Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervi: Initializing worksiteServer
sor::cre: WorkSite::WorkSite -- Adding attributes
ate: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/workSite.cfg
Task() - vehicleConfigurationServer
Superv: Using default vehicle config file "/home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/vehicle.cfg"
isor::createTask() - externalCommsServer
Superviso: WorkSite::WorkSite -- Finished loading parameters
r::: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
cre: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
ate: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
Task: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
() : 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
- n: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
avi: WorkSite server: 0x230e0
gationServer
Super: New Navigation component constructor
v: Navigation - Using only the Dvl to compute altitude.
isor::createTask() - layeredControlServer
Superv: layeredControlServer - creatinging Dyno
isor::createTask() - dynamicControlSer: DynoLayeredControlServer ctor
ver
: DynoLayeredControlServer spawnAuxTasks
: layeredControl - instantiating DynoLayeredControl
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Su: SerialDevice: done...

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

ateT: SerialDevice: done...

ask() - gpsServer
Su: Preparing to fork

perv: I'm the child...forking

isor::createTas: SerialDevice: done...

k() - parosciSer: SerialDevice: done...

ver
Supervisor::createTask() - s: Gps: initializing

eab: SerialDevice: done...

ir: SerialDevice: done...

dServe: SerialDevice: done...

: SerialDevice: done...

r
Su: Crossbow.cc: In getSerialNumber()
pervisor::createTask() - seabi: seabirdDriver RUNNING...

rdServer
Supe: SerialDevice: done...

rvisor::createTask() - isusS: seabirdDriver RUNNING...

erver
Supervisor::createTask() - bluefinBattDriver
Sup: Seabird/ctdDriver -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver.cfg

ervi: BluefinBatt driver - running with 3 batteries
sor::cr: SerialDevice: done...

eate: Seabird/ctdDriver2 -- Loading CTD constants from /home/dorado1/auv_autonomy/auv/altex/onboard/config/dorado389/ctdDriver2.cfg

Ta: BluefineBatt::init() - 3 batteries on 10 second interval
sk() - hydroscatS: BluefinBatt.cc - Looking for Parosci server
erver: SerialDevice: done...


Sup: BluefinBatt::init() - querying for batt ids
erv: ahrs if is Ahrs

isor::: BluefinBatt::init() - battery echo is !?


createTask() - lisst: SerialDevice: done...

: IsusLog.cc -- beginning constructor...


Sup: isusLog.cc -- constructor succeeded

ervis: SerialDeviceDriver::initialize()
or:: Isus:initializing Isus with lamp on...
:crea: CTD/ctdDriver -- Calibration constants:
	T_a  = 3.681213e-003
	T_b  = 6.026887e-004
	T_c  = 1.595292e-005
	T_d  = 2.081414e-006
	T_f0 = 2793.184000
	C_a  = 3.313488e-017
	C_b  = 1.567898e+000
	C_c  = -10.654399
	C_d  = 7.476148e-006
	C_m  = 17.800
	EPS  = -9.570000e-008
	SOc  = 3.815000e-001
	BOc  = 0.000000e+000
	Voff = -5.409000e-001
	TCor = 2.000000e-004
	PCor = 1.350000e-004

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

() - biolumeDr: CTD/ctdDriver2 -- Calibration constants:
	T_a  = 3.681215e-003
	T_b  = 6.062011e-004
	T_c  = 1.689511e-005
	T_d  = 1.806466e-006
	T_f0 = 3021.935000
	C_a  = 1.577693e-004
	C_b  = 1.594725e+000
	C_c  = -10.944307
	C_d  = -8.549211e-005
	C_m  = 3.800
	EPS  = -9.570000e-008
	SOc  = 0.000000e+000
	BOc  = 0.000000e+000
	Voff = 0.000000e+000
	TCor = 0.000000e+000
	PCor = 0.000000e+000

i: CTDLog.cc -- beginning constructor...

v: Seabird/ctdDriver2::Seabird() - create interface to depth sensor...
er
: CTDLog.cc -- constructor succeeded

Sup: Seabird/ctdDriver2 -- constructing Log...

erv: Seabird/ctdDriver -- constructor succeeded

isor::: seabirdDriver -- constructor succeeded

cre: Seabird/ctdDriver:initializing Seabird...

ateTask: CTDLog.cc -- beginning constructor...

() : CTDLog.cc -- constructor succeeded

- : Seabird/ctdDriver2 -- constructor succeeded

dvl: seabirdDriver -- constructor succeeded

Ser: Seabird/ctdDriver2:initializing Seabird...

ver
Supe: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
r: DynoLayeredControl ctor

vi: DynoLayeredControl initialize

sor::crea: SerialDeviceDriver::initialize()
teTask() - fanServer
S: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

upervis: BiolumeDriver::processRecord() - parse error
or:: **** EventTriggers::add() - attaching proxy
:createTask() - dropWeiTask::spawnServer() - execlp() of "fan" failed: Operation not permitted
ghtServer
Supervis: BiolumeDriver::processRecord() - parse error
o: SerialDeviceDriver::initialize()
r::createTask() - iridiumDriver: SerialDevice: done...


Supervisor::createTask() - gu:  DropWeight::initialize - Resetting counters.
lpe: **** EventTriggers::add() - attaching proxy
rServer
Supervisor::createTask: SerialDeviceDriver::initialize()
(): 
 Starting DVL Initialization.

 - cl: SerialDevice: done...

: Crossbow.cc: device->read succeeded
uster: m3dmgx1: Serial Number is 3343

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

er
Super: SerialDevice: done...

visor::createTask() - statePublisher
: SerialDevice: done...

: gulperLog:: Before navigation IF.
: gulperLog:: Constructor completed.
: PeriodicTask::run() (gulperDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: StatePublisher -- configuration:
	PublishPeriod = 500 ms
	AMC_IP        = 134.89.32.39
	AMC_PORT      = 8002
	ClusterName   = plume

: StatePublisher: Socket created on fd 10
: StatePublisher: Acquiring interfaces ctd, nav, and tailcone servers
: Cluster - main class created.
: cluster - loading configuration.
: Cluster - loading cluster.cfg
: Cluster: connecting to "Isus"
: Cluster: connecting to "ctdDriver" (ctdDriver)
: Cluster: connecting to "DepthSensor"
: Cluster: classifier plume registered for logging.
: cluster - starting the task.
: PeriodicTask::run() (cluster) - sampleInterval=500, maxInterval=500
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - N,12149.26936,W,1,10,0.8,0.68,M,-32.59,M,,*53

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: CR1
[Parameters set to FACTORY defaults]
>
: PD0
>
: BK1
>
: TP00:00.33
>
: TE00:00:0.00
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

: EX10011
>
: EA+04500
>
: WP0001
>
: WN50
>
:  Dvl::initialize - The number of cells is 50.

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

: EC1490
>
: 
>
:  PD0Header = 7F7FCF04
:  Dvl::initialize() - The DVL is initialized.

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

: 3 Modules found
: AshtechGps::processRecord() - $GPGGA,154546.00,3649.66182,N,12149.26938,W,1,10,0.8,0.40,M,-32.59,M,,*5E

: Hydroscat:non-fatal response to OPEN, continuing...
: AshtechGps::processRecord() - $GPGGA,154547.00,3649.66164,N,12149.26962,W,1,10,0.8,-0.29,M,-32.59,M,,*7A

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver2::initialize() - confirm() timed out; sleep a bit
: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver::initialize() - confirm() timed out; sleep a bit
: Hydroscat:starting Hydroscat...
: Hydroscat:started
: **** EventTriggers::add() - attaching proxy
: Hydroscat::readRecord() ensemble checksum incorrect
: **** EventTriggers::add() - attaching proxy
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat:stopping Hydroscat...
: Isus:time set with val 1198165545 -> Thu Dec 20 15:45:47 2007

: AshtechGps::processRecord() - $GPGGA,154548.00,3649.66171,N,12149.26973,W,1,10,0.8,0.11,M,-32.59,M,,*57

: Lisst::flushReadRecord() - record so far: 
: Isus:comms initialized, warmup countdown begun...
: Isus:starting Isus...
: Isus:started
: Lisst:starting Lisst...
: BluefinBatt::init() - battery ids are 
aa c0 c1  
: BluefinBatt::init() - found battery aa
: BluefinBatt::init() - found battery c0
: BluefinBatt::init() - found battery c1
: BluefinBatt::init() - battery echo is #aawf


: AshtechGps::processRecord() - $GPGGA,154549.00,3649.66161,N,12149.26975,W,1,10,0.8,0.64,M,-32.59,M,,*53

: Hydroscat:starting Hydroscat...
: Hydroscat:started
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: Hydroscat::readRecord() ensemble checksum incorrect
: AshtechGps::processRecord() - $GPGGA,154550.00,3649.66182,N,12149.26961,W,1,10,0.8,0.45,M,-32.59,M,,*50

: Lisst::flushReadRecord() - record so far: 
: Lisst:started
: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,154551.00,3649.66169,N,12149.26973,W,1,10,0.8,0.23,M,-32.59,M,,*57

: Lisst processRecord(): record too short(242)
: **** EventTriggers::add() - attaching proxy
: Parosci.cc -- Initial pressure = 1.087993
: Parosci.cc -- Parosci initial pressure period = 30.067870
: AshtechGps::processRecord() - $GPGGA,154552.00,3649.66169,N,12149.26981,W,1,10,0.8,-0.46,M,-32.59,M,,*77

: Parosci.cc -- Parosci initial temp period = 5.797055
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: Seabird/ctdDriver2: sending configure commands...(19944)

: Seabird/ctdDriver: sending configure commands...(8164)

: AshtechGps::processRecord() - $GPGGA,154553.00,3649.66185,N,12149.26992,W,1,10,0.8,0.37,M,-32.59,M,,*5D

: Seabird/ctdDriver2: setting scans...

