r=106.110000, x=105.220000, y=12.670000, z=-5.210000 tat = 610
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213648.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213648.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R105.57,X0.67,Y5.51,Z-105.43

: Sonardyne - parsing R105.57,X0.67,Y5.51,Z-105.43

: Sonardyne - read R = 105.570000 from 105.57,X0.67,Y5.51,Z-105.43

: Sonardyne - got all data, Vehicle coordinates,
    r=105.570000, x=105.430000, y=0.670000, z=-5.510000 tat = 610
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213649.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213649.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.99,X-11.31,Y1.94,Z-104.37

: Sonardyne - parsing R104.99,X-11.31,Y1.94,Z-104.37

: Sonardyne - read R = 104.990000 from 104.99,X-11.31,Y1.94,Z-104.37

: Sonardyne - got all data, Vehicle coordinates,
    r=104.990000, x=104.370000, y=-11.310000, z=-1.940000 tat = 610
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213650.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213650.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R104.13,X-21.53,Y0.32,Z-101.87

: Sonardyne - parsing R104.13,X-21.53,Y0.32,Z-101.87

: Sonardyne - read R = 104.130000 from 104.13,X-21.53,Y0.32,Z-101.87

: Sonardyne - got all data, Vehicle coordinates,
    r=104.130000, x=101.870000, y=-21.530000, z=-0.320000 tat = 610
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213651.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213651.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R103.24,X-30.92,Y-0.90,Z-98.49

: Sonardyne - parsing R103.24,X-30.92,Y-0.90,Z-98.49

: Sonardyne - read R = 103.240000 from 103.24,X-30.92,Y-0.90,Z-98.49

: Sonardyne - got all data, Vehicle coordinates,
    r=103.240000, x=98.490000, y=-30.920000, z=0.900000 tat = 610
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213652.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213652.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R102.10,X-37.31,Y0.28,Z-95.04

: Sonardyne - parsing R102.10,X-37.31,Y0.28,Z-95.04

: Sonardyne - read R = 102.100000 from 102.10,X-37.31,Y0.28,Z-95.04

: Sonardyne - got all data, Vehicle coordinates,
    r=102.100000, x=95.040000, y=-37.310000, z=-0.280000 tat = 610
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213653.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213653.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R100.86,X-38.93,Y-0.15,Z-93.04

: Sonardyne - parsing R100.86,X-38.93,Y-0.15,Z-93.04

: Sonardyne - read R = 100.860000 from 100.86,X-38.93,Y-0.15,Z-93.04

: Sonardyne - got all data, Vehicle coordinates,
    r=100.860000, x=93.040000, y=-38.930000, z=0.150000 tat = 609
:  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  6.40 18.26 3.86 3.89 0  2669.91 01:29:26 m

: AshtechGps::processRecord() - $GPGGA,213654.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213654.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R99.66,X-39.90,Y-0.50,Z-91.32

: Sonardyne - parsing R99.66,X-39.90,Y-0.50,Z-91.32

: Sonardyne - read R = 99.660000 from 99.66,X-39.90,Y-0.50,Z-91.32

: Sonardyne - got all data, Vehicle coordinates,
    r=99.660000, x=91.320000, y=-39.900000, z=0.500000 tat = 600
:  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,213655.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213655.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R98.52,X-43.20,Y3.72,Z-88.46

: Sonardyne - parsing R98.52,X-43.20,Y3.72,Z-88.46

: Sonardyne - read R = 98.520000 from 98.52,X-43.20,Y3.72,Z-88.46

: Sonardyne - got all data, Vehicle coordinates,
    r=98.520000, x=88.460000, y=-43.200000, z=-3.720000 tat = 600
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213656.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213656.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R97.56,X-48.81,Y1.96,Z-84.45

: Sonardyne - parsing R97.56,X-48.81,Y1.96,Z-84.45

: Sonardyne - read R = 97.560000 from 97.56,X-48.81,Y1.96,Z-84.45

: Sonardyne - got all data, Vehicle coordinates,
    r=97.560000, x=84.450000, y=-48.810000, z=-1.960000 tat = 600
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213657.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213657.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.46,X-55.01,Y2.35,Z-79.20

: Sonardyne - parsing R96.46,X-55.01,Y2.35,Z-79.20

: Sonardyne - read R = 96.460000 from 96.46,X-55.01,Y2.35,Z-79.20

: Sonardyne - got all data, Vehicle coordinates,
    r=96.460000, x=79.200000, y=-55.010000, z=-2.350000 tat = 600
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213658.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213658.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R96.08

: Sonardyne - parsing R96.08

: Sonardyne - read R = 96.080000 from 96.08

: Sonardyne - got range only (96.080000), tat = 580
: Sonardyne - POSD response: 
POSD S137.7,N31.2,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.7,N31.2,D-6,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 552.19          Seconds.
:   The vehicle position is is (4052178.9, 600461.6)

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

: AshtechGps::processRecord() - $GPGGA,213659.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213659.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R95.50,X81.08,Y50.45,Z0.00

: Sonardyne - parsing R95.50,X81.08,Y50.45,Z0.00

: Sonardyne - read R = 95.500000 from 95.50,X81.08,Y50.45,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=95.500000, x=0.000000, y=81.080000, z=-50.450000 tat = 650
: WaypointHoming: The Usbl has aquired the transponder
  at t = 553.19          Seconds.
:   The vehicle position is (4052177.9, 600461.6)

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

: AshtechGps::processRecord() - $GPGGA,213700.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213700.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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 = 570
: Sonardyne - POSD response: 
POSD S133.3,N31.4,D1,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.3,N31.4,D1,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 554.19          Seconds.
:   The vehicle position is is (4052177.0, 600461.6)

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

: AshtechGps::processRecord() - $GPGGA,213701.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213701.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.89

: Sonardyne - parsing R94.89

: Sonardyne - read R = 94.890000 from 94.89

: Sonardyne - got range only (94.890000), tat = 570
: Sonardyne - POSD response: 
POSD S133.4,N30.8,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.4,N30.8,D4,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,213702.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213702.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.60

: Sonardyne - parsing R94.60

: Sonardyne - read R = 94.600000 from 94.60

: Sonardyne - got range only (94.600000), tat = 570
: Sonardyne - POSD response: 
POSD S135.2,N29.0,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.2,N29.0,D3,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,213703.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213703.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.42

: Sonardyne - parsing R94.42

: Sonardyne - read R = 94.420000 from 94.42

: Sonardyne - got range only (94.420000), tat = 570
: Sonardyne - POSD response: 
POSD S135.0,N28.2,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S135.0,N28.2,D-5,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.96  6.77 18.26 3.86 3.89 0  2669.25 01:29:36 m

: AshtechGps::processRecord() - $GPGGA,213704.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213704.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R94.01

: Sonardyne - parsing R94.01

: Sonardyne - read R = 94.010000 from 94.01

: Sonardyne - got range only (94.010000), tat = 570
: Sonardyne - POSD response: 
POSD S133.3,N29.9,D9,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.3,N29.9,D9,U0,Q0.000000

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

: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,213705.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213705.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.39

: Sonardyne - parsing R93.39

: Sonardyne - read R = 93.390000 from 93.39

: Sonardyne - got range only (93.390000), tat = 570
: Sonardyne - POSD response: 
POSD S134.5,N29.5,D-8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S134.5,N29.5,D-8,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,213706.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213706.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R92.72

: Sonardyne - parsing R92.72

: Sonardyne - read R = 92.720000 from 92.72

: Sonardyne - got range only (92.720000), tat = 570
: Sonardyne - POSD response: 
POSD S124.9,N33.3,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.9,N33.3,D3,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,213707.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213707.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R93.50

: Sonardyne - parsing R93.50

: Sonardyne - read R = 93.500000 from 93.50

: Sonardyne - got range only (93.500000), tat = 570
: Sonardyne - POSD response: 
POSD S129.0,N24.3,D24,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.0,N24.3,D24,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,213708.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213708.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R91.17

: Sonardyne - parsing R91.17

: Sonardyne - read R = 91.170000 from 91.17

: Sonardyne - got range only (91.170000), tat = 570
: Sonardyne - POSD response: 
POSD S127.3,N26.3,D17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.3,N26.3,D17,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,213709.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213709.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R90.46

: Sonardyne - parsing R90.46

: Sonardyne - read R = 90.460000 from 90.46

: Sonardyne - got range only (90.460000), tat = 570
: Sonardyne - POSD response: 
POSD S129.5,N28.0,D-45,U1,Q0.017227

: Sonardyne - POSD response: 
POSD S129.5,N28.0,D-45,U1,Q0.017227

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

: AshtechGps::processRecord() - $GPGGA,213710.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213710.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.76,X-73.81,Y8.56,Z-50.36

: Sonardyne - parsing R89.76,X-73.81,Y8.56,Z-50.36

: Sonardyne - read R = 89.760000 from 89.76,X-73.81,Y8.56,Z-50.36

: Sonardyne - got all data, Vehicle coordinates,
    r=89.760000, x=50.360000, y=-73.810000, z=-8.560000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 564.20          Seconds.
:   The vehicle position is (4052167.7, 600458.1)

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

: AshtechGps::processRecord() - $GPGGA,213711.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213711.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R89.13

: Sonardyne - parsing R89.13

: Sonardyne - read R = 89.130000 from 89.13

: Sonardyne - got range only (89.130000), tat = 570
: Sonardyne - POSD response: 
POSD S133.2,N32.9,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.2,N32.9,D0,U0,Q0.000000

: WaypointHoming:   The Usbl does NOT detect the transponder
  at t = 565.20          Seconds.
:   The vehicle position is is (4052166.7, 600457.7)

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

: AshtechGps::processRecord() - $GPGGA,213712.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213712.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.61

: Sonardyne - parsing R88.61

: Sonardyne - read R = 88.610000 from 88.61

: Sonardyne - got range only (88.610000), tat = 570
: Sonardyne - POSD response: 
POSD S133.8,N35.9,D-6,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.8,N35.9,D-6,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213713.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213713.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R88.09

: Sonardyne - parsing R88.09

: Sonardyne - read R = 88.090000 from 88.09

: Sonardyne - got range only (88.090000), tat = 570
: Sonardyne - POSD response: 
POSD S139.8,N33.3,D-14,U3,Q0.010132

: Sonardyne - POSD response: 
POSD S139.8,N33.3,D-14,U3,Q0.010132

:  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  6.16 18.26 3.86 3.88 0  2668.79 01:29:46 m

: AshtechGps::processRecord() - $GPGGA,213714.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213714.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.68,X-46.39,Y2.94,Z-74.35

: Sonardyne - parsing R87.68,X-46.39,Y2.94,Z-74.35

: Sonardyne - read R = 87.680000 from 87.68,X-46.39,Y2.94,Z-74.35

: Sonardyne - got all data, Vehicle coordinates,
    r=87.680000, x=74.350000, y=-46.390000, z=-2.940000 tat = 590
: WaypointHoming: The Usbl has aquired the transponder
  at t = 568.20          Seconds.
:   The vehicle position is (4052164.2, 600456.7)

:  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,213715.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213715.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R87.13,X-35.82,Y2.58,Z-79.38

: Sonardyne - parsing R87.13,X-35.82,Y2.58,Z-79.38

: Sonardyne - read R = 87.130000 from 87.13,X-35.82,Y2.58,Z-79.38

: Sonardyne - got all data, Vehicle coordinates,
    r=87.130000, x=79.380000, y=-35.820000, z=-2.580000 tat = 590
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R86.44,X-29.77,Y1.85,Z-81.13

: Sonardyne - parsing R86.44,X-29.77,Y1.85,Z-81.13

: Sonardyne - read R = 86.440000 from 86.44,X-29.77,Y1.85,Z-81.13

: Sonardyne - got all data, Vehicle coordinates,
    r=86.440000, x=81.130000, y=-29.770000, z=-1.850000 tat = 590
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213717.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213717.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R85.61,X-23.85,Y-0.10,Z-82.22

: Sonardyne - parsing R85.61,X-23.85,Y-0.10,Z-82.22

: Sonardyne - read R = 85.610000 from 85.61,X-23.85,Y-0.10,Z-82.22

: Sonardyne - got all data, Vehicle coordinates,
    r=85.610000, x=82.220000, y=-23.850000, z=0.100000 tat = 590
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213718.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213718.00,,,,,0,00,,,M,,M,,*46


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R84.75,X-17.92,Y-0.37,Z-82.83

: Sonardyne - parsing R84.75,X-17.92,Y-0.37,Z-82.83

: Sonardyne - read R = 84.750000 from 84.75,X-17.92,Y-0.37,Z-82.83

: Sonardyne - got all data, Vehicle coordinates,
    r=84.750000, x=82.830000, y=-17.920000, z=0.370000 tat = 580
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213719.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213719.00,,,,,0,00,,,M,,M,,*47


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R83.59,X-15.00,Y-1.96,Z-82.21

: Sonardyne - parsing R83.59,X-15.00,Y-1.96,Z-82.21

: Sonardyne - read R = 83.590000 from 83.59,X-15.00,Y-1.96,Z-82.21

: Sonardyne - got all data, Vehicle coordinates,
    r=83.590000, x=82.210000, y=-15.000000, z=1.960000 tat = 580
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213720.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213720.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R82.38,X-13.39,Y1.62,Z-81.27

: Sonardyne - parsing R82.38,X-13.39,Y1.62,Z-81.27

: Sonardyne - read R = 82.380000 from 82.38,X-13.39,Y1.62,Z-81.27

: Sonardyne - got all data, Vehicle coordinates,
    r=82.380000, x=81.270000, y=-13.390000, z=-1.620000 tat = 580
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213721.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213721.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R81.23,X-14.10,Y6.37,Z-79.74

: Sonardyne - parsing R81.23,X-14.10,Y6.37,Z-79.74

: Sonardyne - read R = 81.230000 from 81.23,X-14.10,Y6.37,Z-79.74

: Sonardyne - got all data, Vehicle coordinates,
    r=81.230000, x=79.740000, y=-14.100000, z=-6.370000 tat = 580
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213722.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213722.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R80.20,X-16.70,Y7.09,Z-78.12

