Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - externalC: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
ommsServer
Supervisor::createTask() - navigationSer: WorkSite::WorkSite -- Finished loading parameters
ver: WorkSite::WorkSite -- Starting Depth is 0.000000 meters

S: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
uper: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
vi: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
sor:: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
:c: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
reat: WorkSite server: 0x2300c
eTask() - layered: New Navigation component constructor
ControlServer
: Navigation - Using only the Dvl to compute altitude.
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - simulator
Supervisor::createTask() - simAhrs
: Create simulator...

Supervisor::createTask() - gp: SerialDevice: done...

s: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
Ser: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
ver: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts

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

ervis: SerialDevice: done...

or: Create VehicleConfigurationIF...

::cr: Okay...

eateTask() - paro: Create attributes...

sci: Simulator:: initPsi = 0.000000

Se: Done creating attributes. Parse 'em...

rver
Supervisor::createTask() - dvlServer
Supervisor::crea: SerialDevice: done...

teTask() - fanServer
Superviso: Gps: initializing

r: SerialDevice: done...

:: SerialDevice: done...

:c: Simulator:: initPsi = 225.000000

r: SerialDevice: done...

eateT: SerialDevice: done...

ask: Simulator:: zMax = 210.000000

() - dropWeig:  The utm zone is 10

htSe:  Simulator: The lat/long in workSite.cfg is 0.641196, -2.12721
rve:  Simulator: The lat/long in workSite.cfg, cvt'ed to UTM is 4.06638e+006, 599958
r
Supervi: Invoke simulator->run()...

sor::createTa: SerialDevice: done...

sk() - sonardyneServer
Supervisor::createTask() - cameraServer
Su: SerialDevice: done...

pervisor::crea: SerialDevice: done...

teT: SonardyneServer.cc was last compiled on Dec 17 2008, 22:08:50

ask() - echoSounderServer
:  DropWeight::initialize - Resetting counters.
: **** EventTriggers::add() - attaching proxy
: ahrs if is Ahrs

: SerialDevice: done...

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

: SerialDevice: done...

: SonardyneDriver.cc was last compiled on Dec 18 2008, 21:51:44

: CameraDriver:: Before navigation IF.
: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: SonardyneDriver -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7
	MRPL       = 0.000000ms

: EchoSounder -- configuration:
	Maximum Range  = 10 m
	StartGain      = 15 dB
	Absorption     = 0.20 dB/m
	Pulse Length   = 30 microseconds
	Minimum Range  = 0.10 m
	Trigger Control= 0 
	Profile        = 1
	Delay          = 0 milliseconds
	xz mounting an.= 90.00 degrees
	head angle     = -90.00 degrees

: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: SerialDevice: done...

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: CR1
[Parameters set to FACTORY defaults]
>
: PD5
>
: BK1
>
: TP00:00.00
>
: TE00:00:00.60
>
: BL,10,010,100
>
: BP001
>
: CF11010
>
: CB611
>
: SerialDevice: done...

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

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

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

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

: **** EventTriggers::add() - attaching proxy
: header is >CS
7

:  Dvl record header not found.  Resynchronize.

: SerialDevice: done...

: 3 Modules found
:  Dvl:: Serial resynchronization completed.

: **** EventTriggers::add() - attaching proxy
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 650.15395,N,12153.42855,W,1,10,0.9,-2.00,M,-32.71,M,,*74

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,190350.00,3650.15392,N,12153.42839,W,1,10,0.9,-1.70,M,-32.71,M,,*75

: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.200000, D:0.000000, U:0.000000, Q:0.000000

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.200000, D:0.000000, U:0.000000, Q:0.000000

: AshtechGps::processRecord() - $GPGGA,190351.00,3650.15391,N,12153.42820,W,1,10,0.9,-2.03,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,190352.00,3650.15388,N,12153.42833,W,1,10,0.9,-2.55,M,-32.71,M,,*72

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,190353.00,3650.15390,N,12153.42865,W,1,10,0.9,-2.76,M,-32.71,M,,*78

: SerialDeviceExt::readNChars() - Connection reset by peer
: EchoSounderDriver::Error - received -1 bytes, which is incorrect.
: EchoSounderDriver:: Reopening socket

: SerialDeviceExt::closeSD() - closed

: EchoSounderDriver::resetSD - connection re-estabilished after 0 tries.