: Seabird/ctdDriver: setting scans...

: AshtechGps::processRecord() - $GPGGA,154554.00,3649.66183,N,12149.26966,W,1,10,0.8,0.74,M,-32.59,M,,*50

: BluefinBatt::init() - battery watchdog state is 
$aawf 1
 
: BluefinBatt::init() - battery echo is #c0wf


: StatePublisher: Unable to initialize battery interface
: AshtechGps::processRecord() - $GPGGA,154555.00,3649.66191,N,12149.26924,W,1,10,0.8,0.81,M,-32.59,M,,*5E

: AshtechGps::processRecord() - $GPGGA,154556.00,3649.66174,N,12149.26909,W,1,10,0.8,1.11,M,-32.59,M,,*51

: AshtechGps::processRecord() - $GPGGA,154557.00,3649.66182,N,12149.26908,W,1,10,0.8,0.19,M,-32.59,M,,*51

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: SerialDevice::confirm() - Timed Out
: SerialDevice::confirm() - Timed Out
: AshtechGps::processRecord() - $GPGGA,154558.00,3649.66186,N,12149.26942,W,1,10,0.8,0.07,M,-32.59,M,,*5B

: AshtechGps::processRecord() - $GPGGA,154559.00,3649.66178,N,12149.26967,W,1,10,0.8,-0.10,M,-32.59,M,,*77

: BluefinBatt::init() - battery watchdog state is 
$c0wf 1
 
: BluefinBatt::init() - battery echo is #c1wf


: AshtechGps::processRecord() - $GPGGA,154600.00,3649.66194,N,12149.26976,W,1,10,0.8,0.35,M,-32.59,M,,*50

: AshtechGps::processRecord() - $GPGGA,154601.00,3649.66182,N,12149.26978,W,1,10,0.8,0.75,M,-32.59,M,,*5C

: SerialDevice::confirm() - Timed Out
: Seabird/ctdDriver2: setting pump freq...

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

: AshtechGps::processRecord() - $GPGGA,154602.00,3649.66183,N,12149.26996,W,1,10,0.8,0.69,M,-32.59,M,,*53

: Seabird/ctdDriver2: setting upcast...

: Seabird/ctdDriver: setting upcast...

: Seabird/ctdDriver2: setting battery type...

: Seabird/ctdDriver: setting battery type...

: AshtechGps::processRecord() - $GPGGA,154603.00,3649.66197,N,12149.26970,W,1,10,0.8,0.13,M,-32.59,M,,*52

: Seabird/ctdDriver2: setting external voltages to 6...(19944)

: Seabird/ctdDriver: setting external voltages to 6...(8164)

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: AshtechGps::processRecord() - $GPGGA,154604.00,3649.66207,N,12149.26933,W,1,10,0.8,0.83,M,-32.59,M,,*51

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: BluefinBatt::init() - battery watchdog state is 
$c1wf 1
 
: PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000
: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: StatePublisher: Unable to initialize ctd interface
: PeriodicTask::run() (statePublisher) - sampleInterval=1000, maxInterval=1000
: Seabird/ctdDriver2::initialize() - confirming voltage...

: AshtechGps::processRecord() - $GPGGA,154605.00,3649.66223,N,12149.26906,W,1,10,0.8,0.92,M,-32.59,M,,*50

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

: Seabird/ctdDriver2::initialize() - confirming voltage...

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

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154606.00,3649.66207,N,12149.26910,W,1,10,0.8,0.49,M,-32.59,M,,*54

: Seabird/ctdDriver2::initialize() - disabling switch...

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

: Seabird/ctdDriver2: sending DS command...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Seabird/ctdDriver: sending DS command...

: AshtechGps::processRecord() - $GPGGA,154607.00,3649.66225,N,12149.26913,W,1,10,0.8,-0.13,M,-32.59,M,,*74

: Navigation: Server for aux sensor "Altimeter" not found
: Navigation: Server for aux sensor "Velocimeter" not found
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154608.00,3649.66203,N,12149.26919,W,1,10,0.8,-0.22,M,-32.59,M,,*77

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154609.00,3649.66217,N,12149.26941,W,1,10,0.8,-0.04,M,-32.59,M,,*7A

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154610.00,3649.66216,N,12149.26938,W,1,10,0.8,0.38,M,-32.59,M,,*5F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Seabird/ctdDriver::initialize() - starting logging...

: Seabird/ctdDriver2::initialize() - starting logging...

: AshtechGps::processRecord() - $GPGGA,154611.00,3649.66211,N,12149.26948,W,1,10,0.8,0.64,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154612.00,3649.66219,N,12149.26938,W,1,10,0.8,-0.02,M,-32.59,M,,*76

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

: Ctd/ctdDriver:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: Ctd/ctdDriver2:initialize() - Logging Started...

: Ctd/ctdDriver2:initialize() - ready!
: **** EventTriggers::add() - attaching proxy
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154613.00,3649.66223,N,12149.26957,W,1,10,0.8,-0.06,M,-32.59,M,,*73

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154614.00,3649.66217,N,12149.26951,W,1,10,0.8,0.44,M,-32.59,M,,*5E

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154615.00,3649.66231,N,12149.26939,W,1,10,0.8,0.55,M,-32.59,M,,*55

: BluefinBatt Reply: $aaq0 d- 33.13  0.25 15.33 4.14 4.16 0 23060.29 02:15:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154616.00,3649.66226,N,12149.26930,W,1,10,0.8,0.55,M,-32.59,M,,*59

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154617.00,3649.66237,N,12149.26915,W,1,10,0.8,0.25,M,-32.59,M,,*58

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

:  Navigation: The lat/long in workSite.cfg,  36.820000, -121.821000

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4075553.11, 605151.65

: PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200
: **** EventTriggers::add() - attaching proxy
: BluefinBatt Reply: $c0q0 d- 33.28  1.61 15.62 4.14 4.16 0 14041.23 02:15:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl::execute() -- (t = 0.000000) Behavior setpoint:0 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:0 msg to VcsServer
: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl - depthEnvelope BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
: **** EventTriggers::add() - attaching proxy
: *** Mission started ***

: AshtechGps::processRecord() - $GPGGA,154618.00,3649.66235,N,12149.26911,W,1,10,0.8,0.38,M,-32.59,M,,*5D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154619.00,3649.66239,N,12149.26924,W,1,10,0.8,0.79,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.15  1.44 16.11 4.15 4.16 0  6025.58 02:15:10 m

: AshtechGps::processRecord() - $GPGGA,154620.00,3649.66238,N,12149.26923,W,1,10,0.8,0.18,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl::execute() -- (t = 3.039792) Behavior setpoint:0 has changed to state Finished

: LayeredControl - sending BehaviorFinished:0 msg to VcsServer
: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.143333

: 
***
		Stack empty after processing. Waiting on VCS...