: Sonardyne - parsing R80.20,X-16.70,Y7.09,Z-78.12

: Sonardyne - read R = 80.200000 from 80.20,X-16.70,Y7.09,Z-78.12

: Sonardyne - got all data, Vehicle coordinates,
    r=80.200000, x=78.120000, y=-16.700000, z=-7.090000 tat = 579
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213723.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213723.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R79.27,X-20.07,Y6.72,Z-76.39

: Sonardyne - parsing R79.27,X-20.07,Y6.72,Z-76.39

: Sonardyne - read R = 79.270000 from 79.27,X-20.07,Y6.72,Z-76.39

: Sonardyne - got all data, Vehicle coordinates,
    r=79.270000, x=76.390000, y=-20.070000, z=-6.720000 tat = 580
: BluefinBatt Reply: $aaq0 d- 30.96  6.50 18.26 3.86 3.88 0  2668.14 01:29:56 m

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

: AshtechGps::processRecord() - $GPGGA,213724.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213724.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R78.54,X-22.28,Y5.94,Z-75.08

: Sonardyne - parsing R78.54,X-22.28,Y5.94,Z-75.08

: Sonardyne - read R = 78.540000 from 78.54,X-22.28,Y5.94,Z-75.08

: Sonardyne - got all data, Vehicle coordinates,
    r=78.540000, x=75.080000, y=-22.280000, z=-5.940000 tat = 580
: 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,213725.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213725.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R78.05,X-24.39,Y6.41,Z-73.86

: Sonardyne - parsing R78.05,X-24.39,Y6.41,Z-73.86

: Sonardyne - read R = 78.050000 from 78.05,X-24.39,Y6.41,Z-73.86

: Sonardyne - got all data, Vehicle coordinates,
    r=78.050000, x=73.860000, y=-24.390000, z=-6.410000 tat = 570
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R77.52,X-27.30,Y6.37,Z-72.27

: Sonardyne - parsing R77.52,X-27.30,Y6.37,Z-72.27

: Sonardyne - read R = 77.520000 from 77.52,X-27.30,Y6.37,Z-72.27

: Sonardyne - got all data, Vehicle coordinates,
    r=77.520000, x=72.270000, y=-27.300000, z=-6.370000 tat = 570
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213727.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213727.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R77.02,X-30.68,Y6.56,Z-70.34

: Sonardyne - parsing R77.02,X-30.68,Y6.56,Z-70.34

: Sonardyne - read R = 77.020000 from 77.02,X-30.68,Y6.56,Z-70.34

: Sonardyne - got all data, Vehicle coordinates,
    r=77.020000, x=70.340000, y=-30.680000, z=-6.560000 tat = 570
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213728.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213728.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R76.30,X-33.59,Y7.82,Z-68.06

: Sonardyne - parsing R76.30,X-33.59,Y7.82,Z-68.06

: Sonardyne - read R = 76.300000 from 76.30,X-33.59,Y7.82,Z-68.06

: Sonardyne - got all data, Vehicle coordinates,
    r=76.300000, x=68.060000, y=-33.590000, z=-7.820000 tat = 570
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213729.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213729.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R75.20,X-35.70,Y9.03,Z-65.56

: Sonardyne - parsing R75.20,X-35.70,Y9.03,Z-65.56

: Sonardyne - read R = 75.200000 from 75.20,X-35.70,Y9.03,Z-65.56

: Sonardyne - got all data, Vehicle coordinates,
    r=75.200000, x=65.560000, y=-35.700000, z=-9.030000 tat = 570
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213730.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213730.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R74.05,X-36.15,Y6.20,Z-64.33

: Sonardyne - parsing R74.05,X-36.15,Y6.20,Z-64.33

: Sonardyne - read R = 74.050000 from 74.05,X-36.15,Y6.20,Z-64.33

: Sonardyne - got all data, Vehicle coordinates,
    r=74.050000, x=64.330000, y=-36.150000, z=-6.200000 tat = 570
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213731.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213731.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R72.76,X-33.95,Y7.71,Z-63.90

: Sonardyne - parsing R72.76,X-33.95,Y7.71,Z-63.90

: Sonardyne - read R = 72.760000 from 72.76,X-33.95,Y7.71,Z-63.90

: Sonardyne - got all data, Vehicle coordinates,
    r=72.760000, x=63.900000, y=-33.950000, z=-7.710000 tat = 570
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213732.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213732.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R71.55,X-29.65,Y7.77,Z-64.65

: Sonardyne - parsing R71.55,X-29.65,Y7.77,Z-64.65

: Sonardyne - read R = 71.550000 from 71.55,X-29.65,Y7.77,Z-64.65

: Sonardyne - got all data, Vehicle coordinates,
    r=71.550000, x=64.650000, y=-29.650000, z=-7.770000 tat = 570
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213733.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213733.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R70.40,X-25.30,Y6.76,Z-65.34

: Sonardyne - parsing R70.40,X-25.30,Y6.76,Z-65.34

: Sonardyne - read R = 70.400000 from 70.40,X-25.30,Y6.76,Z-65.34

: Sonardyne - got all data, Vehicle coordinates,
    r=70.400000, x=65.340000, y=-25.300000, z=-6.760000 tat = 570
: BluefinBatt Reply: $aaq0 d- 30.93  6.53 18.16 3.85 3.88 0  2667.68 01:30:06 m

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

: AshtechGps::processRecord() - $GPGGA,213734.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213734.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R69.37,X-20.86,Y6.08,Z-65.88

: Sonardyne - parsing R69.37,X-20.86,Y6.08,Z-65.88

: Sonardyne - read R = 69.370000 from 69.37,X-20.86,Y6.08,Z-65.88

: Sonardyne - got all data, Vehicle coordinates,
    r=69.370000, x=65.880000, y=-20.860000, z=-6.080000 tat = 560
: 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,213735.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213735.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R68.59,X-16.39,Y3.88,Z-66.49

: Sonardyne - parsing R68.59,X-16.39,Y3.88,Z-66.49

: Sonardyne - read R = 68.590000 from 68.59,X-16.39,Y3.88,Z-66.49

: Sonardyne - got all data, Vehicle coordinates,
    r=68.590000, x=66.490000, y=-16.390000, z=-3.880000 tat = 560
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213736.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213736.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.97,X-12.05,Y2.19,Z-66.85

: Sonardyne - parsing R67.97,X-12.05,Y2.19,Z-66.85

: Sonardyne - read R = 67.970000 from 67.97,X-12.05,Y2.19,Z-66.85

: Sonardyne - got all data, Vehicle coordinates,
    r=67.970000, x=66.850000, y=-12.050000, z=-2.190000 tat = 560
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213737.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213737.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.44,X-8.74,Y2.21,Z-66.83

: Sonardyne - parsing R67.44,X-8.74,Y2.21,Z-66.83

: Sonardyne - read R = 67.440000 from 67.44,X-8.74,Y2.21,Z-66.83

: Sonardyne - got all data, Vehicle coordinates,
    r=67.440000, x=66.830000, y=-8.740000, z=-2.210000 tat = 560
: LayeredControl::execute() -- (t = 591.199500) Behavior waypoint_homing has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 591.20                            (wplog)
  The current location (N,E) = 4052144.1      , 600464.2         (wplog)
  The next waypoint          = 4052136.3      , 600561.4         (wplog)
  The bearing to the next w.p. is 94.6 Degrees.

: LayeredControl::execute() -- (t = 591.199500) Behavior waypoint has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,213738.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213738.00,,,,,0,00,,,M,,M,,*44


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.91,X-6.61,Y3.92,Z-66.47

: Sonardyne - parsing R66.91,X-6.61,Y3.92,Z-66.47

: Sonardyne - read R = 66.910000 from 66.91,X-6.61,Y3.92,Z-66.47

: Sonardyne - got all data, Vehicle coordinates,
    r=66.910000, x=66.470000, y=-6.610000, z=-3.920000 tat = 560
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213739.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213739.00,,,,,0,00,,,M,,M,,*45


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.20,X-2.25,Y1.04,Z-66.15

: Sonardyne - parsing R66.20,X-2.25,Y1.04,Z-66.15

: Sonardyne - read R = 66.200000 from 66.20,X-2.25,Y1.04,Z-66.15

: Sonardyne - got all data, Vehicle coordinates,
    r=66.200000, x=66.150000, y=-2.250000, z=-1.040000 tat = 560
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213740.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213740.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R65.09,X3.35,Y1.91,Z-64.97

: Sonardyne - parsing R65.09,X3.35,Y1.91,Z-64.97

: Sonardyne - read R = 65.090000 from 65.09,X3.35,Y1.91,Z-64.97

: Sonardyne - got all data, Vehicle coordinates,
    r=65.090000, x=64.970000, y=3.350000, z=-1.910000 tat = 550
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213741.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213741.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R63.94,X12.00,Y-0.89,Z-62.80

: Sonardyne - parsing R63.94,X12.00,Y-0.89,Z-62.80

: Sonardyne - read R = 63.940000 from 63.94,X12.00,Y-0.89,Z-62.80

: Sonardyne - got all data, Vehicle coordinates,
    r=63.940000, x=62.800000, y=12.000000, z=0.890000 tat = 560
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213742.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213742.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R62.50,X19.68,Y-2.14,Z-59.28

: Sonardyne - parsing R62.50,X19.68,Y-2.14,Z-59.28

: Sonardyne - read R = 62.500000 from 62.50,X19.68,Y-2.14,Z-59.28

: Sonardyne - got all data, Vehicle coordinates,
    r=62.500000, x=59.280000, y=19.680000, z=2.140000 tat = 550
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213743.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213743.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R60.95,X25.02,Y-4.07,Z-55.43

: Sonardyne - parsing R60.95,X25.02,Y-4.07,Z-55.43

: Sonardyne - read R = 60.950000 from 60.95,X25.02,Y-4.07,Z-55.43

: Sonardyne - got all data, Vehicle coordinates,
    r=60.950000, x=55.430000, y=25.020000, z=4.070000 tat = 550
: BluefinBatt Reply: $aaq0 d- 30.78 10.41 18.16 3.85 3.88 0  2666.85 01:30:16 m

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

: AshtechGps::processRecord() - $GPGGA,213744.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213744.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R59.58,X28.07,Y-6.45,Z-52.15

: Sonardyne - parsing R59.58,X28.07,Y-6.45,Z-52.15

: Sonardyne - read R = 59.580000 from 59.58,X28.07,Y-6.45,Z-52.15

: Sonardyne - got all data, Vehicle coordinates,
    r=59.580000, x=52.150000, y=28.070000, z=6.450000 tat = 550
: 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,213745.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213745.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R58.40,X30.01,Y-5.34,Z-49.81

: Sonardyne - parsing R58.40,X30.01,Y-5.34,Z-49.81

: Sonardyne - read R = 58.400000 from 58.40,X30.01,Y-5.34,Z-49.81

: Sonardyne - got all data, Vehicle coordinates,
    r=58.400000, x=49.810000, y=30.010000, z=5.340000 tat = 550
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213746.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213746.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R57.42

: Sonardyne - parsing R57.42

: Sonardyne - read R = 57.420000 from 57.42

: Sonardyne - got range only (57.420000), tat = 520
: Sonardyne - POSD response: 
POSD S141.0,N31.6,D13,U2,Q0.013758

: Sonardyne - POSD response: 
POSD S141.0,N31.6,D13,U2,Q0.013758

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

: AshtechGps::processRecord() - $GPGGA,213747.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213747.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R56.65

: Sonardyne - parsing R56.65

: Sonardyne - read R = 56.650000 from 56.65

: Sonardyne - got range only (56.650000), tat = 520
: Sonardyne - POSD response: 
POSD S148.0,N28.0,D-37,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S148.0,N28.0,D-37,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,213748.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213748.00,,,,,0,00,,,M,,M,,*43


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R55.56

: Sonardyne - parsing R55.56

: Sonardyne - read R = 55.560000 from 55.56

: Sonardyne - got range only (55.560000), tat = 520
: Sonardyne - POSD response: 
POSD S138.0,N28.7,D2,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.0,N28.7,D2,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,213749.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213749.00,,,,,0,00,,,M,,M,,*42


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R54.55

: Sonardyne - parsing R54.55

: Sonardyne - read R = 54.550000 from 54.55

: Sonardyne - got range only (54.550000), tat = 520
: Sonardyne - POSD response: 
POSD S148.8,N30.6,D-34,U2,Q0.012150

: Sonardyne - POSD response: 
POSD S148.8,N30.6,D-34,U2,Q0.012150

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

: AshtechGps::processRecord() - $GPGGA,213750.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213750.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R53.47

: Sonardyne - parsing R53.47

: Sonardyne - read R = 53.470000 from 53.47

: Sonardyne - got range only (53.470000), tat = 520
: Sonardyne - POSD response: 
POSD S141.1,N29.6,D-1,U2,Q0.015155

: Sonardyne - POSD response: 
POSD S141.1,N29.6,D-1,U2,Q0.015155

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

: AshtechGps::processRecord() - $GPGGA,213751.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213751.00,,,,,0,00,,,M,,M,,*4B


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R52.43,X-47.65,Y21.86,Z0.00

: Sonardyne - parsing R52.43,X-47.65,Y21.86,Z0.00

: Sonardyne - read R = 52.430000 from 52.43,X-47.65,Y21.86,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=52.430000, x=0.000000, y=-47.650000, z=-21.860000 tat = 540
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,213752.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213752.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R51.59,X-47.26,Y20.69,Z0.00

: Sonardyne - parsing R51.59,X-47.26,Y20.69,Z0.00

: Sonardyne - read R = 51.590000 from 51.59,X-47.26,Y20.69,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=51.590000, x=0.000000, y=-47.260000, z=-20.690000 tat = 540
: AshtechGps::processRecord() - $GPGGA,213753.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213753.00,,,,,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 R50.68

: Sonardyne - parsing R50.68

: Sonardyne - read R = 50.680000 from 50.68

: Sonardyne - got range only (50.680000), tat = 510
: Sonardyne - POSD response: 
POSD S140.2,N27.6,D-58,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.2,N27.6,D-58,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.78 10.81 18.16 3.84 3.86 0  2666.15 01:30:26 m