: AshtechGps::processRecord() - $GPGGA,154621.00,3649.66263,N,12149.26914,W,1,10,0.8,-0.10,M,-32.59,M,,*76

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,154622.00,3649.66247,N,12149.26904,W,1,10,0.8,0.41,M,-32.59,M,,*5B

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154623.00,3649.66250,N,12149.26930,W,1,10,0.8,0.39,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: Isus:20 seconds of warmup remaining...
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154624.00,3649.66249,N,12149.26941,W,1,10,0.8,0.37,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154625.00,3649.66253,N,12149.26941,W,1,10,0.8,0.37,M,-32.59,M,,*59

: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion setpoint after pos 2
: DynoLayeredControl::insert - stack now contains 4 behaviors
: LayeredControl::execute() -- (t = 7.299500) Behavior setpoint:3965 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:3965 msg to VcsServer
: BluefinBatt Reply: $aaq0 d- 33.13  0.22 15.33 4.14 4.16 0 23060.24 02:15:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154626.00,3649.66253,N,12149.26946,W,1,10,0.8,0.42,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154627.00,3649.66241,N,12149.26934,W,1,10,0.8,0.91,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.32  0.78 15.62 4.14 4.16 0 14041.13 02:15:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154628.00,3649.66243,N,12149.26940,W,1,10,0.8,1.01,M,-32.59,M,,*50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154629.00,3649.66255,N,12149.26926,W,1,10,0.8,0.63,M,-32.59,M,,*53

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154630.00,3649.66270,N,12149.26905,W,1,10,0.8,0.56,M,-32.59,M,,*5B

: BluefinBatt Reply: $c1q0 d- 33.11  3.13 16.21 4.14 4.16 0  6025.35 02:15:20 m

: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion descend after pos 2
: DynoLayeredControl::insert - stack now contains 5 behaviors
: LayeredControl::execute() -- (t = 12.499144) Behavior setpoint:3965 has changed to state Finished

: LayeredControl - sending BehaviorFinished:3965 msg to VcsServer
: LayeredControl::execute() -- (t = 12.509143) Behavior descend:3923 has changed to state Active

: LayeredControl - descend BehaviorStarted:3923 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154631.00,3649.66272,N,12149.26919,W,1,10,0.8,1.10,M,-32.59,M,,*56

: batts online 3, min cell voltage 4.140000, mean min cell voltage 4.140000

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154632.00,3649.66248,N,12149.26945,W,1,10,0.8,0.71,M,-32.59,M,,*53

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154633.00,3649.66260,N,12149.26988,W,1,10,0.8,0.30,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154634.00,3649.66269,N,12149.26992,W,1,10,0.8,0.13,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154635.00,3649.66279,N,12149.27008,W,1,10,0.8,0.88,M,-32.59,M,,*51

: BluefinBatt Reply: $aaq0 d- 33.01  2.55 15.33 4.14 4.15 0 23060.08 02:15:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154636.00,3649.66265,N,12149.27052,W,1,10,0.8,0.63,M,-32.59,M,,*55

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154637.00,3649.66271,N,12149.27103,W,1,10,0.8,-0.22,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.25  2.30 15.62 4.13 4.15 0 14040.92 02:15:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154638.00,3649.66257,N,12149.27134,W,1,10,0.8,0.45,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154639.00,3649.66241,N,12149.27148,W,1,10,0.8,0.42,M,-32.59,M,,*55

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.41 16.11 4.14 4.16 0  6025.13 02:15:30 m

: AshtechGps::processRecord() - $GPGGA,154640.00,3649.66238,N,12149.27181,W,1,10,0.8,0.38,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,154641.00,3649.66218,N,12149.27219,W,1,10,0.8,0.22,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154642.00,3649.66198,N,12149.27258,W,1,10,0.8,0.49,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154643.00,3649.66169,N,12149.27257,W,1,10,0.8,0.34,M,-32.59,M,,*5D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154644.00,3649.66143,N,12149.27295,W,1,10,0.8,0.17,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154645.00,3649.66112,N,12149.27347,W,1,10,0.8,-0.18,M,-32.59,M,,*74

: BluefinBatt Reply: $aaq0 d- 33.01  2.26 15.33 4.14 4.15 0 23059.94 02:15:35 m

: **** EventTriggers::add() - attaching proxy
: Isus::Buffer full!
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154646.00,3649.66080,N,12149.27406,W,1,10,0.8,-0.34,M,-32.59,M,,*71

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: Isus::select() timeout

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,154647.00,3649.66037,N,12149.27445,W,1,10,0.8,-0.09,M,-32.59,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.21  3.19 15.62 4.13 4.15 0 14040.64 02:15:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154648.00,3649.65994,N,12149.27490,W,1,10,0.8,0.27,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154649.00,3649.65944,N,12149.27444,W,1,10,0.8,1.30,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154650.00,3649.65890,N,12149.27405,W,1,10,0.8,1.32,M,-32.59,M,,*55

: BluefinBatt Reply: $c1q0 d- 33.04  3.72 16.11 4.13 4.15 0  6024.74 02:15:40 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154651.00,3649.65849,N,12149.27391,W,1,10,0.8,0.30,M,-32.59,M,,*59

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.133334

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154652.00,3649.65808,N,12149.27406,W,1,10,0.8,-0.62,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154653.00,3649.65755,N,12149.27454,W,1,10,0.8,-0.60,M,-32.59,M,,*7F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154654.00,3649.65700,N,12149.27483,W,1,10,0.8,-0.29,M,-32.59,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154655.00,3649.65641,N,12149.27475,W,1,10,0.8,0.26,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.05  1.85 15.23 4.13 4.14 0 23059.66 02:15:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154656.00,3649.65569,N,12149.27485,W,1,10,0.8,0.36,M,-32.59,M,,*55

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154657.00,3649.65525,N,12149.27489,W,1,10,0.8,0.25,M,-32.59,M,,*52

: BluefinBatt Reply: $c0q0 d- 33.21  2.94 15.52 4.13 4.14 0 14040.41 02:15:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154658.00,3649.65478,N,12149.27495,W,1,10,0.8,0.06,M,-32.59,M,,*58

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154659.00,3649.65416,N,12149.27496,W,1,10,0.8,-0.14,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  4.44 16.11 4.13 4.15 0  6024.47 02:15:50 m

: AshtechGps::processRecord() - $GPGGA,154700.00,3649.65357,N,12149.27548,W,1,10,0.8,-0.10,M,-32.59,M,,*75

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.130000

: AshtechGps::processRecord() - $GPGGA,154701.00,3649.65292,N,12149.27571,W,1,10,0.8,0.01,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154702.00,3649.65245,N,12149.27589,W,1,10,0.8,0.30,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154703.00,3649.65194,N,12149.27580,W,1,10,0.8,0.49,M,-32.59,M,,*5E

: Isus: processRecord() - bad nitrate data: +1
+0
Entering Scan Loop, press S to break.

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154704.00,3649.65154,N,12149.27583,W,1,10,0.8,0.18,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154705.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.05  1.92 15.33 4.13 4.14 0 23059.49 02:15:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154706.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Isus::select() timeout

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154707.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.21  2.73 15.62 4.13 4.14 0 14040.09 02:15:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154708.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154709.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.65 16.21 4.13 4.15 0  6024.10 02:16:00 m

: AshtechGps::processRecord() - $GPGGA,154710.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.130000

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154711.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154712.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154713.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154714.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154715.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.01  2.82 15.33 4.13 4.14 0 23059.18 02:16:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154716.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154717.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.37 15.62 4.12 4.14 0 14039.86 02:16:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154718.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154719.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.75 16.11 4.13 4.15 0  6023.80 02:16:10 m

: AshtechGps::processRecord() - $GPGGA,154720.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154721.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154722.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154723.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154724.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154725.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.85 15.33 4.13 4.14 0 23058.94 02:16:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154726.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.52
	horzlMode=1 horz=3.38
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154727.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on depth 10.023352 > 10.000000 at time 69.595232

: LayeredControl::execute() -- (t = 69.595232) Behavior descend:3923 has changed to state Finished

: LayeredControl - sending BehaviorFinished:3923 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: BluefinBatt Reply: $c0q0 d- 33.17  3.34 15.72 4.12 4.14 0 14039.44 02:16:17 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154728.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DynoLayeredControlServer insertBehaves
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion waypoint after pos 2
: DynoLayeredControl::insert - stack now contains 6 behaviors
: Waypoint Initialization: 
  Begin waypoint control at t= 70.50                             (wplog)
  The current location (N,E) = 4076364.8      , 605118.0         (wplog)
  The next waypoint          = 4075773.0      , 604971.0         (wplog)
  The bearing to the next w.p. is 193.9 Degrees.

: LayeredControl::execute() -- (t = 70.495171) Behavior waypoint:7990 has changed to state Active

: LayeredControl - waypoint BehaviorStarted:7990 msg to VcsServer
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154729.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.89 16.11 4.13 4.15 0  6023.34 02:16:20 m

: AshtechGps::processRecord() - $GPGGA,154730.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154731.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154732.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154733.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154734.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154735.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.55 15.33 4.13 4.14 0 23058.65 02:16:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154736.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154737.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  3.26 15.72 4.12 4.14 0 14039.21 02:16:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154738.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154739.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.79 16.21 4.13 4.15 0  6023.07 02:16:30 m

: AshtechGps::processRecord() - $GPGGA,154740.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154741.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154742.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154743.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154744.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154745.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.48 15.33 4.13 4.14 0 23058.47 02:16:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154746.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154747.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  3.30 15.82 4.12 4.14 0 14038.87 02:16:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154748.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154749.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154750.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.72 16.30 4.13 4.15 0  6022.66 02:16:40 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154751.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154752.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154753.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154754.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154755.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.44 15.33 4.13 4.14 0 23058.18 02:16:45 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154756.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154757.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  3.66 15.72 4.12 4.14 0 14038.63 02:16:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154758.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154759.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.86 16.21 4.13 4.15 0  6022.37 02:16:50 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154800.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154801.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154802.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154803.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154804.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154805.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.33 15.33 4.13 4.14 0 23057.97 02:16:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154806.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154807.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.26 15.72 4.12 4.14 0 14038.27 02:16:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154808.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154809.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.65 16.21 4.13 4.15 0  6021.94 02:17:00 m

: AshtechGps::processRecord() - $GPGGA,154810.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154811.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154812.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154813.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154814.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154815.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.01  2.63 15.33 4.13 4.14 0 23057.68 02:17:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154816.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154817.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.16 15.72 4.12 4.14 0 14038.03 02:17:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154818.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154819.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  4.30 16.21 4.13 4.15 0  6021.64 02:17:10 m

: AshtechGps::processRecord() - $GPGGA,154820.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154821.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154822.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154823.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154824.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154825.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.01  2.52 15.23 4.13 4.14 0 23057.52 02:17:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154826.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154827.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.44 15.72 4.12 4.14 0 14037.67 02:17:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154828.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154829.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154830.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.55 16.21 4.13 4.15 0  6021.19 02:17:20 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154831.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154832.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154833.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154834.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154835.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.33 15.33 4.13 4.14 0 23057.27 02:17:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154836.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154837.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.44 15.62 4.12 4.14 0 14037.43 02:17:27 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154838.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154839.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.62 16.21 4.13 4.15 0  6020.90 02:17:30 m

: AshtechGps::processRecord() - $GPGGA,154840.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154841.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154842.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154843.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154844.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154845.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.41 15.23 4.13 4.14 0 23057.11 02:17:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154846.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154847.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  2.91 15.72 4.12 4.14 0 14037.07 02:17:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154848.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154849.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154850.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.04  3.51 16.21 4.12 4.15 0  6020.46 02:17:40 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154851.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154852.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154853.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154854.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154855.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.41 15.33 4.13 4.14 0 23056.84 02:17:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154856.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154857.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  2.94 15.62 4.12 4.14 0 14036.79 02:17:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154858.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154859.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.72 16.21 4.12 4.15 0  6020.18 02:17:50 m

: AshtechGps::processRecord() - $GPGGA,154900.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,154901.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154902.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154903.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154904.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154905.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.59 15.23 4.13 4.14 0 23056.66 02:17:55 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154906.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154907.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  2.87 15.72 4.12 4.14 0 14036.44 02:17:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154908.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154909.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.86 16.21 4.12 4.15 0  6019.74 02:18:00 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154910.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154911.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154912.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154913.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154914.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154915.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 33.01  2.33 15.23 4.13 4.14 0 23056.39 02:18:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154916.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154917.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.05 15.62 4.12 4.14 0 14036.21 02:18:08 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154918.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154919.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.37 16.21 4.13 4.15 0  6019.47 02:18:10 m

: AshtechGps::processRecord() - $GPGGA,154920.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154921.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154922.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154923.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154924.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154925.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.94  2.85 15.33 4.13 4.14 0 23056.22 02:18:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154926.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154927.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.16 15.62 4.12 4.14 0 14035.88 02:18:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154928.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154929.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154930.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.37 16.21 4.13 4.15 0  6019.07 02:18:20 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154931.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154932.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154933.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154934.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154935.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  2.67 15.33 4.13 4.14 0 23055.97 02:18:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154936.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154937.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  3.16 15.62 4.12 4.14 0 14035.67 02:18:28 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154938.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154939.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.41 16.21 4.13 4.15 0  6018.79 02:18:30 m

: AshtechGps::processRecord() - $GPGGA,154940.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154941.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154942.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154943.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154944.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154945.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.85 15.23 4.13 4.14 0 23055.82 02:18:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154946.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154947.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.80 15.62 4.12 4.14 0 14035.34 02:18:37 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154948.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154949.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.75 16.21 4.13 4.15 0  6018.39 02:18:40 m

: AshtechGps::processRecord() - $GPGGA,154950.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,154951.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154952.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154953.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154954.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154955.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.48 15.33 4.13 4.14 0 23055.57 02:18:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154956.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154957.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  3.05 15.62 4.12 4.14 0 14035.12 02:18:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,154958.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,154959.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.58 16.11 4.13 4.15 0  6018.12 02:18:50 m

: AshtechGps::processRecord() - $GPGGA,155000.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,155001.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155002.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155003.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155004.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155005.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.01  2.37 15.23 4.13 4.14 0 23055.41 02:18:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155006.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155007.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  3.19 15.62 4.12 4.14 0 14034.77 02:18:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155008.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155009.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.44 16.11 4.13 4.15 0  6017.71 02:19:00 m

: AshtechGps::processRecord() - $GPGGA,155010.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,155011.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155012.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155013.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155014.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155015.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.63 15.23 4.13 4.14 0 23055.16 02:19:05 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155016.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155017.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  2.80 15.62 4.12 4.14 0 14034.57 02:19:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155018.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155019.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.44 16.11 4.13 4.15 0  6017.46 02:19:10 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155020.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,155021.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155022.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155023.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155024.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155025.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.74 15.23 4.13 4.14 0 23054.98 02:19:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155026.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155027.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.94 15.72 4.12 4.14 0 14034.25 02:19:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155028.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155029.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155030.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.04  3.65 16.11 4.13 4.15 0  6017.08 02:19:20 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155031.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155032.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155033.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155034.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155035.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  2.55 15.23 4.13 4.14 0 23054.72 02:19:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155036.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155037.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.73 15.62 4.12 4.14 0 14034.04 02:19:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155038.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155039.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.27 16.21 4.13 4.15 0  6016.84 02:19:30 m

: AshtechGps::processRecord() - $GPGGA,155040.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155041.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155042.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155043.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155044.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155045.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  2.55 15.23 4.13 4.14 0 23054.53 02:19:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155046.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155047.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.76 15.62 4.12 4.14 0 14033.74 02:19:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155048.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155049.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155050.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.04  3.72 16.11 4.13 4.15 0  6016.46 02:19:40 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155051.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155052.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155053.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155054.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155055.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.67 15.33 4.13 4.14 0 23054.22 02:19:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155056.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155057.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.83 15.62 4.12 4.14 0 14033.53 02:19:47 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155058.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155059.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.37 16.11 4.13 4.15 0  6016.21 02:19:50 m

: AshtechGps::processRecord() - $GPGGA,155100.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,155101.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155102.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155103.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155104.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155105.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.26 15.23 4.13 4.14 0 23054.03 02:19:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155106.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155107.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.17  2.62 15.62 4.12 4.14 0 14033.22 02:19:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155108.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155109.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155110.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.65 16.21 4.12 4.15 0  6015.81 02:20:00 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155111.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155112.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155113.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155114.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155115.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.26 15.23 4.13 4.14 0 23053.77 02:20:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155116.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155117.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  2.98 15.62 4.12 4.14 0 14032.99 02:20:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155118.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155119.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.79 16.11 4.12 4.15 0  6015.54 02:20:10 m

: AshtechGps::processRecord() - $GPGGA,155120.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155121.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155122.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155123.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155124.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155125.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.15 15.23 4.13 4.14 0 23053.59 02:20:15 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155126.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155127.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.16 15.62 4.12 4.14 0 14032.66 02:20:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155128.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155129.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155130.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.58 16.11 4.13 4.15 0  6015.13 02:20:20 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155131.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155132.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155133.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155134.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155135.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.26 15.23 4.13 4.14 0 23053.33 02:20:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155136.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155137.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.98 15.62 4.12 4.14 0 14032.44 02:20:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155138.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155139.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c1q0 d- 33.00  3.79 16.21 4.13 4.15 0  6014.86 02:20:30 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155140.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155141.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155142.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155143.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155144.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155145.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  2.55 15.33 4.13 4.14 0 23053.17 02:20:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155146.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155147.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.37 15.62 4.12 4.14 0 14032.11 02:20:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155148.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155149.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155150.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 32.96  3.75 16.11 4.12 4.14 0  6014.44 02:20:40 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155151.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155152.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155153.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155154.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155155.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.98  2.44 15.23 4.13 4.14 0 23052.91 02:20:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155156.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155157.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.91 15.62 4.12 4.14 0 14031.89 02:20:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155158.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155159.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  3.82 16.21 4.12 4.14 0  6014.16 02:20:50 m

: AshtechGps::processRecord() - $GPGGA,155200.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155201.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155202.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155203.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155204.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155205.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.48 15.23 4.13 4.14 0 23052.73 02:20:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155206.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155207.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.91 15.62 4.12 4.14 0 14031.55 02:20:57 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155208.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155209.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  4.10 16.11 4.12 4.14 0  6013.75 02:21:00 m

: AshtechGps::processRecord() - $GPGGA,155210.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155211.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155212.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155213.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155214.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155215.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.48 15.23 4.13 4.14 0 23052.47 02:21:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155216.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155217.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.16 15.62 4.12 4.14 0 14031.33 02:21:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155218.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155219.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  3.79 16.21 4.12 4.14 0  6013.48 02:21:10 m

: AshtechGps::processRecord() - $GPGGA,155220.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155221.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155222.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155223.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155224.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155225.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.98  2.48 15.23 4.13 4.14 0 23052.31 02:21:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155226.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Isus::select() timeout