: AshtechGps::processRecord() - $GPGGA,213754.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,213754.00,,,,,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 R49.81

: Sonardyne - parsing R49.81

: Sonardyne - read R = 49.810000 from 49.81

: Sonardyne - got range only (49.810000), tat = 510
: Sonardyne - POSD response: 
POSD S144.5,N28.9,D-35,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.5,N28.9,D-35,U0,Q0.000000

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213755.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,213755.00,,,,,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 R48.84

: Sonardyne - parsing R48.84

: Sonardyne - read R = 48.840000 from 48.84

: Sonardyne - got range only (48.840000), tat = 510
: Sonardyne - POSD response: 
POSD S143.5,N31.6,D-28,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.5,N31.6,D-28,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213756.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213756.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - POS response: 
POS V4,1 R47.74

: Sonardyne - parsing R47.74

: Sonardyne - read R = 47.740000 from 47.74

: Sonardyne - got range only (47.740000), tat = 510
: Sonardyne - POSD response: 
POSD S144.6,N30.5,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.6,N30.5,D-22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213757.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213757.00,,,,,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 R46.56

: Sonardyne - parsing R46.56

: Sonardyne - read R = 46.560000 from 46.56

: Sonardyne - got range only (46.560000), tat = 510
: Sonardyne - POSD response: 
POSD S146.5,N29.5,D-29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S146.5,N29.5,D-29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213758.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213758.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R45.33

: Sonardyne - parsing R45.33

: Sonardyne - read R = 45.330000 from 45.33

: Sonardyne - got range only (45.330000), tat = 510
: Sonardyne - POSD response: 
POSD S141.5,N26.8,D-55,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S141.5,N26.8,D-55,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213759.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213759.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R44.39

: Sonardyne - parsing R44.39

: Sonardyne - read R = 44.390000 from 44.39

: Sonardyne - got range only (44.390000), tat = 510
: Sonardyne - POSD response: 
POSD S145.3,N35.7,D-11,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.3,N35.7,D-11,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213800.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213800.00,,,,,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 R43.59

: Sonardyne - parsing R43.59

: Sonardyne - read R = 43.590000 from 43.59

: Sonardyne - got range only (43.590000), tat = 500
: Sonardyne - POSD response: 
POSD S145.1,N33.6,D-18,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.1,N33.6,D-18,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213801.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213801.00,,,,,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 R43.10

: Sonardyne - parsing R43.10

: Sonardyne - read R = 43.100000 from 43.10

: Sonardyne - got range only (43.100000), tat = 500
: Sonardyne - POSD response: 
POSD S146.7,N31.7,D4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S146.7,N31.7,D4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213802.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213802.00,,,,,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 R42.61

: Sonardyne - parsing R42.61

: Sonardyne - read R = 42.610000 from 42.61

: Sonardyne - got range only (42.610000), tat = 500
: Sonardyne - POSD response: 
POSD S144.4,N26.9,D-45,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.4,N26.9,D-45,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213803.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213803.00,,,,,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 R45.77

: Sonardyne - parsing R45.77

: Sonardyne - read R = 45.770000 from 45.77

: Sonardyne - got range only (45.770000), tat = 510
: Sonardyne - POSD response: 
POSD S121.4,N18.0,D26,U1,Q0.002098

: Sonardyne - POSD response: 
POSD S121.4,N18.0,D26,U1,Q0.002098

: BluefinBatt Reply: $aaq0 d- 30.82  9.73 18.26 3.84 3.86 0  2665.13 01:30:36 m

: AshtechGps::processRecord() - $GPGGA,213804.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213804.00,,,,,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 R41.53

: Sonardyne - parsing R41.53

: Sonardyne - read R = 41.530000 from 41.53

: Sonardyne - got range only (41.530000), tat = 500
: Sonardyne - POSD response: 
POSD S142.1,N29.8,D40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.1,N29.8,D40,U0,Q0.000000

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213805.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213805.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R40.97

: Sonardyne - parsing R40.97

: Sonardyne - read R = 40.970000 from 40.97

: Sonardyne - got range only (40.970000), tat = 500
: Sonardyne - POSD response: 
POSD S147.7,N31.5,D-22,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S147.7,N31.5,D-22,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213806.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213806.00,,,,,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 R40.35

: Sonardyne - parsing R40.35

: Sonardyne - read R = 40.350000 from 40.35

: Sonardyne - got range only (40.350000), tat = 499
: Sonardyne - POSD response: 
POSD S143.6,N25.8,D-62,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S143.6,N25.8,D-62,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213807.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213807.00,,,,,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 R39.72

: Sonardyne - parsing R39.72

: Sonardyne - read R = 39.720000 from 39.72

: Sonardyne - got range only (39.720000), tat = 500
: Sonardyne - POSD response: 
POSD S142.3,N32.6,D-12,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.3,N32.6,D-12,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213808.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213808.00,,,,,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 R39.26

: Sonardyne - parsing R39.26

: Sonardyne - read R = 39.260000 from 39.26

: Sonardyne - got range only (39.260000), tat = 500
: Sonardyne - POSD response: 
POSD S144.3,N28.7,D16,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S144.3,N28.7,D16,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213809.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213809.00,,,,,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 R38.87

: Sonardyne - parsing R38.87

: Sonardyne - read R = 38.870000 from 38.87

: Sonardyne - got range only (38.870000), tat = 500
: Sonardyne - POSD response: 
POSD S145.4,N39.0,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S145.4,N39.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213810.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213810.00,,,,,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 R38.46

: Sonardyne - parsing R38.46

: Sonardyne - read R = 38.460000 from 38.46

: Sonardyne - got range only (38.460000), tat = 500
: Sonardyne - POSD response: 
POSD S140.8,N32.8,D7,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S140.8,N32.8,D7,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213811.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213811.00,,,,,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 R38.12

: Sonardyne - parsing R38.12

: Sonardyne - read R = 38.120000 from 38.12

: Sonardyne - got range only (38.120000), tat = 500
: Sonardyne - POSD response: 
POSD S142.6,N35.1,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S142.6,N35.1,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213812.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213812.00,,,,,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 R37.86

: Sonardyne - parsing R37.86

: Sonardyne - read R = 37.860000 from 37.86

: Sonardyne - got range only (37.860000), tat = 500
: Sonardyne - POSD response: 
POSD S142.3,N26.3,D-44,U2,Q0.010804

: Sonardyne - POSD response: 
POSD S142.3,N26.3,D-44,U2,Q0.010804

: AshtechGps::processRecord() - $GPGGA,213813.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213813.00,,,,,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 R37.62

: Sonardyne - parsing R37.62

: Sonardyne - read R = 37.620000 from 37.62

: Sonardyne - got range only (37.620000), tat = 500
: Sonardyne - POSD response: 
POSD S138.3,N31.3,D-10,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S138.3,N31.3,D-10,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.82  9.19 18.16 3.84 3.87 0  2664.48 01:30:46 m

: AshtechGps::processRecord() - $GPGGA,213814.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213814.00,,,,,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 R37.49,X36.01,Y-6.08,Z-8.50

: Sonardyne - parsing R37.49,X36.01,Y-6.08,Z-8.50

: Sonardyne - read R = 37.490000 from 37.49,X36.01,Y-6.08,Z-8.50

: Sonardyne - got all data, Vehicle coordinates,
    r=37.490000, x=8.500000, y=36.010000, z=6.080000 tat = 520
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R37.49,X36.65,Y-5.08,Z-6.06

: Sonardyne - parsing R37.49,X36.65,Y-5.08,Z-6.06

: Sonardyne - read R = 37.490000 from 37.49,X36.65,Y-5.08,Z-6.06

: Sonardyne - got all data, Vehicle coordinates,
    r=37.490000, x=6.060000, y=36.650000, z=5.080000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R37.62,X37.11,Y-5.82,Z-1.99

: Sonardyne - parsing R37.62,X37.11,Y-5.82,Z-1.99

: Sonardyne - read R = 37.620000 from 37.62,X37.11,Y-5.82,Z-1.99

: Sonardyne - got all data, Vehicle coordinates,
    r=37.620000, x=1.990000, y=37.110000, z=5.820000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46


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

: Sonardyne - POS response: 
POS V4,1 R37.80,X37.02,Y-6.83,Z-3.45

: Sonardyne - parsing R37.80,X37.02,Y-6.83,Z-3.45

: Sonardyne - read R = 37.800000 from 37.80,X37.02,Y-6.83,Z-3.45

: Sonardyne - got all data, Vehicle coordinates,
    r=37.800000, x=3.450000, y=37.020000, z=6.830000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213818.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213818.00,,,,,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 R38.00,X37.35,Y-7.03,Z0.00

: Sonardyne - parsing R38.00,X37.35,Y-7.03,Z0.00

: Sonardyne - read R = 38.000000 from 38.00,X37.35,Y-7.03,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=38.000000, x=0.000000, y=37.350000, z=7.030000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213819.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213819.00,,,,,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 R38.30,X37.40,Y-6.62,Z-4.93

: Sonardyne - parsing R38.30,X37.40,Y-6.62,Z-4.93

: Sonardyne - read R = 38.300000 from 38.30,X37.40,Y-6.62,Z-4.93

: Sonardyne - got all data, Vehicle coordinates,
    r=38.300000, x=4.930000, y=37.400000, z=6.620000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R38.64,X38.18,Y-5.94,Z0.00

: Sonardyne - parsing R38.64,X38.18,Y-5.94,Z0.00

: Sonardyne - read R = 38.640000 from 38.64,X38.18,Y-5.94,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=38.640000, x=0.000000, y=38.180000, z=5.940000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R38.98,X-27.40,Y-26.63,Z-7.73

: Sonardyne - parsing R38.98,X-27.40,Y-26.63,Z-7.73

: Sonardyne - read R = 38.980000 from 38.98,X-27.40,Y-26.63,Z-7.73

: Sonardyne - got all data, Vehicle coordinates,
    r=38.980000, x=7.730000, y=-27.400000, z=26.630000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40


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

: Sonardyne - POS response: 
POS V4,1 R39.38,X38.81,Y-3.85,Z-5.46

: Sonardyne - parsing R39.38,X38.81,Y-3.85,Z-5.46

: Sonardyne - read R = 39.380000 from 39.38,X38.81,Y-3.85,Z-5.46

: Sonardyne - got all data, Vehicle coordinates,
    r=39.380000, x=5.460000, y=38.810000, z=3.850000 tat = 520
: AshtechGps::processRecord() - $GPGGA,213823.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213823.00,,,,,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 R39.88

: Sonardyne - parsing R39.88

: Sonardyne - read R = 39.880000 from 39.88

: Sonardyne - got range only (39.880000), tat = 500
: Sonardyne - POSD response: 
POSD S128.4,N26.3,D8,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.4,N26.3,D8,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.82 10.04 18.26 3.84 3.87 0  2663.49 01:30:56 m

: AshtechGps::processRecord() - $GPGGA,213824.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213824.00,,,,,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 R40.21

: Sonardyne - parsing R40.21

: Sonardyne - read R = 40.210000 from 40.21

: Sonardyne - got range only (40.210000), tat = 500
: Sonardyne - POSD response: 
POSD S128.5,N25.5,D71,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.5,N25.5,D71,U0,Q0.000000

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: LayeredControl::execute() -- (t = 638.396267) Behavior waypoint has changed to state Finished

: Waypoint Initialization: 
  Begin waypoint control at t= 638.40                            (wplog)
  The current location (N,E) = 4052138.9      , 600537.3         (wplog)
  The next waypoint          = 4052403.8      , 600426.4         (wplog)
  The bearing to the next w.p. is 337.3 Degrees.

: LayeredControl::execute() -- (t = 638.396267) Behavior waypoint has changed to state Active

: AshtechGps::processRecord() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47


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

: Sonardyne - POS response: 
POS V4,1 R41.14

: Sonardyne - parsing R41.14

: Sonardyne - read R = 41.140000 from 41.14

: Sonardyne - got range only (41.140000), tat = 500
: Sonardyne - POSD response: 
POSD S129.9,N31.2,D-13,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.9,N31.2,D-13,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213826.00,,,,,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 R42.46

: Sonardyne - parsing R42.46

: Sonardyne - read R = 42.460000 from 42.46

: Sonardyne - got range only (42.460000), tat = 500
: Sonardyne - POSD response: 
POSD S130.0,N32.6,D27,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S130.0,N32.6,D27,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R43.03

: Sonardyne - parsing R43.03

: Sonardyne - read R = 43.030000 from 43.03

: Sonardyne - got range only (43.030000), tat = 500
: Sonardyne - POSD response: 
POSD S123.2,N27.9,D-27,U2,Q0.005370

: Sonardyne - POSD response: 
POSD S123.2,N27.9,D-27,U2,Q0.005370

: AshtechGps::processRecord() - $GPGGA,213828.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213828.00,,,,,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 R44.06

: Sonardyne - parsing R44.06

: Sonardyne - read R = 44.060000 from 44.06

: Sonardyne - got range only (44.060000), tat = 510
: Sonardyne - POSD response: 
POSD S123.1,N25.6,D46,U2,Q0.000704

: Sonardyne - POSD response: 
POSD S123.1,N25.6,D46,U2,Q0.000704

: AshtechGps::processRecord() - $GPGGA,213829.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213829.00,,,,,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 R45.45

: Sonardyne - parsing R45.45

: Sonardyne - read R = 45.450000 from 45.45

: Sonardyne - got range only (45.450000), tat = 510
: Sonardyne - POSD response: 
POSD S117.1,N21.3,D93,U2,Q0.000557

: Sonardyne - POSD response: 
POSD S117.1,N21.3,D93,U2,Q0.000557

: AshtechGps::processRecord() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,213831.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213831.00,,,,,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,213832.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213832.00,,,,,0,00,,,M,,M,,*41


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,213833.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213833.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.82  9.33 18.16 3.84 3.87 0  2662.87 01:31:06 m

: AshtechGps::processRecord() - $GPGGA,213834.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213834.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,213836.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213836.00,,,,,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,N6.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.6,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213837.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213837.00,,,,,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