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155227.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.52 15.62 4.12 4.14 0 14031.00 02:21:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155228.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155229.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155230.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.41 16.21 4.12 4.15 0  6013.08 02:21:20 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155231.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155232.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155233.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155234.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155235.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.59 15.23 4.13 4.14 0 23052.03 02:21:25 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155236.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155237.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  4.31 15.62 4.12 4.14 0 14030.78 02:21:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155238.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155239.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  3.75 16.11 4.12 4.15 0  6012.80 02:21:30 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155240.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155241.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155242.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155243.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155244.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155245.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.33 15.23 4.13 4.14 0 23051.84 02:21:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155246.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155247.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.55 15.62 4.12 4.14 0 14030.46 02:21:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155248.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155249.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c1q0 d- 32.96  4.00 16.11 4.12 4.15 0  6012.36 02:21:40 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155250.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155251.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155252.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155253.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155254.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155255.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.94  2.55 15.23 4.12 4.14 0 23051.57 02:21:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155256.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155257.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.17  2.73 15.62 4.12 4.14 0 14030.21 02:21:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155258.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155259.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  3.75 16.11 4.12 4.14 0  6012.05 02:21:50 m

: AshtechGps::processRecord() - $GPGGA,155300.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155301.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155302.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155303.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155304.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155305.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.94  2.67 15.23 4.12 4.14 0 23051.39 02:21:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155306.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155307.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.01 15.62 4.12 4.14 0 14029.86 02:21:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155308.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155309.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155310.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.41 16.21 4.12 4.14 0  6011.65 02:22:00 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155311.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155312.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155313.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155314.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155315.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.37 15.23 4.13 4.14 0 23051.14 02:22:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155316.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155317.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.16 15.62 4.12 4.14 0 14029.63 02:22:07 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155318.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155319.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.00  3.55 16.21 4.12 4.14 0  6011.38 02:22:10 m

: AshtechGps::processRecord() - $GPGGA,155320.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: AshtechGps::processRecord() - $GPGGA,155321.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155322.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155323.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155324.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155325.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.55 15.13 4.13 4.14 0 23050.96 02:22:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155326.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155327.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.55 15.62 4.12 4.14 0 14029.30 02:22:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155328.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155329.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155330.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.72 16.21 4.12 4.14 0  6010.96 02:22:20 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155331.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155332.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155333.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155334.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155335.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.52 15.23 4.12 4.14 0 23050.72 02:22:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155336.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155337.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.26 15.62 4.12 4.14 0 14029.07 02:22:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155338.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155339.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 32.96  3.65 16.11 4.12 4.14 0  6010.67 02:22:30 m

: AshtechGps::processRecord() - $GPGGA,155340.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - $GPGGA,155341.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155342.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155343.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155344.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155345.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  3.00 15.23 4.12 4.14 0 23050.55 02:22:35 m

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155346.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155347.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: BluefinBatt Reply: $c0q0 d- 33.13  3.08 15.62 4.12 4.14 0 14028.73 02:22:38 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155348.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155349.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155350.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.58 16.21 4.12 4.14 0  6010.26 02:22:40 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155351.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155352.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155353.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155354.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=10.00
	horzlMode=3 horz=3.39
	speedMode=1 speed=1.50

:  Waypoint has set the state to finished.

: Waypoint (4075773.0, 604971.0), 
  reached at t = 456.80                                          (wplog)

: Vehicle Position is error is (0.6, -1.6)

: LayeredControl::execute() -- (t = 456.798707) Behavior waypoint:7990 has changed to state Finished

: LayeredControl - sending BehaviorFinished:7990 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155355.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 32.94  2.52 15.13 4.12 4.14 0 23050.29 02:22:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155356.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155357.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.91 15.62 4.12 4.14 0 14028.50 02:22:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155358.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155359.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: BluefinBatt Reply: $c1q0 d- 33.00  3.37 16.11 4.12 4.14 0  6009.99 02:22:50 m

: StatePublisher: Updating state vector
: DynoLayeredControlServer insertBehaves
: StatePublisher: sent 275 bytes to AMC, errno = 4
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion ascend after pos 2
: DynoLayeredControl::insert - stack now contains 7 behaviors
: LayeredControl::execute() -- (t = 462.098344) Behavior ascend:30809 has changed to state Active

: LayeredControl - ascend BehaviorStarted:30809 msg to VcsServer
: AshtechGps::processRecord() - $GPGGA,155400.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - $GPGGA,155401.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155402.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155403.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155404.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155405.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.94  2.48 15.23 4.12 4.14 0 23050.12 02:22:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155406.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155407.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  2.91 15.62 4.12 4.14 0 14028.18 02:22:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155408.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155409.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155410.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.00  3.48 16.21 4.12 4.14 0  6009.61 02:23:00 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155411.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155412.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155413.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155414.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155415.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: BluefinBatt Reply: $aaq0 d- 32.94  2.41 15.13 4.12 4.14 0 23049.88 02:23:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155416.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155417.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.13  3.19 15.62 4.12 4.14 0 14027.96 02:23:08 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155418.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155419.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  3.34 16.21 4.12 4.14 0  6009.34 02:23:10 m

: AshtechGps::processRecord() - $GPGGA,155420.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.120000

: AshtechGps::processRecord() - $GPGGA,155421.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155422.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155423.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155424.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.13
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,155425.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 32.94  2.70 15.23 4.12 4.14 0 23049.73 02:23:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155426.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 488.196556) Behavior ascend:30809 has changed to state Finished

: LayeredControl - sending BehaviorFinished:30809 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155427.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.09  3.73 15.62 4.12 4.14 0 14027.58 02:23:18 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155428.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155429.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155430.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.04  2.41 16.21 4.13 4.15 0  6008.96 02:23:20 m

: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: DynoLayeredControlServer insertBehaves
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: DynoLayeredControl::insert - inserting 1 behaviors
: DynoLayeredControl::insert - insertion getgps after pos 2
: DynoLayeredControl::insert - stack now contains 8 behaviors
: LayeredControl::execute() -- (t = 493.106220) Behavior getgps:38164 has changed to state Active

: LayeredControl - getgps BehaviorStarted:38164 msg to VcsServer
: AshtechGps::processRecord() - $GPGGA,155431.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.123333

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155432.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155433.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155434.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155435.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.05  0.40 15.23 4.13 4.14 0 23049.52 02:23:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155436.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155437.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.21  1.03 15.52 4.12 4.14 0 14027.42 02:23:28 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: DynoLayeredControlServer rdeleteBehavior(38164)
: DynoLayeredControl::delete - deleteing behavior w/id=38164
: Found behavior getgps with id 38164

: Behavior getgps is Active, abandon it

: DynoLayeredControl::delete - behavior removed
: LayeredControl::execute() -- (t = 500.005747) Behavior getgps:38164 has changed to state Finished

: LayeredControl - sending BehaviorFinished:38164 msg to VcsServer
: 
***
		Stack empty after processing. Waiting on VCS...

: AshtechGps::processRecord() - $GPGGA,155438.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155439.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  1.55 16.11 4.13 4.15 0  6008.78 02:23:30 m

: AshtechGps::processRecord() - $GPGGA,155440.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=-1 vert=0.00
	horzlMode=-1 horz=0.00
	speedMode=-1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: AshtechGps::processRecord() - $GPGGA,155441.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::callback() - got abort request from server
: Initiating Mission Abort!

: LayeredControl::execute() -- (t = 503.795488) Behavior setpoint:-1 has changed to state Active

: LayeredControl - setpoint BehaviorStarted:-1 msg to VcsServer
: LayeredControl::execute() -- (t = 503.795488) Behavior missionTimer:-1 has changed to state Active

: LayeredControl - missionTimer BehaviorStarted:-1 msg to VcsServer
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155442.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155443.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155444.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155445.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.05  0.40 15.23 4.13 4.14 0 23049.48 02:23:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155446.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155447.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.21  0.93 15.62 4.12 4.14 0 14027.31 02:23:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155448.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155449.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155450.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.04  1.75 16.21 4.13 4.15 0  6008.59 02:23:40 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155451.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.120000, mean min cell voltage 4.126667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155452.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155453.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155454.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155455.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $aaq0 d- 33.05  0.40 15.13 4.14 4.15 0 23049.42 02:23:45 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155456.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155457.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.21  1.11 15.62 4.13 4.15 0 14027.20 02:23:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155458.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155459.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.68 16.21 4.13 4.15 0  6008.46 02:23:50 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155500.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.133334

: AshtechGps::processRecord() - $GPGGA,155501.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155502.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155503.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155504.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155505.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.01  0.40 15.13 4.14 4.15 0 23049.39 02:23:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155506.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155507.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c0q0 d- 33.25  0.93 15.52 4.13 4.15 0 14027.10 02:23:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155508.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155509.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155510.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: BluefinBatt Reply: $c1q0 d- 33.08  1.51 16.11 4.14 4.16 0  6008.29 02:24:00 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155511.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155512.00,3649.25304,N,12149.30040,W,1,08,1.1,2.75,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155513.00,3649.25303,N,12149.29941,W,1,08,1.1,1.47,M,-32.59,M,,*55