: Sonardyne - POS response: 
POS V4,1 R56.13

: Sonardyne - parsing R56.13

: Sonardyne - read R = 56.130000 from 56.13

: Sonardyne - got range only (56.130000), tat = 520
: Sonardyne - POSD response: 
POSD S126.3,N27.6,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.3,N27.6,D3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213838.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213838.00,,,,,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,213839.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213839.00,,,,,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,213840.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213840.00,,,,,0,00,,,M,,M,,*44


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45

: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45


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

: Sonardyne - POS response: 
POS V4,1 R57.49

: Sonardyne - parsing R57.49

: Sonardyne - read R = 57.490000 from 57.49

: Sonardyne - got range only (57.490000), tat = 520
: Sonardyne - POSD response: 
POSD S131.3,N26.6,D38,U1,Q0.007820

: Sonardyne - POSD response: 
POSD S131.3,N26.6,D38,U1,Q0.007820

: AshtechGps::processRecord() - $GPGGA,213842.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213842.00,,,,,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 R57.32

: Sonardyne - parsing R57.32

: Sonardyne - read R = 57.320000 from 57.32

: Sonardyne - got range only (57.320000), tat = 520
: Sonardyne - POSD response: 
POSD S132.2,N27.7,D60,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.2,N27.7,D60,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213843.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213843.00,,,,,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 R57.36

: Sonardyne - parsing R57.36

: Sonardyne - read R = 57.360000 from 57.36

: Sonardyne - got range only (57.360000), tat = 520
: BluefinBatt Reply: $aaq0 d- 30.78 10.31 18.26 3.84 3.87 0  2661.86 01:31:16 m

: Sonardyne - POSD response: 
POSD S129.4,N30.9,D-19,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.4,N30.9,D-19,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213844.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213844.00,,,,,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 R57.18

: Sonardyne - parsing R57.18

: Sonardyne - read R = 57.180000 from 57.18

: Sonardyne - got range only (57.180000), tat = 520
: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: Sonardyne - POSD response: 
POSD S133.2,N30.1,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.2,N30.1,D29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - POS response: 
POS V4,1 R57.15

: Sonardyne - parsing R57.15

: Sonardyne - read R = 57.150000 from 57.15

: Sonardyne - got range only (57.150000), tat = 520
: Sonardyne - POSD response: 
POSD S127.8,N21.6,D-111,U4,Q0.000482

: Sonardyne - POSD response: 
POSD S127.8,N21.6,D-111,U4,Q0.000482

: AshtechGps::processRecord() - $GPGGA,213846.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213846.00,,,,,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 R57.13

: Sonardyne - parsing R57.13

: Sonardyne - read R = 57.130000 from 57.13

: Sonardyne - got range only (57.130000), tat = 520
: Sonardyne - POSD response: 
POSD S131.5,N23.9,D65,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.5,N23.9,D65,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R57.14

: Sonardyne - parsing R57.14

: Sonardyne - read R = 57.140000 from 57.14

: Sonardyne - got range only (57.140000), tat = 520
: Sonardyne - POSD response: 
POSD S131.6,N24.2,D82,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S131.6,N24.2,D82,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213848.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213848.00,,,,,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 R57.20

: Sonardyne - parsing R57.20

: Sonardyne - read R = 57.200000 from 57.20

: Sonardyne - got range only (57.200000), tat = 520
: Sonardyne - POSD response: 
POSD S133.6,N32.5,D-23,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S133.6,N32.5,D-23,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213849.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213849.00,,,,,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 R57.63

: Sonardyne - parsing R57.63

: Sonardyne - read R = 57.630000 from 57.63

: Sonardyne - got range only (57.630000), tat = 519
: Sonardyne - POSD response: 
POSD S132.4,N31.3,D-4,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.4,N31.3,D-4,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213850.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213850.00,,,,,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 R57.83

: Sonardyne - parsing R57.83

: Sonardyne - read R = 57.830000 from 57.83

: Sonardyne - got range only (57.830000), tat = 520
: Sonardyne - POSD response: 
POSD S128.5,N29.7,D21,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.5,N29.7,D21,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213851.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213851.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - POS response: 
POS V4,1 R58.27,X36.93,Y29.50,Z-34.08

: Sonardyne - parsing R58.27,X36.93,Y29.50,Z-34.08

: Sonardyne - read R = 58.270000 from 58.27,X36.93,Y29.50,Z-34.08

: Sonardyne - got all data, Vehicle coordinates,
    r=58.270000, x=34.080000, y=36.930000, z=-29.500000 tat = 550
: AshtechGps::processRecord() - $GPGGA,213852.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213852.00,,,,,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 R58.98

: Sonardyne - parsing R58.98

: Sonardyne - read R = 58.980000 from 58.98

: Sonardyne - got range only (58.980000), tat = 530
: Sonardyne - POSD response: 
POSD S127.9,N30.7,D29,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S127.9,N30.7,D29,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213853.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213853.00,,,,,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 R59.76

: Sonardyne - parsing R59.76

: Sonardyne - read R = 59.760000 from 59.76

: Sonardyne - got range only (59.760000), tat = 530
: BluefinBatt Reply: $aaq0 d- 30.78 10.34 18.26 3.83 3.86 0  2661.15 01:31:26 m

: Sonardyne - POSD response: 
POSD S122.8,N27.4,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S122.8,N27.4,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213854.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213854.00,,,,,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 R60.79

: Sonardyne - parsing R60.79

: Sonardyne - read R = 60.790000 from 60.79

: Sonardyne - got range only (60.790000), tat = 530
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: Sonardyne - POSD response: 
POSD S124.0,N30.1,D-5,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.0,N30.1,D-5,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213855.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213855.00,,,,,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,213856.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213856.00,,,,,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,213857.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213857.00,,,,,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,213858.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213858.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,213859.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213859.00,,,,,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 R65.48,X39.96,Y-51.87,Z0.00

: Sonardyne - parsing R65.48,X39.96,Y-51.87,Z0.00

: Sonardyne - read R = 65.480000 from 65.48,X39.96,Y-51.87,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=65.480000, x=0.000000, y=39.960000, z=51.870000 tat = 560
: AshtechGps::processRecord() - $GPGGA,213900.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213900.00,,,,,0,00,,,M,,M,,*41


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R66.51

: Sonardyne - parsing R66.51

: Sonardyne - read R = 66.510000 from 66.51

: Sonardyne - got range only (66.510000), tat = 540
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S123.9,N32.7,D-7,U3,Q0.003578

: Sonardyne - POSD response: 
POSD S123.9,N32.7,D-7,U3,Q0.003578

: AshtechGps::processRecord() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R67.54

: Sonardyne - parsing R67.54

: Sonardyne - read R = 67.540000 from 67.54

: Sonardyne - got range only (67.540000), tat = 540
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S114.5,N15.6,D0,U3,Q0.004803

: Sonardyne - POSD response: 
POSD S114.5,N15.6,D0,U3,Q0.004803

: AshtechGps::processRecord() - $GPGGA,213902.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213902.00,,,,,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,213903.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213903.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78  9.77 18.26 3.83 3.86 0  2660.11 01:31:36 m

: AshtechGps::processRecord() - $GPGGA,213904.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213904.00,,,,,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

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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,213905.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213905.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,213907.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213907.00,,,,,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,213908.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213908.00,,,,,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,N3.6,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213909.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213909.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,213910.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213910.00,,,,,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,213911.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213911.00,,,,,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 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,213912.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213912.00,,,,,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,213913.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213913.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.82  9.30 18.26 3.84 3.86 0  2659.44 01:31:46 m

: AshtechGps::processRecord() - $GPGGA,213914.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213914.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213915.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213915.00,,,,,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
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213916.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213916.00,,,,,0,00,,,M,,M,,*46


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

: AshtechGps::processRecord() - $GPGGA,213917.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213917.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,213918.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,213918.00,,,,,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,N3.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213919.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,213919.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N3.4,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,213920.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213920.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,213921.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213921.00,,,,,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,213922.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213922.00,,,,,0,00,,,M,,M,,*41


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: AshtechGps::processRecord() - $GPGGA,213923.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213923.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.82  9.16 18.26 3.84 3.86 0  2658.49 01:31:56 m

: AshtechGps::processRecord() - $GPGGA,213924.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213924.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213925.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213925.00,,,,,0,00,,,M,,M,,*46


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: 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,213926.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213926.00,,,,,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,213927.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213927.00,,,,,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,213928.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213928.00,,,,,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,213929.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213929.00,,,,,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,N3.0,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,N3.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,213930.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213930.00,,,,,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,213931.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213931.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,213932.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213932.00,,,,,0,00,,,M,,M,,*40


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213933.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213933.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78 10.00 18.26 3.84 3.86 0  2657.87 01:32:06 m

: AshtechGps::processRecord() - $GPGGA,213934.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213934.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213935.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213935.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,213936.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213936.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,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,213937.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213937.00,,,,,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,213938.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,213938.00,,,,,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,213939.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,213939.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213940.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213940.00,,,,,0,00,,,M,,M,,*45


: Sonardyne - POSD response: 
POSD S-100.0,N5.5,D0,U0,Q0.000000

: 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,213941.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213941.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,213942.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213942.00,,,,,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,213943.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213943.00,,,,,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,N5.1,D0,U0,Q0.000000

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

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

: BluefinBatt Reply: $aaq0 d- 30.78  9.40 18.26 3.84 3.86 0  2656.86 01:32:16 m

: AshtechGps::processRecord() - $GPGGA,213944.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213944.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213945.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213945.00,,,,,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,213946.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213946.00,,,,,0,00,,,M,,M,,*43


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213947.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213947.00,,,,,0,00,,,M,,M,,*42


: Sonardyne - POSD response: 
POSD S-100.0,N6.2,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213948.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213948.00,,,,,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,213949.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213949.00,,,,,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,213950.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,213950.00,,,,,0,00,,,M,,M,,*44


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213951.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,213951.00,,,,,0,00,,,M,,M,,*45


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

: AshtechGps::processRecord() - $GPGGA,213952.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,213952.00,,,,,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,213953.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,213953.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78  9.63 18.26 3.84 3.86 0  2656.22 01:32:26 m

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,213954.00,,,,,0,00,,,M,,M,,*40

: GpsUtils::parseFix() - $GPGGA,213954.00,,,,,0,00,,,M,,M,,*40


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,213955.00,,,,,0,00,,,M,,M,,*41

: GpsUtils::parseFix() - $GPGGA,213955.00,,,,,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,213956.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,213956.00,,,,,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,213957.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,213957.00,,,,,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,N7.3,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,213958.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,213958.00,,,,,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,213959.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,213959.00,,,,,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,214000.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214000.00,,,,,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,N4.2,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214001.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214001.00,,,,,0,00,,,M,,M,,*4E


: Sonardyne - POSD response: 
POSD S-100.0,N4.2,D0,U0,Q0.000000

: 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,214002.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214002.00,,,,,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,214003.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214003.00,,,,,0,00,,,M,,M,,*4C


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

: BluefinBatt Reply: $aaq0 d- 30.78  9.13 18.26 3.84 3.86 0  2655.22 01:32:36 m

: AshtechGps::processRecord() - $GPGGA,214004.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214004.00,,,,,0,00,,,M,,M,,*4B


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.9,D0,U0,Q0.000000

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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,214005.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214005.00,,,,,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,214006.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214006.00,,,,,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,214007.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214007.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214008.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,214008.00,,,,,0,00,,,M,,M,,*47


: Sonardyne - POSD response: 
POSD S-100.0,N6.1,D0,U0,Q0.000000

: 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,214009.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,214009.00,,,,,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,214010.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214010.00,,,,,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,214011.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214011.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N5.3,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,214012.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214012.00,,,,,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,214013.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214013.00,,,,,0,00,,,M,,M,,*4D


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

: BluefinBatt Reply: $aaq0 d- 30.74 10.10 18.26 3.83 3.86 0  2654.56 01:32:46 m

: AshtechGps::processRecord() - $GPGGA,214014.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214014.00,,,,,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

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: 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,214015.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214015.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,214016.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214016.00,,,,,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,214017.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214017.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,214018.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,214018.00,,,,,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,N4.5,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,214019.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,214019.00,,,,,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,214020.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214020.00,,,,,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,214021.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214021.00,,,,,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,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,214022.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214022.00,,,,,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,214023.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214023.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78  9.30 18.26 3.83 3.86 0  2653.53 01:32:56 m

: AshtechGps::processRecord() - $GPGGA,214024.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214024.00,,,,,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

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,214025.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214025.00,,,,,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 = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214026.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214026.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,214027.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214027.00,,,,,0,00,,,M,,M,,*4A


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

: AshtechGps::processRecord() - $GPGGA,214028.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,214028.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214029.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,214029.00,,,,,0,00,,,M,,M,,*44


: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: 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,214030.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214030.00,,,,,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,214031.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214031.00,,,,,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,214032.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214032.00,,,,,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,N4.0,D0,U0,Q0.000000

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

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

: AshtechGps::processRecord() - $GPGGA,214033.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214033.00,,,,,0,00,,,M,,M,,*4F


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

: BluefinBatt Reply: $aaq0 d- 30.78  9.33 18.26 3.84 3.86 0  2652.90 01:33:06 m

: AshtechGps::processRecord() - $GPGGA,214034.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214034.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,214035.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214035.00,,,,,0,00,,,M,,M,,*49


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,214036.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214036.00,,,,,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,214037.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214037.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,214038.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,214038.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,214039.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,214039.00,,,,,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,N3.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.6,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,214040.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214040.00,,,,,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,214041.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214041.00,,,,,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,214042.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214042.00,,,,,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,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,214043.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214043.00,,,,,0,00,,,M,,M,,*48


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.78 10.24 18.26 3.84 3.86 0  2651.98 01:33:16 m

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

: AshtechGps::processRecord() - $GPGGA,214044.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214044.00,,,,,0,00,,,M,,M,,*4F


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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,214045.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214045.00,,,,,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,214046.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214046.00,,,,,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 = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214047.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214047.00,,,,,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,214048.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,214048.00,,,,,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,214049.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,214049.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 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,214050.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214050.00,,,,,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,214051.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214051.00,,,,,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,214052.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214052.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,214053.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214053.00,,,,,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,N4.0,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.82  9.03 18.26 3.83 3.86 0  2651.34 01:33:26 m

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

: AshtechGps::processRecord() - $GPGGA,214054.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214054.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

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

: AshtechGps::processRecord() - $GPGGA,214055.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214055.00,,,,,0,00,,,M,,M,,*4F


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

: AshtechGps::processRecord() - $GPGGA,214056.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214056.00,,,,,0,00,,,M,,M,,*4C


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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 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,N2.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214057.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214057.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N2.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214058.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,214058.00,,,,,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,214059.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,214059.00,,,,,0,00,,,M,,M,,*43


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

: AshtechGps::processRecord() - $GPGGA,214100.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214100.00,,,,,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,N3.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N3.7,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,214101.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214101.00,,,,,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,214102.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214102.00,,,,,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,214103.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214103.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.78 10.00 18.26 3.83 3.86 0  2650.34 01:33:36 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,N4.0,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,N4.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214104.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214104.00,,,,,0,00,,,M,,M,,*4A


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

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

: AshtechGps::processRecord() - $GPGGA,214105.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214105.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,214106.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214106.00,,,,,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,214107.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214107.00,,,,,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,N4.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214108.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,214108.00,,,,,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,214109.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,214109.00,,,,,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,214110.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214110.00,,,,,0,00,,,M,,M,,*4F


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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214111.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214111.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,214112.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214112.00,,,,,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,214113.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214113.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 30.74  9.57 18.26 3.84 3.86 0  2649.74 01:33:46 m

: AshtechGps::processRecord() - $GPGGA,214114.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214114.00,,,,,0,00,,,M,,M,,*4B


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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 3.840000, mean min cell voltage 3.840000

: AshtechGps::processRecord() - $GPGGA,214115.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214115.00,,,,,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,214116.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214116.00,,,,,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,214117.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214117.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.4,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214118.00,,,,,0,00,,,M,,M,,*47

: GpsUtils::parseFix() - $GPGGA,214118.00,,,,,0,00,,,M,,M,,*47


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

: AshtechGps::processRecord() - $GPGGA,214119.00,,,,,0,00,,,M,,M,,*46

: GpsUtils::parseFix() - $GPGGA,214119.00,,,,,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,214120.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214120.00,,,,,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,214121.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214121.00,,,,,0,00,,,M,,M,,*4D


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N3.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214122.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214122.00,,,,,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,214123.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214123.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78  8.79 18.26 3.84 3.86 0  2648.79 01:33:56 m

: AshtechGps::processRecord() - $GPGGA,214124.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214124.00,,,,,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

: batts online 1, min cell voltage 3.840000, mean min cell voltage 3.840000

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,214125.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214125.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,214126.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214126.00,,,,,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,214127.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214127.00,,,,,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

:  Waypoint has set the state to finished.

: Waypoint (4052403.8, 600426.4), 
  reached at t = 821.39                                          (wplog)

: Vehicle Position is error is (-0.4, -0.2)

: LayeredControl::execute() -- (t = 821.393731) Behavior waypoint has changed to state Finished

: LayeredControl::execute() -- (t = 821.393731) Behavior ascend has changed to state Active

: AshtechGps::processRecord() - $GPGGA,214128.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,214128.00,,,,,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

: 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,214129.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,214129.00,,,,,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,214130.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214130.00,,,,,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,214131.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214131.00,,,,,0,00,,,M,,M,,*4C


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214132.00,,,,,0,00,,,M,,M,,*4F

: Sonardyne - POSD response: 
POSD S-100.0,N4.6,D0,U0,Q0.000000

: GpsUtils::parseFix() - $GPGGA,214132.00,,,,,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,214133.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214133.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.78  8.86 18.26 3.83 3.86 0  2648.12 01:34:06 m

: AshtechGps::processRecord() - $GPGGA,214134.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214134.00,,,,,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

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,214135.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214135.00,,,,,0,00,,,M,,M,,*48


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.9,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214136.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214136.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,214137.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214137.00,,,,,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,214138.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,214138.00,,,,,0,00,,,M,,M,,*45


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,214139.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,214139.00,,,,,0,00,,,M,,M,,*44


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

: AshtechGps::processRecord() - $GPGGA,214140.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214140.00,,,,,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 R330.14

: Sonardyne - parsing R330.14

: Sonardyne - read R = 330.140000 from 330.14

: Sonardyne - got range only (330.140000), tat = 890
: Sonardyne - POSD response: 
POSD S120.7,N27.8,D-30,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S120.7,N27.8,D-30,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214141.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214141.00,,,,,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 R328.64

: Sonardyne - parsing R328.64

: Sonardyne - read R = 328.640000 from 328.64

: Sonardyne - got range only (328.640000), tat = 890
: Sonardyne - POSD response: 
POSD S126.8,N24.7,D-76,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S126.8,N24.7,D-76,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214142.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214142.00,,,,,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,214143.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214143.00,,,,,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 R327.32,X-310.21,Y104.44,Z0.00

: Sonardyne - parsing R327.32,X-310.21,Y104.44,Z0.00

: Sonardyne - read R = 327.320000 from 327.32,X-310.21,Y104.44,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=327.320000, x=0.000000, y=-310.210000, z=-104.440000 tat = 910
: BluefinBatt Reply: $aaq0 d- 30.78  9.09 18.26 3.83 3.86 0  2647.18 01:34:16 m

: AshtechGps::processRecord() - $GPGGA,214144.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214144.00,,,,,0,00,,,M,,M,,*4E


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

: Sonardyne - POS response: 
POS V4,1 R326.70,X156.95,Y-76.03,Z-276.26

: Sonardyne - parsing R326.70,X156.95,Y-76.03,Z-276.26

: Sonardyne - read R = 326.700000 from 326.70,X156.95,Y-76.03,Z-276.26

: Sonardyne - got all data, Vehicle coordinates,
    r=326.700000, x=276.260000, y=156.950000, z=76.030000 tat = 910
: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,214145.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214145.00,,,,,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 R326.18,X109.71,Y-90.41,Z-293.57

: Sonardyne - parsing R326.18,X109.71,Y-90.41,Z-293.57

: Sonardyne - read R = 326.180000 from 326.18,X109.71,Y-90.41,Z-293.57

: Sonardyne - got all data, Vehicle coordinates,
    r=326.180000, x=293.570000, y=109.710000, z=90.410000 tat = 909
: AshtechGps::processRecord() - $GPGGA,214146.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214146.00,,,,,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 R325.58,X45.11,Y-71.79,Z-314.35

: Sonardyne - parsing R325.58,X45.11,Y-71.79,Z-314.35

: Sonardyne - read R = 325.580000 from 325.58,X45.11,Y-71.79,Z-314.35

: Sonardyne - got all data, Vehicle coordinates,
    r=325.580000, x=314.350000, y=45.110000, z=71.790000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214147.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214147.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R324.86

: Sonardyne - parsing R324.86

: Sonardyne - read R = 324.860000 from 324.86

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

: Sonardyne - got range only (324.860000), tat = 880
: Sonardyne - POSD response: 
POSD S127.4,N30.2,D22,U3,Q0.003667

: Sonardyne - POSD response: 
POSD S127.4,N30.2,D22,U3,Q0.003667

: AshtechGps::processRecord() - $GPGGA,214148.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,214148.00,,,,,0,00,,,M,,M,,*42


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

: Sonardyne - POS response: 
POS V4,1 R323.48,X-105.11,Y-81.28,Z-294.93

: Sonardyne - parsing R323.48,X-105.11,Y-81.28,Z-294.93

: Sonardyne - read R = 323.480000 from 323.48,X-105.11,Y-81.28,Z-294.93

: Sonardyne - got all data, Vehicle coordinates,
    r=323.480000, x=294.930000, y=-105.110000, z=81.280000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214149.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,214149.00,,,,,0,00,,,M,,M,,*43


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

: Sonardyne - POS response: 
POS V4,1 R322.57,X-158.11,Y-85.46,Z-267.85

: Sonardyne - parsing R322.57,X-158.11,Y-85.46,Z-267.85

: Sonardyne - read R = 322.570000 from 322.57,X-158.11,Y-85.46,Z-267.85

: Sonardyne - got all data, Vehicle coordinates,
    r=322.570000, x=267.850000, y=-158.110000, z=85.460000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214150.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214150.00,,,,,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 R321.45,X306.65,Y96.41,Z0.00

: Sonardyne - parsing R321.45,X306.65,Y96.41,Z0.00

: Sonardyne - read R = 321.450000 from 321.45,X306.65,Y96.41,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=321.450000, x=0.000000, y=306.650000, z=-96.410000 tat = 900
: AshtechGps::processRecord() - $GPGGA,214151.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214151.00,,,,,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 R320.72,X300.85,Y111.14,Z0.00

: Sonardyne - parsing R320.72,X300.85,Y111.14,Z0.00

: Sonardyne - read R = 320.720000 from 320.72,X300.85,Y111.14,Z0.00

: Sonardyne - got all data, Vehicle coordinates,
    r=320.720000, x=0.000000, y=300.850000, z=-111.140000 tat = 900
: AshtechGps::processRecord() - $GPGGA,214152.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214152.00,,,,,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 R319.79

: Sonardyne - parsing R319.79

: Sonardyne - read R = 319.790000 from 319.79

: Sonardyne - got range only (319.790000), tat = 880
: Sonardyne - POSD response: 
POSD S128.2,N27.8,D-17,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S128.2,N27.8,D-17,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214153.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214153.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.74  9.40 18.26 3.83 3.85 0  2646.51 01:34:26 m

: AshtechGps::processRecord() - $GPGGA,214154.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214154.00,,,,,0,00,,,M,,M,,*4F


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R318.87

: Sonardyne - parsing R318.87

: Sonardyne - read R = 318.870000 from 318.87

: Sonardyne - got range only (318.870000), tat = 880
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S127.3,N36.9,D2,U4,Q0.004952

: Sonardyne - POSD response: 
POSD S127.3,N36.9,D2,U4,Q0.004952

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,214155.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214155.00,,,,,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 R318.52

: Sonardyne - parsing R318.52

: Sonardyne - read R = 318.520000 from 318.52

: Sonardyne - got range only (318.520000), tat = 880
: Sonardyne - POSD response: 
POSD S114.6,N15.1,D-40,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S114.6,N15.1,D-40,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214156.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214156.00,,,,,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,214157.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214157.00,,,,,0,00,,,M,,M,,*4C


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

: AshtechGps::processRecord() - $GPGGA,214158.00,,,,,0,00,,,M,,M,,*43

: GpsUtils::parseFix() - $GPGGA,214158.00,,,,,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,214159.00,,,,,0,00,,,M,,M,,*42

: GpsUtils::parseFix() - $GPGGA,214159.00,,,,,0,00,,,M,,M,,*42


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

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,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,214200.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214200.00,,,,,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,214201.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214201.00,,,,,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,214202.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214202.00,,,,,0,00,,,M,,M,,*4F


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

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

: Sonardyne - parsing R0.00

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

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214203.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214203.00,,,,,0,00,,,M,,M,,*4E


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N5.1,D0,U0,Q0.000000

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

: BluefinBatt Reply: $aaq0 d- 30.74  9.57 18.35 3.83 3.85 0  2645.44 01:34:36 m

: AshtechGps::processRecord() - $GPGGA,214204.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214204.00,,,,,0,00,,,M,,M,,*49


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 857.601250) Behavior ascend has changed to state Finished

: LayeredControl::execute() -- (t = 857.601250) Behavior getgps has changed to state Active

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

: batts online 1, min cell voltage 3.830000, mean min cell voltage 3.830000

: AshtechGps::processRecord() - $GPGGA,214205.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214205.00,,,,,0,00,,,M,,M,,*48


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

: AshtechGps::processRecord() - $GPGGA,214206.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214206.00,,,,,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,N6.7,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N6.7,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214207.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214207.00,,,,,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,214208.00,,,,,0,00,,,M,,M,,*45

: GpsUtils::parseFix() - $GPGGA,214208.00,,,,,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,214209.00,,,,,0,00,,,M,,M,,*44

: GpsUtils::parseFix() - $GPGGA,214209.00,,,,,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,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: AshtechGps::processRecord() - $GPGGA,214210.00,,,,,0,00,,,M,,M,,*4C

: GpsUtils::parseFix() - $GPGGA,214210.00,,,,,0,00,,,M,,M,,*4C


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214211.00,,,,,0,00,,,M,,M,,*4D

: GpsUtils::parseFix() - $GPGGA,214211.00,,,,,0,00,,,M,,M,,*4D


: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Sonardyne - POS response: 
POS V4,1 R331.31

: Sonardyne - parsing R331.31

: Sonardyne - read R = 331.310000 from 331.31

: Sonardyne - got range only (331.310000), tat = 900
: Sonardyne - POSD response: 
POSD S113.1,N17.5,D5,U1,Q0.004928

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

: Sonardyne - POSD response: 
POSD S113.1,N17.5,D5,U1,Q0.004928

: AshtechGps::processRecord() - $GPGGA,214212.00,,,,,0,00,,,M,,M,,*4E

: GpsUtils::parseFix() - $GPGGA,214212.00,,,,,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,214213.00,,,,,0,00,,,M,,M,,*4F

: GpsUtils::parseFix() - $GPGGA,214213.00,,,,,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

: BluefinBatt Reply: $aaq0 d- 30.96  4.17 18.45 3.85 3.88 0  2645.20 01:34:46 m

: AshtechGps::processRecord() - $GPGGA,214214.00,,,,,0,00,,,M,,M,,*48

: GpsUtils::parseFix() - $GPGGA,214214.00,,,,,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

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N6.3,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214215.00,,,,,0,00,,,M,,M,,*49

: GpsUtils::parseFix() - $GPGGA,214215.00,,,,,0,00,,,M,,M,,*49


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

: AshtechGps::processRecord() - $GPGGA,214216.00,,,,,0,00,,,M,,M,,*4A

: GpsUtils::parseFix() - $GPGGA,214216.00,,,,,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,214217.00,,,,,0,00,,,M,,M,,*4B