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155514.00,3649.25398,N,12149.29941,W,1,08,1.1,-2.71,M,-32.59,M,,*7B

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155515.00,3649.25364,N,12149.29931,W,1,08,1.1,-0.68,M,-32.59,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.05  0.44 15.23 4.14 4.15 0 23049.35 02:24:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155516.00,3649.25337,N,12149.29906,W,1,08,1.1,0.22,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155517.00,3649.25308,N,12149.29912,W,1,09,0.9,-0.56,M,-32.59,M,,*78

: BluefinBatt Reply: $c0q0 d- 33.21  1.21 15.62 4.13 4.15 0 14027.02 02:24:07 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155518.00,3649.25302,N,12149.29889,W,1,09,0.9,-0.61,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155519.00,3649.25279,N,12149.29900,W,1,09,0.9,-0.32,M,-32.59,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.51 16.11 4.14 4.16 0  6008.15 02:24:10 m

: AshtechGps::processRecord() - $GPGGA,155520.00,3649.25271,N,12149.29838,W,1,09,0.9,0.18,M,-32.59,M,,*5D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155521.00,3649.25252,N,12149.29791,W,1,09,0.9,0.51,M,-32.59,M,,*5C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155522.00,3649.25227,N,12149.29725,W,1,09,0.9,0.20,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155523.00,3649.25203,N,12149.29699,W,1,09,0.9,-0.30,M,-32.59,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155524.00,3649.25188,N,12149.29692,W,1,09,0.9,-0.78,M,-32.59,M,,*79

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155525.00,3649.25177,N,12149.29673,W,1,09,0.9,-0.44,M,-32.59,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.01  0.51 15.13 4.14 4.15 0 23049.30 02:24:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155526.00,3649.25164,N,12149.29648,W,1,09,0.9,-0.35,M,-32.59,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155527.00,3649.25147,N,12149.29624,W,1,09,0.9,-0.90,M,-32.59,M,,*72

: BluefinBatt Reply: $c0q0 d- 33.25  0.96 15.52 4.13 4.15 0 14026.88 02:24:18 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155528.00,3649.25130,N,12149.29641,W,1,09,0.9,-1.30,M,-32.59,M,,*75

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155529.00,3649.25116,N,12149.29662,W,1,09,0.9,-1.00,M,-32.59,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  2.00 16.11 4.14 4.16 0  6007.95 02:24:20 m

: AshtechGps::processRecord() - $GPGGA,155530.00,3649.25093,N,12149.29634,W,1,09,0.9,-0.08,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155531.00,3649.25069,N,12149.29568,W,1,09,0.9,0.48,M,-32.59,M,,*5B

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155532.00,3649.25044,N,12149.29519,W,1,09,0.9,-0.01,M,-32.59,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155533.00,3649.25018,N,12149.29476,W,1,09,0.9,-0.27,M,-32.59,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155534.00,3649.25009,N,12149.29455,W,1,09,0.9,-0.42,M,-32.59,M,,*70

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155535.00,3649.25004,N,12149.29432,W,1,09,0.9,-0.82,M,-32.59,M,,*71

: BluefinBatt Reply: $aaq0 d- 33.05  0.37 15.23 4.13 4.15 0 23049.20 02:24:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155536.00,3649.24989,N,12149.29430,W,1,09,0.9,-0.83,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155537.00,3649.24965,N,12149.29424,W,1,09,0.9,-0.50,M,-32.59,M,,*74

: BluefinBatt Reply: $c0q0 d- 33.25  0.89 15.62 4.13 4.15 0 14026.76 02:24:27 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155538.00,3649.24941,N,12149.29400,W,1,09,0.9,-0.08,M,-32.59,M,,*76

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155539.00,3649.24920,N,12149.29367,W,1,09,0.9,-0.52,M,-32.59,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.68 16.01 4.14 4.16 0  6007.83 02:24:30 m

: AshtechGps::processRecord() - $GPGGA,155540.00,3649.24894,N,12149.29366,W,1,09,0.9,-0.72,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.133333

: AshtechGps::processRecord() - $GPGGA,155541.00,3649.24877,N,12149.29346,W,1,09,0.9,0.02,M,-32.59,M,,*5E

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155542.00,3649.24863,N,12149.29341,W,1,09,0.9,0.02,M,-32.59,M,,*5F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155543.00,3649.24844,N,12149.29299,W,1,09,0.9,-0.42,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155544.00,3649.24839,N,12149.29295,W,1,09,0.9,-0.25,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155545.00,3649.24820,N,12149.29259,W,1,09,0.9,-0.26,M,-32.59,M,,*7C

: BluefinBatt Reply: $aaq0 d- 33.01  0.40 15.23 4.13 4.15 0 23049.16 02:24:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155546.00,3649.24802,N,12149.29244,W,1,09,0.9,-0.49,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155547.00,3649.24792,N,12149.29222,W,1,09,0.9,-0.24,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  0.89 15.62 4.13 4.15 0 14026.67 02:24:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155548.00,3649.24785,N,12149.29191,W,1,09,0.9,-0.40,M,-32.59,M,,*76

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155549.00,3649.24769,N,12149.29178,W,1,09,0.9,-0.49,M,-32.59,M,,*7B

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.51 16.11 4.14 4.16 0  6007.66 02:24:40 m

: AshtechGps::processRecord() - $GPGGA,155550.00,3649.24745,N,12149.29134,W,1,09,0.9,-0.11,M,-32.59,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155551.00,3649.24736,N,12149.29124,W,1,09,0.9,-0.36,M,-32.59,M,,*79

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.133333

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155552.00,3649.24713,N,12149.29103,W,1,09,0.9,-0.49,M,-32.59,M,,*70

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155553.00,3649.24710,N,12149.29108,W,1,09,0.9,-0.49,M,-32.59,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155554.00,3649.24678,N,12149.29066,W,1,09,0.9,0.01,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155555.00,3649.24656,N,12149.29033,W,1,09,0.9,-0.27,M,-32.59,M,,*7D

: BluefinBatt Reply: $aaq0 d- 33.05  0.40 15.13 4.14 4.15 0 23049.12 02:24:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155556.00,3649.24647,N,12149.29018,W,1,09,0.9,-0.47,M,-32.59,M,,*71

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155557.00,3649.24623,N,12149.29010,W,1,09,0.9,-0.63,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  0.93 15.52 4.13 4.15 0 14026.60 02:24:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155558.00,3649.24603,N,12149.29017,W,1,09,0.9,-1.00,M,-32.59,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155559.00,3649.24592,N,12149.29004,W,1,09,0.9,-0.70,M,-32.59,M,,*7C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.51 16.11 4.14 4.16 0  6007.55 02:24:50 m

: AshtechGps::processRecord() - $GPGGA,155600.00,3649.24588,N,12149.28999,W,1,09,0.9,-0.43,M,-32.59,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,155601.00,3649.24576,N,12149.28997,W,1,09,0.9,-0.16,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155602.00,3649.24555,N,12149.28952,W,1,09,0.9,0.26,M,-32.59,M,,*5F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155603.00,3649.24549,N,12149.28925,W,1,09,0.9,0.26,M,-32.59,M,,*53

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155604.00,3649.24513,N,12149.28855,W,1,09,0.9,0.20,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155605.00,3649.24512,N,12149.28828,W,1,09,0.9,-0.14,M,-32.59,M,,*7B

: BluefinBatt Reply: $aaq0 d- 33.01  0.89 15.23 4.14 4.15 0 23049.08 02:24:55 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155606.00,3649.24469,N,12149.28802,W,1,09,0.9,-0.73,M,-32.59,M,,*7C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155607.00,3649.24485,N,12149.28830,W,1,09,0.9,-1.15,M,-32.59,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  0.89 15.52 4.13 4.15 0 14026.49 02:24:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155608.00,3649.24454,N,12149.28824,W,1,09,0.9,-0.60,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155609.00,3649.24446,N,12149.28826,W,1,09,0.9,-0.23,M,-32.59,M,,*7D

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155610.00,3649.24428,N,12149.28803,W,1,09,0.9,0.23,M,-32.59,M,,*57

: BluefinBatt Reply: $c1q0 d- 33.11  1.58 16.01 4.14 4.16 0  6007.38 02:25:00 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155611.00,3649.24405,N,12149.28756,W,1,10,0.8,0.15,M,-32.59,M,,*5A

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155612.00,3649.24401,N,12149.28722,W,1,10,0.8,-0.03,M,-32.59,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155613.00,3649.24376,N,12149.28706,W,1,10,0.8,-0.12,M,-32.59,M,,*74