: GpsUtils::parseFix() - $GPGGA,214217.00,,,,,0,00,,,M,,M,,*4B


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

: AshtechGps::processRecord() - $GPGGA,214218.00,3636.74464,N,12152.59078,W,1,06,1.5,-0.10,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,214218.00,3636.74464,N,12152.59078,W,1,06,1.5,-0.10,M,-33.30,M,,*71


: successfully parse sentence at 21:42:18

: AshtechGPS::processRecord -sample time is 1145310137
: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 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,214219.00,3636.74508,N,12152.59097,W,1,08,1.4,-1.33,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,214219.00,3636.74508,N,12152.59097,W,1,08,1.4,-1.33,M,-33.30,M,,*75


: successfully parse sentence at 21:42:19

: AshtechGPS::processRecord -sample time is 1145310138
: GetGPS::execute() -- Got a new GPS hit: 2 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,214220.00,3636.74536,N,12152.59097,W,1,09,1.0,-0.62,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,214220.00,3636.74536,N,12152.59097,W,1,09,1.0,-0.62,M,-33.30,M,,*72


: successfully parse sentence at 21:42:20

: AshtechGPS::processRecord -sample time is 1145310139
: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214221.00,3636.74541,N,12152.59036,W,1,09,1.0,-0.74,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214221.00,3636.74541,N,12152.59036,W,1,09,1.0,-0.74,M,-33.30,M,,*7F


: successfully parse sentence at 21:42:21

: AshtechGPS::processRecord -sample time is 1145310140
: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 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,214222.00,3636.74504,N,12152.59023,W,1,09,1.0,-1.45,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214222.00,3636.74504,N,12152.59023,W,1,09,1.0,-1.45,M,-33.30,M,,*7A


: successfully parse sentence at 21:42:22

: AshtechGPS::processRecord -sample time is 1145310141
: GetGPS::execute() -- Got a new GPS hit: 5 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,214223.00,3636.74518,N,12152.58988,W,1,09,1.0,-2.06,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214223.00,3636.74518,N,12152.58988,W,1,09,1.0,-2.06,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:23

: AshtechGPS::processRecord -sample time is 1145310142
: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: Sonardyne - POS response: 
POS V4,1 R332.09,X307.04,Y-105.88,Z-69.29

: Sonardyne - parsing R332.09,X307.04,Y-105.88,Z-69.29

: Sonardyne - read R = 332.090000 from 332.09,X307.04,Y-105.88,Z-69.29

: Sonardyne - got all data, Vehicle coordinates,
    r=332.090000, x=69.290000, y=307.040000, z=105.880000 tat = 920
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 30.96  3.67 18.35 3.85 3.88 0  2644.84 01:34:56 m

: AshtechGps::processRecord() - $GPGGA,214224.00,3636.74505,N,12152.58938,W,1,11,0.7,-2.57,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214224.00,3636.74505,N,12152.58938,W,1,11,0.7,-2.57,M,-33.30,M,,*70


: successfully parse sentence at 21:42:24

: AshtechGPS::processRecord -sample time is 1145310143
: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
:  wdt = 00892,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: batts online 1, min cell voltage 3.850000, mean min cell voltage 3.850000

: AshtechGps::processRecord() - $GPGGA,214225.00,3636.74513,N,12152.58922,W,1,11,0.7,-2.63,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214225.00,3636.74513,N,12152.58922,W,1,11,0.7,-2.63,M,-33.30,M,,*7A


: successfully parse sentence at 21:42:25

: AshtechGPS::processRecord -sample time is 1145310144
: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214226.00,3636.74511,N,12152.58889,W,1,10,1.0,-2.96,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,214226.00,3636.74511,N,12152.58889,W,1,10,1.0,-2.96,M,-33.30,M,,*76


: successfully parse sentence at 21:42:26

: AshtechGPS::processRecord -sample time is 1145310145
: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N7.0,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214227.00,3636.74523,N,12152.58866,W,1,10,0.8,-2.83,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214227.00,3636.74523,N,12152.58866,W,1,10,0.8,-2.83,M,-33.30,M,,*7A


: successfully parse sentence at 21:42:27

: AshtechGPS::processRecord -sample time is 1145310146
: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 880.599675) Behavior getgps has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 880.799661) Behavior setpoint has changed to state Active

: LayeredControl::execute() -- (t = 880.799661) Behavior missionTimer has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,214228.00,3636.74532,N,12152.58847,W,1,11,0.7,-2.67,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,214228.00,3636.74532,N,12152.58847,W,1,11,0.7,-2.67,M,-33.30,M,,*72


: successfully parse sentence at 21:42:28

: AshtechGPS::processRecord -sample time is 1145310147
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214229.00,3636.74533,N,12152.58815,W,1,11,0.7,-2.88,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,214229.00,3636.74533,N,12152.58815,W,1,11,0.7,-2.88,M,-33.30,M,,*74


: successfully parse sentence at 21:42:29

: AshtechGPS::processRecord -sample time is 1145310148
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

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

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

: AshtechGps::processRecord() - $GPGGA,214230.00,3636.74556,N,12152.58811,W,1,11,0.7,-3.36,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214230.00,3636.74556,N,12152.58811,W,1,11,0.7,-3.36,M,-33.30,M,,*7F


: successfully parse sentence at 21:42:30

: AshtechGPS::processRecord -sample time is 1145310149
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214231.00,3636.74558,N,12152.58776,W,1,11,0.7,-3.04,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214231.00,3636.74558,N,12152.58776,W,1,11,0.7,-3.04,M,-33.30,M,,*7F


: successfully parse sentence at 21:42:31

: AshtechGPS::processRecord -sample time is 1145310150
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214232.00,3636.74548,N,12152.58742,W,1,11,0.7,-2.90,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,214232.00,3636.74548,N,12152.58742,W,1,11,0.7,-2.90,M,-33.30,M,,*76


: successfully parse sentence at 21:42:32

: AshtechGPS::processRecord -sample time is 1145310151
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214233.00,3636.74550,N,12152.58714,W,1,11,0.7,-2.97,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214233.00,3636.74550,N,12152.58714,W,1,11,0.7,-2.97,M,-33.30,M,,*7A


: successfully parse sentence at 21:42:33

: AshtechGPS::processRecord -sample time is 1145310152
: 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,N8.6,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N8.6,D0,U0,Q0.000000

: BluefinBatt Reply: $aaq0 d- 30.96  2.96 18.35 3.86 3.89 0  2644.61 01:35:06 m

: AshtechGps::processRecord() - $GPGGA,214234.00,3636.74546,N,12152.58680,W,1,11,0.7,-2.68,M,-33.30,M,,*76

: GpsUtils::parseFix() - $GPGGA,214234.00,3636.74546,N,12152.58680,W,1,11,0.7,-2.68,M,-33.30,M,,*76


: successfully parse sentence at 21:42:34

: AshtechGPS::processRecord -sample time is 1145310153
:  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 R331.11,X308.46,Y-17.58,Z-119.08

: Sonardyne - parsing R331.11,X308.46,Y-17.58,Z-119.08

: Sonardyne - read R = 331.110000 from 331.11,X308.46,Y-17.58,Z-119.08

: Sonardyne - got all data, Vehicle coordinates,
    r=331.110000, x=119.080000, y=308.460000, z=17.580000 tat = 920
: batts online 1, min cell voltage 3.860000, mean min cell voltage 3.860000

: AshtechGps::processRecord() - $GPGGA,214235.00,3636.74529,N,12152.58641,W,1,11,0.7,-2.73,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,214235.00,3636.74529,N,12152.58641,W,1,11,0.7,-2.73,M,-33.30,M,,*79


: successfully parse sentence at 21:42:35

: AshtechGPS::processRecord -sample time is 1145310154
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214236.00,3636.74512,N,12152.58609,W,1,11,0.7,-2.93,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214236.00,3636.74512,N,12152.58609,W,1,11,0.7,-2.93,M,-33.30,M,,*70


: successfully parse sentence at 21:42:36

: AshtechGPS::processRecord -sample time is 1145310155
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214237.00,3636.74519,N,12152.58585,W,1,11,0.7,-2.97,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,214237.00,3636.74519,N,12152.58585,W,1,11,0.7,-2.97,M,-33.30,M,,*79


: successfully parse sentence at 21:42:37

: AshtechGPS::processRecord -sample time is 1145310156
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

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

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: Sonardyne - no valid response
: Sonardyne - POSD response: 
POSD S-100.0,N4.8,D0,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214238.00,3636.74507,N,12152.58569,W,1,11,0.7,-2.67,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,214238.00,3636.74507,N,12152.58569,W,1,11,0.7,-2.67,M,-33.30,M,,*74


: successfully parse sentence at 21:42:38

: AshtechGPS::processRecord -sample time is 1145310157
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214239.00,3636.74509,N,12152.58546,W,1,11,0.7,-2.77,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,214239.00,3636.74509,N,12152.58546,W,1,11,0.7,-2.77,M,-33.30,M,,*77


: successfully parse sentence at 21:42:39

: AshtechGPS::processRecord -sample time is 1145310158
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214240.00,3636.74492,N,12152.58526,W,1,11,0.7,-2.54,M,-33.30,M,,*7D

: GpsUtils::parseFix() - $GPGGA,214240.00,3636.74492,N,12152.58526,W,1,11,0.7,-2.54,M,-33.30,M,,*7D


: successfully parse sentence at 21:42:40

: AshtechGPS::processRecord -sample time is 1145310159
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214241.00,3636.74480,N,12152.58499,W,1,11,0.7,-2.61,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,214241.00,3636.74480,N,12152.58499,W,1,11,0.7,-2.61,M,-33.30,M,,*7C


: successfully parse sentence at 21:42:41

: AshtechGPS::processRecord -sample time is 1145310160
: Sonardyne - POS response: 
POS V4,1 R0.00

: Sonardyne - parsing R0.00

: Sonardyne - R is not valid
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POSD response: 
POSD S-100.0,N5.7,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214242.00,3636.74481,N,12152.58475,W,1,11,0.7,-2.72,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,214242.00,3636.74481,N,12152.58475,W,1,11,0.7,-2.72,M,-33.30,M,,*7E


: successfully parse sentence at 21:42:42

: AshtechGPS::processRecord -sample time is 1145310161
:  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 R328.75

: Sonardyne - parsing R328.75

: Sonardyne - read R = 328.750000 from 328.75

: Sonardyne - got range only (328.750000), tat = 890
: Sonardyne - POSD response: 
POSD S129.7,N29.8,D15,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S129.7,N29.8,D15,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214243.00,3636.74475,N,12152.58462,W,1,11,0.7,-2.84,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214243.00,3636.74475,N,12152.58462,W,1,11,0.7,-2.84,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:43

: AshtechGPS::processRecord -sample time is 1145310162
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.04  2.66 18.26 3.86 3.89 0  2644.35 01:35:16 m

: AshtechGps::processRecord() - $GPGGA,214244.00,3636.74485,N,12152.58445,W,1,11,0.7,-3.07,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,214244.00,3636.74485,N,12152.58445,W,1,11,0.7,-3.07,M,-33.30,M,,*7C


: successfully parse sentence at 21:42:44

: AshtechGPS::processRecord -sample time is 1145310163
: Sonardyne - POS response: 
POS V4,1 R328.52

: Sonardyne - parsing R328.52

: Sonardyne - read R = 328.520000 from 328.52

: Sonardyne - got range only (328.520000), tat = 889
: Sonardyne - POSD response: 
POSD S132.6,N32.0,D-3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S132.6,N32.0,D-3,U0,Q0.000000

:  wdt = 00892,  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,214245.00,3636.74489,N,12152.58437,W,1,11,0.7,-3.12,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214245.00,3636.74489,N,12152.58437,W,1,11,0.7,-3.12,M,-33.30,M,,*70


: successfully parse sentence at 21:42:45

: AshtechGPS::processRecord -sample time is 1145310164
:  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 R328.09,X216.97,Y26.31,Z-244.69

: Sonardyne - parsing R328.09,X216.97,Y26.31,Z-244.69

: Sonardyne - read R = 328.090000 from 328.09,X216.97,Y26.31,Z-244.69

: Sonardyne - got all data, Vehicle coordinates,
    r=328.090000, x=244.690000, y=216.970000, z=-26.310000 tat = 920
: AshtechGps::processRecord() - $GPGGA,214246.00,3636.74487,N,12152.58432,W,1,11,0.7,-2.87,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,214246.00,3636.74487,N,12152.58432,W,1,11,0.7,-2.87,M,-33.30,M,,*75


: successfully parse sentence at 21:42:46

: AshtechGPS::processRecord -sample time is 1145310165
:  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 R327.96

: Sonardyne - parsing R327.96

: Sonardyne - read R = 327.960000 from 327.96

: Sonardyne - got range only (327.960000), tat = 890
: Sonardyne - POSD response: 
POSD S124.1,N27.1,D3,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S124.1,N27.1,D3,U0,Q0.000000

: AshtechGps::processRecord() - $GPGGA,214247.00,3636.74485,N,12152.58416,W,1,11,0.7,-2.88,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214247.00,3636.74485,N,12152.58416,W,1,11,0.7,-2.88,M,-33.30,M,,*7F


: successfully parse sentence at 21:42:47

: AshtechGPS::processRecord -sample time is 1145310166
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214248.00,3636.74471,N,12152.58406,W,1,11,0.7,-2.54,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214248.00,3636.74471,N,12152.58406,W,1,11,0.7,-2.54,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:48

: AshtechGPS::processRecord -sample time is 1145310167
: Sonardyne - POS response: 
POS V4,1 R327.90,X194.57,Y27.44,Z-262.51

: Sonardyne - parsing R327.90,X194.57,Y27.44,Z-262.51

: Sonardyne - read R = 327.900000 from 327.90,X194.57,Y27.44,Z-262.51

: Sonardyne - got all data, Vehicle coordinates,
    r=327.900000, x=262.510000, y=194.570000, z=-27.440000 tat = 910
:  wdt = 00898,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214249.00,3636.74451,N,12152.58374,W,1,11,0.7,-2.29,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214249.00,3636.74451,N,12152.58374,W,1,11,0.7,-2.29,M,-33.30,M,,*70


: successfully parse sentence at 21:42:49

: AshtechGPS::processRecord -sample time is 1145310168
: Sonardyne - POS response: 
POS V4,1 R327.52

: Sonardyne - parsing R327.52

: Sonardyne - read R = 327.520000 from 327.52

: Sonardyne - got range only (327.520000), tat = 890
: Sonardyne - POSD response: 
POSD S121.7,N24.7,D-87,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S121.7,N24.7,D-87,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,214250.00,3636.74415,N,12152.58350,W,1,11,0.7,-2.28,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214250.00,3636.74415,N,12152.58350,W,1,11,0.7,-2.28,M,-33.30,M,,*7F


: successfully parse sentence at 21:42:50

: AshtechGPS::processRecord -sample time is 1145310169
:  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 R326.40,X169.86,Y-19.54,Z-278.03

: Sonardyne - parsing R326.40,X169.86,Y-19.54,Z-278.03

: Sonardyne - read R = 326.400000 from 326.40,X169.86,Y-19.54,Z-278.03

: Sonardyne - got all data, Vehicle coordinates,
    r=326.400000, x=278.030000, y=169.860000, z=19.540000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214251.00,3636.74395,N,12152.58321,W,1,11,0.7,-2.35,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214251.00,3636.74395,N,12152.58321,W,1,11,0.7,-2.35,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:51

: AshtechGPS::processRecord -sample time is 1145310170
:  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 R325.68,X155.46,Y-3.55,Z-286.16

: Sonardyne - parsing R325.68,X155.46,Y-3.55,Z-286.16

: Sonardyne - read R = 325.680000 from 325.68,X155.46,Y-3.55,Z-286.16

: Sonardyne - got all data, Vehicle coordinates,
    r=325.680000, x=286.160000, y=155.460000, z=3.550000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214252.00,3636.74368,N,12152.58299,W,1,11,0.7,-2.50,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214252.00,3636.74368,N,12152.58299,W,1,11,0.7,-2.50,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:52

: AshtechGPS::processRecord -sample time is 1145310171
:  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 R324.90,X158.34,Y-36.64,Z-281.33

: Sonardyne - parsing R324.90,X158.34,Y-36.64,Z-281.33

: Sonardyne - read R = 324.900000 from 324.90,X158.34,Y-36.64,Z-281.33

: Sonardyne - got all data, Vehicle coordinates,
    r=324.900000, x=281.330000, y=158.340000, z=36.640000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214253.00,3636.74348,N,12152.58278,W,1,11,0.7,-3.02,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,214253.00,3636.74348,N,12152.58278,W,1,11,0.7,-3.02,M,-33.30,M,,*71


: successfully parse sentence at 21:42:53

: AshtechGPS::processRecord -sample time is 1145310172
:  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 R324.45,X145.64,Y-21.12,Z-289.15

: Sonardyne - parsing R324.45,X145.64,Y-21.12,Z-289.15

: Sonardyne - read R = 324.450000 from 324.45,X145.64,Y-21.12,Z-289.15

: Sonardyne - got all data, Vehicle coordinates,
    r=324.450000, x=289.150000, y=145.640000, z=21.120000 tat = 910
: BluefinBatt Reply: $aaq0 d- 31.00  2.52 18.26 3.87 3.89 0  2644.17 01:35:26 m

: AshtechGps::processRecord() - $GPGGA,214254.00,3636.74351,N,12152.58276,W,1,11,0.7,-3.33,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,214254.00,3636.74351,N,12152.58276,W,1,11,0.7,-3.33,M,-33.30,M,,*72


: successfully parse sentence at 21:42:54

: AshtechGPS::processRecord -sample time is 1145310173
:  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 R324.53,X136.08,Y17.14,Z-294.12

: Sonardyne - parsing R324.53,X136.08,Y17.14,Z-294.12

: Sonardyne - read R = 324.530000 from 324.53,X136.08,Y17.14,Z-294.12

: Sonardyne - got all data, Vehicle coordinates,
    r=324.530000, x=294.120000, y=136.080000, z=-17.140000 tat = 910
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,214255.00,3636.74364,N,12152.58284,W,1,11,0.7,-3.47,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214255.00,3636.74364,N,12152.58284,W,1,11,0.7,-3.47,M,-33.30,M,,*7B


: successfully parse sentence at 21:42:55

: AshtechGPS::processRecord -sample time is 1145310174
:  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 R324.90,X130.93,Y27.67,Z-296.07

: Sonardyne - parsing R324.90,X130.93,Y27.67,Z-296.07

: Sonardyne - read R = 324.900000 from 324.90,X130.93,Y27.67,Z-296.07

: Sonardyne - got all data, Vehicle coordinates,
    r=324.900000, x=296.070000, y=130.930000, z=-27.670000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214256.00,3636.74372,N,12152.58284,W,1,11,0.7,-3.14,M,-33.30,M,,*79

: GpsUtils::parseFix() - $GPGGA,214256.00,3636.74372,N,12152.58284,W,1,11,0.7,-3.14,M,-33.30,M,,*79


: successfully parse sentence at 21:42:56

: AshtechGPS::processRecord -sample time is 1145310175
:  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 R325.43,X124.23,Y15.32,Z-300.40

: Sonardyne - parsing R325.43,X124.23,Y15.32,Z-300.40

: Sonardyne - read R = 325.430000 from 325.43,X124.23,Y15.32,Z-300.40

: Sonardyne - got all data, Vehicle coordinates,
    r=325.430000, x=300.400000, y=124.230000, z=-15.320000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214257.00,3636.74369,N,12152.58277,W,1,11,0.7,-3.07,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,214257.00,3636.74369,N,12152.58277,W,1,11,0.7,-3.07,M,-33.30,M,,*7C


: successfully parse sentence at 21:42:57

: AshtechGPS::processRecord -sample time is 1145310176
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R325.44,X116.42,Y-4.84,Z-303.86

: Sonardyne - parsing R325.44,X116.42,Y-4.84,Z-303.86

: Sonardyne - read R = 325.440000 from 325.44,X116.42,Y-4.84,Z-303.86

: Sonardyne - got all data, Vehicle coordinates,
    r=325.440000, x=303.860000, y=116.420000, z=4.840000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214258.00,3636.74370,N,12152.58269,W,1,11,0.7,-2.89,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,214258.00,3636.74370,N,12152.58269,W,1,11,0.7,-2.89,M,-33.30,M,,*73


: successfully parse sentence at 21:42:58

: AshtechGPS::processRecord -sample time is 1145310177
:  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 R325.62,X101.33,Y50.22,Z-305.35

: Sonardyne - parsing R325.62,X101.33,Y50.22,Z-305.35

: Sonardyne - read R = 325.620000 from 325.62,X101.33,Y50.22,Z-305.35

: Sonardyne - got all data, Vehicle coordinates,
    r=325.620000, x=305.350000, y=101.330000, z=-50.220000 tat = 909
: AshtechGps::processRecord() - $GPGGA,214259.00,3636.74355,N,12152.58238,W,1,11,0.7,-2.51,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,214259.00,3636.74355,N,12152.58238,W,1,11,0.7,-2.51,M,-33.30,M,,*74


: successfully parse sentence at 21:42:59

: AshtechGPS::processRecord -sample time is 1145310178
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R325.73,X93.61,Y-68.90,Z-304.29

: Sonardyne - parsing R325.73,X93.61,Y-68.90,Z-304.29

: Sonardyne - read R = 325.730000 from 325.73,X93.61,Y-68.90,Z-304.29

: Sonardyne - got all data, Vehicle coordinates,
    r=325.730000, x=304.290000, y=93.610000, z=68.900000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214300.00,3636.74325,N,12152.58212,W,1,11,0.7,-2.67,M,-33.30,M,,*73

: GpsUtils::parseFix() - $GPGGA,214300.00,3636.74325,N,12152.58212,W,1,11,0.7,-2.67,M,-33.30,M,,*73


: successfully parse sentence at 21:43:0

: AshtechGPS::processRecord -sample time is 1145310179
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Sonardyne - POS response: 
POS V4,1 R324.49,X96.10,Y40.49,Z-307.28

: Sonardyne - parsing R324.49,X96.10,Y40.49,Z-307.28

: Sonardyne - read R = 324.490000 from 324.49,X96.10,Y40.49,Z-307.28

: Sonardyne - got all data, Vehicle coordinates,
    r=324.490000, x=307.280000, y=96.100000, z=-40.490000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214301.00,3636.74303,N,12152.58187,W,1,11,0.7,-2.37,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,214301.00,3636.74303,N,12152.58187,W,1,11,0.7,-2.37,M,-33.30,M,,*7C


: successfully parse sentence at 21:43:1

: AshtechGPS::processRecord -sample time is 1145310180
:  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 R323.63,X84.99,Y-35.83,Z-310.21

: Sonardyne - parsing R323.63,X84.99,Y-35.83,Z-310.21

: Sonardyne - read R = 323.630000 from 323.63,X84.99,Y-35.83,Z-310.21

: Sonardyne - got all data, Vehicle coordinates,
    r=323.630000, x=310.210000, y=84.990000, z=35.830000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214302.00,3636.74272,N,12152.58164,W,1,11,0.7,-2.73,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,214302.00,3636.74272,N,12152.58164,W,1,11,0.7,-2.73,M,-33.30,M,,*75


: successfully parse sentence at 21:43:2

: AshtechGPS::processRecord -sample time is 1145310181
:  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 R322.95,X98.42,Y10.79,Z-307.40

: Sonardyne - parsing R322.95,X98.42,Y10.79,Z-307.40

: Sonardyne - read R = 322.950000 from 322.95,X98.42,Y10.79,Z-307.40

: Sonardyne - got all data, Vehicle coordinates,
    r=322.950000, x=307.400000, y=98.420000, z=-10.790000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214303.00,3636.74254,N,12152.58151,W,1,11,0.7,-2.85,M,-33.30,M,,*7F

: GpsUtils::parseFix() - $GPGGA,214303.00,3636.74254,N,12152.58151,W,1,11,0.7,-2.85,M,-33.30,M,,*7F


: successfully parse sentence at 21:43:3

: AshtechGPS::processRecord -sample time is 1145310182
:  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 R322.41,X89.18,Y-15.47,Z-309.44

: Sonardyne - parsing R322.41,X89.18,Y-15.47,Z-309.44

: Sonardyne - read R = 322.410000 from 322.41,X89.18,Y-15.47,Z-309.44

: Sonardyne - got all data, Vehicle coordinates,
    r=322.410000, x=309.440000, y=89.180000, z=15.470000 tat = 910
: BluefinBatt Reply: $aaq0 d- 31.00  2.99 18.26 3.87 3.89 0  2643.86 01:35:36 m

: AshtechGps::processRecord() - $GPGGA,214304.00,3636.74238,N,12152.58138,W,1,11,0.7,-3.11,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,214304.00,3636.74238,N,12152.58138,W,1,11,0.7,-3.11,M,-33.30,M,,*71


: successfully parse sentence at 21:43:4

: AshtechGPS::processRecord -sample time is 1145310183
:  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 R322.09,X87.77,Y-2.80,Z-309.89

: Sonardyne - parsing R322.09,X87.77,Y-2.80,Z-309.89

: Sonardyne - read R = 322.090000 from 322.09,X87.77,Y-2.80,Z-309.89

: Sonardyne - got all data, Vehicle coordinates,
    r=322.090000, x=309.890000, y=87.770000, z=2.800000 tat = 900
: batts online 1, min cell voltage 3.870000, mean min cell voltage 3.870000

: AshtechGps::processRecord() - $GPGGA,214305.00,3636.74236,N,12152.58138,W,1,12,0.7,-2.71,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214305.00,3636.74236,N,12152.58138,W,1,12,0.7,-2.71,M,-33.30,M,,*7A


: successfully parse sentence at 21:43:5

: AshtechGPS::processRecord -sample time is 1145310184
:  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 R322.01,X76.77,Y13.81,Z-312.43

: Sonardyne - parsing R322.01,X76.77,Y13.81,Z-312.43

: Sonardyne - read R = 322.010000 from 322.01,X76.77,Y13.81,Z-312.43

: Sonardyne - got all data, Vehicle coordinates,
    r=322.010000, x=312.430000, y=76.770000, z=-13.810000 tat = 910
: AshtechGps::processRecord() - $GPGGA,214306.00,3636.74236,N,12152.58126,W,1,12,0.7,-2.83,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214306.00,3636.74236,N,12152.58126,W,1,12,0.7,-2.83,M,-33.30,M,,*7B


: successfully parse sentence at 21:43:6

: AshtechGPS::processRecord -sample time is 1145310185
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214307.00,3636.74237,N,12152.58131,W,1,12,0.7,-2.89,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,214307.00,3636.74237,N,12152.58131,W,1,12,0.7,-2.89,M,-33.30,M,,*77


: successfully parse sentence at 21:43:7

: AshtechGPS::processRecord -sample time is 1145310186
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214308.00,3636.74242,N,12152.58123,W,1,12,0.7,-2.84,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,214308.00,3636.74242,N,12152.58123,W,1,12,0.7,-2.84,M,-33.30,M,,*74


: successfully parse sentence at 21:43:8

: AshtechGPS::processRecord -sample time is 1145310187
:  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,N5.4,D0,U0,Q0.000000

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

: AshtechGps::processRecord() - $GPGGA,214309.00,3636.74233,N,12152.58111,W,1,12,0.7,-2.55,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,214309.00,3636.74233,N,12152.58111,W,1,12,0.7,-2.55,M,-33.30,M,,*7E


: successfully parse sentence at 21:43:9

: AshtechGPS::processRecord -sample time is 1145310188
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214310.00,3636.74217,N,12152.58097,W,1,12,0.7,-2.23,M,-33.30,M,,*7E

: GpsUtils::parseFix() - $GPGGA,214310.00,3636.74217,N,12152.58097,W,1,12,0.7,-2.23,M,-33.30,M,,*7E


: successfully parse sentence at 21:43:10

: AshtechGPS::processRecord -sample time is 1145310189
: Sonardyne - POS response: 
POS V4,1 R322.55,X44.21,Y-6.26,Z-319.45