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155614.00,3649.24375,N,12149.28706,W,1,10,0.8,0.00,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155615.00,3649.24344,N,12149.28679,W,1,10,0.8,-0.14,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.05  0.37 15.23 4.14 4.15 0 23049.04 02:25:05 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155616.00,3649.24334,N,12149.28667,W,1,10,0.8,-0.55,M,-32.59,M,,*72

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155617.00,3649.24312,N,12149.28629,W,1,10,0.8,-0.01,M,-32.59,M,,*7C

: BluefinBatt Reply: $c0q0 d- 33.25  0.89 15.52 4.13 4.15 0 14026.42 02:25:08 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155618.00,3649.24288,N,12149.28596,W,1,10,0.8,-0.23,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155619.00,3649.24274,N,12149.28592,W,1,10,0.8,-0.81,M,-32.59,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.51 16.01 4.14 4.16 0  6007.24 02:25:10 m

: AshtechGps::processRecord() - $GPGGA,155620.00,3649.24257,N,12149.28593,W,1,10,0.8,-0.62,M,-32.59,M,,*7F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,155621.00,3649.24237,N,12149.28580,W,1,10,0.8,-0.35,M,-32.59,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155622.00,3649.24219,N,12149.28556,W,1,10,0.8,0.06,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155623.00,3649.24171,N,12149.28533,W,1,10,0.8,0.69,M,-32.59,M,,*57

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155624.00,3649.24188,N,12149.28473,W,1,10,0.8,0.21,M,-32.59,M,,*5F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155625.00,3649.24171,N,12149.28426,W,1,10,0.8,0.16,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.05  0.40 15.13 4.14 4.15 0 23049.00 02:25:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155626.00,3649.24155,N,12149.28409,W,1,10,0.8,-0.40,M,-32.59,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155627.00,3649.24143,N,12149.28403,W,1,10,0.8,-0.48,M,-32.59,M,,*7E

: BluefinBatt Reply: $c0q0 d- 33.25  0.93 15.52 4.13 4.15 0 14026.29 02:25:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155628.00,3649.24125,N,12149.28375,W,1,10,0.8,-0.16,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155629.00,3649.24125,N,12149.28358,W,1,10,0.8,-0.47,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155630.00,3649.24100,N,12149.28368,W,1,10,0.8,-0.48,M,-32.59,M,,*75

: BluefinBatt Reply: $c1q0 d- 33.08  1.85 16.01 4.14 4.16 0  6007.08 02:25:20 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155631.00,3649.24103,N,12149.28360,W,1,10,0.8,-0.07,M,-32.59,M,,*74

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155632.00,3649.24065,N,12149.28321,W,1,10,0.8,0.06,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155633.00,3649.24058,N,12149.28288,W,1,10,0.8,0.16,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155634.00,3649.24025,N,12149.28252,W,1,10,0.8,0.20,M,-32.59,M,,*5C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155635.00,3649.24020,N,12149.28223,W,1,10,0.8,0.34,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.01  0.40 15.13 4.14 4.15 0 23048.95 02:25:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155636.00,3649.24004,N,12149.28222,W,1,10,0.8,-0.07,M,-32.59,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155637.00,3649.23997,N,12149.28203,W,1,10,0.8,0.19,M,-32.59,M,,*56

: BluefinBatt Reply: $c0q0 d- 33.21  1.18 15.52 4.13 4.15 0 14026.23 02:25:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155638.00,3649.23977,N,12149.28178,W,1,10,0.8,0.31,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155639.00,3649.23962,N,12149.28155,W,1,10,0.8,0.25,M,-32.59,M,,*5D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.55 16.01 4.14 4.16 0  6006.93 02:25:30 m

: AshtechGps::processRecord() - $GPGGA,155640.00,3649.23945,N,12149.28126,W,1,10,0.8,0.35,M,-32.59,M,,*53

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,155641.00,3649.23941,N,12149.28120,W,1,10,0.8,-0.09,M,-32.59,M,,*72

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155642.00,3649.23932,N,12149.28112,W,1,10,0.8,-0.02,M,-32.59,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155643.00,3649.23920,N,12149.28085,W,1,10,0.8,0.15,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155644.00,3649.23889,N,12149.28062,W,1,10,0.8,0.09,M,-32.59,M,,*58

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155645.00,3649.23877,N,12149.28052,W,1,10,0.8,0.28,M,-32.59,M,,*58

: BluefinBatt Reply: $aaq0 d- 33.05  0.51 15.13 4.14 4.15 0 23048.92 02:25:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155646.00,3649.23870,N,12149.28046,W,1,10,0.8,0.25,M,-32.59,M,,*54

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155647.00,3649.23853,N,12149.28021,W,1,10,0.8,0.28,M,-32.59,M,,*58

: BluefinBatt Reply: $c0q0 d- 33.25  0.89 15.52 4.13 4.15 0 14026.12 02:25:37 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155648.00,3649.23834,N,12149.27969,W,1,10,0.8,0.30,M,-32.59,M,,*55

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155649.00,3649.23828,N,12149.27944,W,1,10,0.8,-0.25,M,-32.59,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155650.00,3649.23828,N,12149.27955,W,1,10,0.8,-0.47,M,-32.59,M,,*73

: BluefinBatt Reply: $c1q0 d- 33.08  1.58 16.01 4.14 4.16 0  6006.77 02:25:40 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155651.00,3649.23807,N,12149.27958,W,1,10,0.8,-0.23,M,-32.59,M,,*70

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155652.00,3649.23794,N,12149.27928,W,1,10,0.8,0.38,M,-32.59,M,,*56

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155653.00,3649.23784,N,12149.27870,W,1,10,0.8,0.86,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155654.00,3649.23762,N,12149.27809,W,1,10,0.8,0.38,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155655.00,3649.23758,N,12149.27767,W,1,09,0.9,0.20,M,-32.59,M,,*54

: BluefinBatt Reply: $aaq0 d- 33.01  1.33 15.13 4.14 4.15 0 23048.87 02:25:45 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155656.00,3649.23726,N,12149.27756,W,1,09,0.9,-0.53,M,-32.59,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155657.00,3649.23730,N,12149.27766,W,1,10,0.8,-0.60,M,-32.59,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  0.96 15.52 4.13 4.15 0 14026.05 02:25:47 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155658.00,3649.23711,N,12149.27771,W,1,10,0.8,-0.52,M,-32.59,M,,*72

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155659.00,3649.23705,N,12149.27771,W,1,10,0.8,-0.58,M,-32.59,M,,*7C

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.55 16.01 4.14 4.16 0  6006.65 02:25:50 m

: AshtechGps::processRecord() - $GPGGA,155700.00,3649.23666,N,12149.27767,W,1,10,0.8,-0.30,M,-32.59,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,155701.00,3649.23670,N,12149.27734,W,1,10,0.8,-0.02,M,-32.59,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155702.00,3649.23636,N,12149.27706,W,1,10,0.8,0.20,M,-32.59,M,,*50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155703.00,3649.23641,N,12149.27677,W,1,10,0.8,-0.02,M,-32.59,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155704.00,3649.23611,N,12149.27644,W,1,10,0.8,0.25,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155705.00,3649.23615,N,12149.27583,W,1,10,0.8,0.74,M,-32.59,M,,*58

: BluefinBatt Reply: $aaq0 d- 33.05  0.59 15.23 4.14 4.15 0 23048.84 02:25:55 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155706.00,3649.23585,N,12149.27538,W,1,10,0.8,0.46,M,-32.59,M,,*50

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155707.00,3649.23566,N,12149.27501,W,1,10,0.8,0.03,M,-32.59,M,,*57

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  1.00 15.52 4.13 4.15 0 14025.94 02:25:57 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155708.00,3649.23557,N,12149.27489,W,1,10,0.8,-0.46,M,-32.59,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155709.00,3649.23533,N,12149.27503,W,1,10,0.8,-0.97,M,-32.59,M,,*7B

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.04  1.82 16.01 4.14 4.16 0  6006.47 02:26:00 m

: AshtechGps::processRecord() - $GPGGA,155710.00,3649.23529,N,12149.27516,W,1,10,0.8,-0.96,M,-32.59,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155711.00,3649.23503,N,12149.27534,W,1,10,0.8,-0.86,M,-32.59,M,,*75

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155712.00,3649.23495,N,12149.27519,W,1,10,0.8,-0.45,M,-32.59,M,,*78

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155713.00,3649.23479,N,12149.27493,W,1,10,0.8,0.20,M,-32.59,M,,*56

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155714.00,3649.23463,N,12149.27449,W,1,10,0.8,0.45,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155715.00,3649.23445,N,12149.27399,W,1,10,0.8,0.44,M,-32.59,M,,*50

: BluefinBatt Reply: $aaq0 d- 33.05  0.44 15.23 4.14 4.15 0 23048.76 02:26:05 m

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155716.00,3649.23431,N,12149.27358,W,1,10,0.8,0.47,M,-32.59,M,,*5E