: Sonardyne - parsing R322.55,X44.21,Y-6.26,Z-319.45

: Sonardyne - read R = 322.550000 from 322.55,X44.21,Y-6.26,Z-319.45

: Sonardyne - got all data, Vehicle coordinates,
    r=322.550000, x=319.450000, y=44.210000, z=6.260000 tat = 910
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214311.00,3636.74187,N,12152.58060,W,1,12,0.7,-2.09,M,-33.30,M,,*75

: GpsUtils::parseFix() - $GPGGA,214311.00,3636.74187,N,12152.58060,W,1,12,0.7,-2.09,M,-33.30,M,,*75


: successfully parse sentence at 21:43:11

: AshtechGPS::processRecord -sample time is 1145310190
: Sonardyne - POS response: 
POS V4,1 R321.68,X27.21,Y-11.77,Z-320.31

: Sonardyne - parsing R321.68,X27.21,Y-11.77,Z-320.31

: Sonardyne - read R = 321.680000 from 321.68,X27.21,Y-11.77,Z-320.31

: Sonardyne - got all data, Vehicle coordinates,
    r=321.680000, x=320.310000, y=27.210000, z=11.770000 tat = 910
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214312.00,3636.74157,N,12152.58041,W,1,12,0.7,-2.49,M,-33.30,M,,*7C

: GpsUtils::parseFix() - $GPGGA,214312.00,3636.74157,N,12152.58041,W,1,12,0.7,-2.49,M,-33.30,M,,*7C


: successfully parse sentence at 21:43:12

: AshtechGPS::processRecord -sample time is 1145310191
: Sonardyne - POS response: 
POS V4,1 R320.96,X34.63,Y3.70,Z-319.06

: Sonardyne - parsing R320.96,X34.63,Y3.70,Z-319.06

: Sonardyne - read R = 320.960000 from 320.96,X34.63,Y3.70,Z-319.06

: Sonardyne - got all data, Vehicle coordinates,
    r=320.960000, x=319.060000, y=34.630000, z=-3.700000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214313.00,3636.74149,N,12152.58028,W,1,12,0.7,-2.55,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214313.00,3636.74149,N,12152.58028,W,1,12,0.7,-2.55,M,-33.30,M,,*70


: successfully parse sentence at 21:43:13

: AshtechGPS::processRecord -sample time is 1145310192
: Sonardyne - POS response: 
POS V4,1 R320.38,X41.49,Y10.67,Z-317.50

: Sonardyne - parsing R320.38,X41.49,Y10.67,Z-317.50

: Sonardyne - read R = 320.380000 from 320.38,X41.49,Y10.67,Z-317.50

: Sonardyne - got all data, Vehicle coordinates,
    r=320.380000, x=317.500000, y=41.490000, z=-10.670000 tat = 899
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.00  3.57 18.26 3.87 3.89 0  2643.63 01:35:46 m

: AshtechGps::processRecord() - $GPGGA,214314.00,3636.74133,N,12152.58020,W,1,12,0.7,-2.46,M,-33.30,M,,*70

: GpsUtils::parseFix() - $GPGGA,214314.00,3636.74133,N,12152.58020,W,1,12,0.7,-2.46,M,-33.30,M,,*70


: successfully parse sentence at 21:43:14

: AshtechGPS::processRecord -sample time is 1145310193
: Sonardyne - POS response: 
POS V4,1 R320.23,X21.91,Y-0.17,Z-319.48

: Sonardyne - parsing R320.23,X21.91,Y-0.17,Z-319.48

: Sonardyne - read R = 320.230000 from 320.23,X21.91,Y-0.17,Z-319.48

: Sonardyne - got all data, Vehicle coordinates,
    r=320.230000, x=319.480000, y=21.910000, z=0.170000 tat = 900
:  wdt = 00892,  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,214315.00,3636.74114,N,12152.58018,W,1,13,0.7,-2.70,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214315.00,3636.74114,N,12152.58018,W,1,13,0.7,-2.70,M,-33.30,M,,*7B


: successfully parse sentence at 21:43:15

: AshtechGPS::processRecord -sample time is 1145310194
: Sonardyne - POS response: 
POS V4,1 R320.01,X28.16,Y-7.90,Z-318.67

: Sonardyne - parsing R320.01,X28.16,Y-7.90,Z-318.67

: Sonardyne - read R = 320.010000 from 320.01,X28.16,Y-7.90,Z-318.67

: Sonardyne - got all data, Vehicle coordinates,
    r=320.010000, x=318.670000, y=28.160000, z=7.900000 tat = 900
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214316.00,3636.74108,N,12152.58005,W,1,13,0.7,-2.60,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,214316.00,3636.74108,N,12152.58005,W,1,13,0.7,-2.60,M,-33.30,M,,*78


: successfully parse sentence at 21:43:16

: AshtechGPS::processRecord -sample time is 1145310195
: Sonardyne - POS response: 
POS V4,1 R319.55,X20.88,Y7.24,Z-318.79

: Sonardyne - parsing R319.55,X20.88,Y7.24,Z-318.79

: Sonardyne - read R = 319.550000 from 319.55,X20.88,Y7.24,Z-318.79

: Sonardyne - got all data, Vehicle coordinates,
    r=319.550000, x=318.790000, y=20.880000, z=-7.240000 tat = 900
:  wdt = 00890,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214317.00,3636.74095,N,12152.58003,W,1,13,0.7,-2.51,M,-33.30,M,,*78

: GpsUtils::parseFix() - $GPGGA,214317.00,3636.74095,N,12152.58003,W,1,13,0.7,-2.51,M,-33.30,M,,*78


: successfully parse sentence at 21:43:17

: AshtechGPS::processRecord -sample time is 1145310196
: Sonardyne - POS response: 
POS V4,1 R319.49,X21.95,Y-10.63,Z-318.56

: Sonardyne - parsing R319.49,X21.95,Y-10.63,Z-318.56

: Sonardyne - read R = 319.490000 from 319.49,X21.95,Y-10.63,Z-318.56

: Sonardyne - got all data, Vehicle coordinates,
    r=319.490000, x=318.560000, y=21.950000, z=10.630000 tat = 900
:  wdt = 00899,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214318.00,3636.74083,N,12152.57997,W,1,13,0.7,-2.63,M,-33.30,M,,*7A

: GpsUtils::parseFix() - $GPGGA,214318.00,3636.74083,N,12152.57997,W,1,13,0.7,-2.63,M,-33.30,M,,*7A


: successfully parse sentence at 21:43:18

: AshtechGPS::processRecord -sample time is 1145310197
: Sonardyne - POS response: 
POS V4,1 R319.35

: Sonardyne - parsing R319.35

: Sonardyne - read R = 319.350000 from 319.35

: Sonardyne - got range only (319.350000), tat = 880
: Sonardyne - POSD response: 
POSD S137.6,N27.4,D0,U0,Q0.000000

: Sonardyne - POSD response: 
POSD S137.6,N27.4,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,214319.00,3636.74072,N,12152.57980,W,1,13,0.7,-2.32,M,-33.30,M,,*77

: GpsUtils::parseFix() - $GPGGA,214319.00,3636.74072,N,12152.57980,W,1,13,0.7,-2.32,M,-33.30,M,,*77


: successfully parse sentence at 21:43:19

: AshtechGPS::processRecord -sample time is 1145310198
: Sonardyne - POS response: 
POS V4,1 R318.78,X2.29,Y18.43,Z-318.24

: Sonardyne - parsing R318.78,X2.29,Y18.43,Z-318.24

: Sonardyne - read R = 318.780000 from 318.78,X2.29,Y18.43,Z-318.24

: Sonardyne - got all data, Vehicle coordinates,
    r=318.780000, x=318.240000, y=2.290000, z=-18.430000 tat = 900
:  wdt = 00897,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214320.00,3636.74055,N,12152.57964,W,1,13,0.7,-2.45,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,214320.00,3636.74055,N,12152.57964,W,1,13,0.7,-2.45,M,-33.30,M,,*72


: successfully parse sentence at 21:43:20

: AshtechGPS::processRecord -sample time is 1145310199
: Sonardyne - POS response: 
POS V4,1 R318.43,X9.58,Y-18.32,Z-317.75

: Sonardyne - parsing R318.43,X9.58,Y-18.32,Z-317.75

: Sonardyne - read R = 318.430000 from 318.43,X9.58,Y-18.32,Z-317.75

: Sonardyne - got all data, Vehicle coordinates,
    r=318.430000, x=317.750000, y=9.580000, z=18.320000 tat = 900
:  wdt = 00896,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214321.00,3636.74050,N,12152.57956,W,1,13,0.7,-2.57,M,-33.30,M,,*74

: GpsUtils::parseFix() - $GPGGA,214321.00,3636.74050,N,12152.57956,W,1,13,0.7,-2.57,M,-33.30,M,,*74


: successfully parse sentence at 21:43:21

: AshtechGPS::processRecord -sample time is 1145310200
: Sonardyne - POS response: 
POS V4,1 R318.36,X18.48,Y28.62,Z-316.53

: Sonardyne - parsing R318.36,X18.48,Y28.62,Z-316.53

: Sonardyne - read R = 318.360000 from 318.36,X18.48,Y28.62,Z-316.53

: Sonardyne - got all data, Vehicle coordinates,
    r=318.360000, x=316.530000, y=18.480000, z=-28.620000 tat = 900
:  wdt = 00895,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214322.00,3636.74045,N,12152.57956,W,1,13,0.7,-2.39,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214322.00,3636.74045,N,12152.57956,W,1,13,0.7,-2.39,M,-33.30,M,,*7B


: successfully parse sentence at 21:43:22

: AshtechGPS::processRecord -sample time is 1145310201
: Sonardyne - POS response: 
POS V4,1 R317.87,X17.05,Y-5.07,Z-317.37

: Sonardyne - parsing R317.87,X17.05,Y-5.07,Z-317.37

: Sonardyne - read R = 317.870000 from 317.87,X17.05,Y-5.07,Z-317.37

: Sonardyne - got all data, Vehicle coordinates,
    r=317.870000, x=317.370000, y=17.050000, z=5.070000 tat = 900
:  wdt = 00894,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: AshtechGps::processRecord() - $GPGGA,214323.00,3636.74029,N,12152.57941,W,1,13,0.7,-2.25,M,-33.30,M,,*7B

: GpsUtils::parseFix() - $GPGGA,214323.00,3636.74029,N,12152.57941,W,1,13,0.7,-2.25,M,-33.30,M,,*7B


: successfully parse sentence at 21:43:23

: AshtechGPS::processRecord -sample time is 1145310202
: Sonardyne - POS response: 
POS V4,1 R317.92,X9.07,Y-5.31,Z-317.75

: Sonardyne - parsing R317.92,X9.07,Y-5.31,Z-317.75

: Sonardyne - read R = 317.920000 from 317.92,X9.07,Y-5.31,Z-317.75

: Sonardyne - got all data, Vehicle coordinates,
    r=317.920000, x=317.750000, y=9.070000, z=5.310000 tat = 900
:  wdt = 00893,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: BluefinBatt Reply: $aaq0 d- 31.00  2.99 18.26 3.87 3.89 0  2643.27 01:35:56 m

: AshtechGps::processRecord() - $GPGGA,214324.00,3636.74008,N,12152.57915,W,1,13,0.7,-2.29,M,-33.30,M,,*72

: GpsUtils::parseFix() - $GPGGA,214324.00,3636.74008,N,12152.57915,W,1,13,0.7,-2.29,M,-33.30,M,,*72


: successfully parse sentence at 21:43:24

: AshtechGPS::processRecord -sample time is 1145310203
: Sonardyne - POS response: 
POS V4,1 R318.03,X18.39,Y-8.89,Z-317.37

: Sonardyne - parsing R318.03,X18.39,Y-8.89,Z-317.37

: Sonardyne - read R = 318.030000 from 318.03,X18.39,Y-8.89,Z-317.37

: Sonardyne - got all data, Vehicle coordinates,
    r=318.030000, x=317.370000, y=18.390000, z=8.890000 tat = 900
:  wdt = 00892,  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,214325.00,3636.73992,N,12152.57910,W,1,13,0.7,-2.45,M,-33.30,M,,*71

: GpsUtils::parseFix() - $GPGGA,214325.00,3636.73992,N,12152.57910,W,1,13,0.7,-2.45,M,-33.30,M,,*71


: successfully parse sentence at 21:43:25

: AshtechGPS::processRecord -sample time is 1145310204
: Sonardyne - POS response: 
POS V4,1 R317.60,X13.40,Y5.37,Z-317.27

: Sonardyne - parsing R317.60,X13.40,Y5.37,Z-317.27

: Sonardyne - read R = 317.600000 from 317.60,X13.40,Y5.37,Z-317.27

: Sonardyne - got all data, Vehicle coordinates,
    r=317.600000, x=317.270000, y=13.400000, z=-5.370000 tat = 900
:  wdt = 00891,  bwt = 00000,  WDC = 0,  ACommsDN = 0,  DW_out = 0,   GulperSolenoidOut = 0,   GulperProxIn = 1,   GulperHighSideStat = 1,   GulperSolenoidFB = 0

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit()
: TaskServer::signalHandler() for task AhrsIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task DvlIFServer - exit()
: TaskServer::signalHandler() for task UsblIFServer - exit()
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit()
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task DynamicControlIFServer - exit()
: TaskServer::signalHandler() for task TailConeIFServer - exit()
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: TaskServer::signalHandler() for task ctdDriver - exit()
: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
:  Fan Destructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: StepGetStat(2): checksum error
: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object crossbowCommand ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****


//10/home/dorado1/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00036D68.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit()
: TaskServer::signalHandler() for task LayeredControlIFServer - exit()
: TaskServer::signalHandler() for task ExternalCommsIFServer - exit()
: **** 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 ****

: TaskServer::signalHandler() for task NavigationIFServer - exit()
: TaskServer::signalHandler() for task GpsIFServer - exit()

//10/home/dorado1/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:000218F4.
: TaskServer::signalHandler() for task UsblIFServer - exit()
: **** SharedData destructor for object crossbowOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: TaskServer::signalHandler() for task ctdDriver - exit()
: TaskServer::signalHandler() for task FanIFServer - exit()
: TaskServer::signalHandler() for task DropWeightIFServer - exit()
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:00023FBF.