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155717.00,3649.23416,N,12149.27309,W,1,10,0.8,0.47,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c0q0 d- 33.25  1.76 15.52 4.13 4.15 0 14025.86 02:26:08 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155718.00,3649.23412,N,12149.27287,W,1,10,0.8,-0.38,M,-32.59,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155719.00,3649.23391,N,12149.27296,W,1,10,0.8,-0.67,M,-32.59,M,,*70

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $c1q0 d- 33.08  1.58 16.01 4.14 4.16 0  6006.35 02:26:10 m

: AshtechGps::processRecord() - $GPGGA,155720.00,3649.23369,N,12149.27290,W,1,10,0.8,-0.30,M,-32.59,M,,*79

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: AshtechGps::processRecord() - $GPGGA,155721.00,3649.23349,N,12149.27287,W,1,10,0.8,-0.43,M,-32.59,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155722.00,3649.23330,N,12149.27261,W,1,10,0.8,-0.08,M,-32.59,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155723.00,3649.23307,N,12149.27210,W,1,10,0.8,0.28,M,-32.59,M,,*5E

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155724.00,3649.23309,N,12149.27169,W,1,10,0.8,0.02,M,-32.59,M,,*52

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155725.00,3649.23300,N,12149.27163,W,1,10,0.8,-0.38,M,-32.59,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.01  0.85 15.13 4.14 4.15 0 23048.72 02:26:15 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155726.00,3649.23294,N,12149.27163,W,1,10,0.8,-0.34,M,-32.59,M,,*77

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155727.00,3649.23290,N,12149.27137,W,1,10,0.8,0.32,M,-32.59,M,,*58

: BluefinBatt Reply: $c0q0 d- 33.21  1.00 15.52 4.13 4.15 0 14025.73 02:26:17 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155728.00,3649.23270,N,12149.27106,W,1,10,0.8,0.23,M,-32.59,M,,*5B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155729.00,3649.23257,N,12149.27088,W,1,10,0.8,0.12,M,-32.59,M,,*5A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.11  1.62 16.01 4.14 4.16 0  6006.17 02:26:20 m

: AshtechGps::processRecord() - $GPGGA,155730.00,3649.23242,N,12149.27060,W,1,10,0.8,0.23,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155731.00,3649.23236,N,12149.27032,W,1,10,0.8,0.25,M,-32.59,M,,*51

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155732.00,3649.23218,N,12149.27015,W,1,10,0.8,-0.07,M,-32.59,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155733.00,3649.23216,N,12149.27000,W,1,10,0.8,-0.05,M,-32.59,M,,*7F

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155734.00,3649.23197,N,12149.26984,W,1,10,0.8,-0.09,M,-32.59,M,,*7A

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155735.00,3649.23199,N,12149.26967,W,1,10,0.8,-0.21,M,-32.59,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: BluefinBatt Reply: $aaq0 d- 33.05  0.55 15.13 4.14 4.15 0 23048.66 02:26:25 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155736.00,3649.23175,N,12149.26947,W,1,10,0.8,-0.17,M,-32.59,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155737.00,3649.23183,N,12149.26941,W,1,10,0.8,-0.23,M,-32.59,M,,*7D

: BluefinBatt Reply: $c0q0 d- 33.25  1.00 15.52 4.13 4.15 0 14025.66 02:26:27 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155738.00,3649.23154,N,12149.26920,W,1,10,0.8,0.12,M,-32.59,M,,*50

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155739.00,3649.23143,N,12149.26868,W,1,10,0.8,0.80,M,-32.59,M,,*51

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.08  1.58 16.01 4.14 4.16 0  6006.05 02:26:30 m

: AshtechGps::processRecord() - $GPGGA,155740.00,3649.23126,N,12149.26808,W,1,10,0.8,0.44,M,-32.59,M,,*52

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155741.00,3649.23106,N,12149.26771,W,1,10,0.8,-0.07,M,-32.59,M,,*7A

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155742.00,3649.23103,N,12149.26766,W,1,10,0.8,-0.71,M,-32.59,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155743.00,3649.23076,N,12149.26784,W,1,10,0.8,-1.14,M,-32.59,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155744.00,3649.23079,N,12149.26821,W,1,10,0.8,-0.87,M,-32.59,M,,*74

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155745.00,3649.23052,N,12149.26795,W,1,10,0.8,0.11,M,-32.59,M,,*5E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: Isus::select() timeout

: BluefinBatt Reply: $aaq0 d- 33.01  0.77 15.13 4.14 4.15 0 23048.63 02:26:35 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155746.00,3649.23054,N,12149.26729,W,1,10,0.8,0.63,M,-32.59,M,,*59

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155747.00,3649.23050,N,12149.26684,W,1,10,0.8,0.42,M,-32.59,M,,*59

: BluefinBatt Reply: $c0q0 d- 33.25  0.96 15.52 4.13 4.15 0 14025.54 02:26:37 m

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,155748.00,3649.23024,N,12149.26667,W,1,10,0.8,0.06,M,-32.59,M,,*58

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155749.00,3649.23013,N,12149.26657,W,1,10,0.8,0.43,M,-32.59,M,,*5F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: BluefinBatt Reply: $c1q0 d- 33.11  1.62 16.01 4.14 4.16 0  6005.87 02:26:40 m

: AshtechGps::processRecord() - $GPGGA,155750.00,3649.22988,N,12149.26606,W,1,10,0.8,0.80,M,-32.59,M,,*56

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155751.00,3649.22992,N,12149.26550,W,1,10,0.8,0.76,M,-32.59,M,,*55

: batts online 3, min cell voltage 4.130000, mean min cell voltage 4.136667

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155752.00,3649.22964,N,12149.26506,W,1,10,0.8,0.01,M,-32.59,M,,*5C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: AshtechGps::processRecord() - $GPGGA,155753.00,3649.22958,N,12149.26519,W,1,10,0.8,-0.86,M,-32.59,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: StatePublisher: Updating state vector
: StatePublisher: sent 275 bytes to AMC, errno = 4
: 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 ****

: **** SharedData destructor for object BluefinBattOutput ****

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00041810.

//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/statePublisher terminated (SIGSEGV) at 0007:00015F37.
: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task HydroscatIFServer - exit() on signal 2

: Lisst:stopping Lisst...
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GulperIFServer - exit() on signal 2

:  GulperDestructor Executing.
: TaskServer::signalHandler() for task ClusterIFServer - exit() on signal 2

: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 2

: Isus:stopping Isus...
: **** SharedData destructor for object BluefinBattOutput ****

:  DropWeight Destructor Executing.
: Hydroscat:stopping Hydroscat...
: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object GulperOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object HydroscatOutput_ShmemName ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object GulperOutput ****

: TaskServer::signalHandler() for task ctdDriver2 - exit() on signal 18

: **** SharedData destructor for object cluster.plume ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task GulperIFServer - exit() on signal 18

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: **** SharedData destructor for object ctdDriver2SeabirdOutput_ShmemName ****

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18

: Cluster - destroying the main class.
: TaskServer::signalHandler() for task ctdDriver - exit() on signal 18

: TaskServer::signalHandler() for task IsusIFServer - exit() on signal 2

: **** SharedData destructor for object cluster.plume ****

: **** SharedData destructor for object ctdDriverSeabirdOutput_ShmemName ****

: **** SharedData destructor for object IsusOutput_ShmemName ****

: Cluster : destroying ConfParser
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

: **** SharedData destructor for object HydroscatOutput_ShmemName ****


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/hydroscat terminated (SIGSEGV) at 0007:00021197.
: Isus:stopped - response 12/20/2007 15:57:50,16.19,8.76,0.000828
ACK,DeployDataStop


: **** SharedData destructor for object IsusOutput_ShmemName ****


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/lisst terminated (SIGSEGV) at 0007:0001BE8D.
: Isus::getIsusConfig() : log file is /home/dorado1/auv_autonomy/auv/altex/onboard/logs/latest/isus.cfg
: Isus::getIsusConfig() : getting configuration info

: Isus::getIsusConfig(): response is ACK,DeployDataStop


:  Dvl::~Dvl: Destructor Finished.


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
: Isus::getIsusConfig(): response is ACK,GetConfiguration


: Isus::getIsusConfig(): ACK,GetConfiguration

: Isus::getIsusConfig(): // Application      Name , ISUS_AUV.C
// App Build        Date , Aug 14 2006,  
: Isus::getIsusConfig(): 4:25:32
// Persistor FLASH  Info , C82#1041-1.63b
// FLASH Card  Remaining , 6
: Isus::getIsusConfig(): 6.67%
// Fiberlite    Odometer , 145:58:35
// Calibration      Date , 11/14/20
: Isus::getIsusConfig(): 07
// Sw Calibration   Temp , 20.00
// Wavelength Fit  Range , 217.582 <-> 240
: Isus::getIsusConfig(): .996
// Fitted Concentrations , 2
// Baseline        Model , (ax + b)


//9/home/dorado1/auv_autonomy/auv/altex/onboard/bin/isus terminated (SIGSEGV) at 0007:0001E5ED.