: EchoSounderDriver - error from readNChars.
: AshtechGps::processRecord() - $GPGGA,190354.00,3650.15394,N,12153.42899,W,1,10,0.9,-2.41,M,-32.71,M,,*7C

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138930
: AshtechGps::processRecord() - $GPGGA,190355.00,3650.15393,N,12153.42908,W,1,10,0.9,-1.74,M,-32.71,M,,*76

: Parosci.cc -- Parosci initial temp period = 5.842452
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,190356.00,3650.15388,N,12153.42884,W,1,10,0.9,-1.37,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,190357.00,3650.15389,N,12153.42840,W,1,10,0.9,-1.59,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,190358.00,3650.15386,N,12153.42840,W,1,10,0.9,-2.49,M,-32.71,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 620604020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190359.00,3650.15395,N,12153.42882,W,1,10,0.9,-3.00,M,-32.71,M,,*7E

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,190400.00,3650.15392,N,12153.42928,W,1,10,0.9,-2.68,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,190401.00,3650.15394,N,12153.42934,W,1,10,0.9,-2.12,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,190402.00,3650.15395,N,12153.42924,W,1,10,0.9,-1.88,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,190403.00,3650.15385,N,12153.42916,W,1,10,0.9,-2.28,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,190404.00,3650.15380,N,12153.42929,W,1,10,0.9,-2.34,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,190405.00,3650.15384,N,12153.42951,W,1,10,0.9,-2.23,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,190406.00,3650.15396,N,12153.42957,W,1,10,0.9,-2.25,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,190407.00,3650.15394,N,12153.42962,W,1,10,0.9,-2.19,M,-32.71,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 120021770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190408.00,3650.15393,N,12153.42965,W,1,10,0.9,-1.84,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,190409.00,3650.15395,N,12153.42957,W,1,10,0.9,-1.91,M,-32.71,M,,*7F

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

:  Navigation: The lat/long in workSite.cfg,  36.737845, -121.880423

:  Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4066375.51, 599958.36

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

: LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active

: LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active

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

: !!!! Simulator::missionStatusCallback() - Got event 0 from "layeredControl"

: Event received at _simTime=0.02
: Simulator::missionStatusCallback() - mission started

: AshtechGps::processRecord() - $GPGGA,190410.00,3650.15390,N,12153.42965,W,1,10,0.9,-2.13,M,-32.71,M,,*7A

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190411.00,3650.15398,N,12153.42974,W,1,10,0.9,-2.18,M,-32.71,M,,*78

: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.200000, D:0.000000, U:0.000000, Q:-nan

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,190412.00,3650.15391,N,12153.42986,W,1,10,0.9,-2.25,M,-32.71,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190413.00,3650.15395,N,12153.42985,W,1,10,0.9,-2.11,M,-32.71,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190414.00,3650.15385,N,12153.43003,W,1,10,0.9,-2.16,M,-32.71,M,,*77

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190415.00,3650.15391,N,12153.43000,W,1,10,0.9,-2.62,M,-32.71,M,,*73

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190416.00,3650.15391,N,12153.43026,W,1,10,0.9,-2.67,M,-32.71,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190417.00,3650.15404,N,12153.43049,W,1,10,0.9,-2.64,M,-32.71,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,190418.00,3650.15392,N,12153.43083,W,1,10,0.9,-2.43,M,-32.71,M,,*75

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.399425) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.399425) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,190419.00,3650.15407,N,12153.43085,W,1,10,0.9,-2.08,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190420.00,3650.15403,N,12153.43087,W,1,10,0.9,-1.78,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190421.00,3650.15412,N,12153.43077,W,1,10,0.9,-1.61,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,190422.00,3650.15399,N,12153.43063,W,1,10,0.9,-1.49,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 618960020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190423.00,3650.15385,N,12153.43036,W,1,10,0.9,-1.67,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190424.00,3650.15378,N,12153.43021,W,1,10,0.9,-2.36,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190425.00,3650.15383,N,12153.43032,W,1,10,0.9,-2.75,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,190426.00,3650.15376,N,12153.43056,W,1,10,0.9,-2.83,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190427.00,3650.15368,N,12153.43071,W,1,10,0.9,-2.69,M,-32.71,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190428.00,3650.15340,N,12153.43063,W,1,10,0.9,-1.88,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,190429.00,3650.15340,N,12153.42999,W,1,10,0.9,-1.58,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190430.00,3650.15320,N,12153.42929,W,1,10,0.9,-1.82,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190431.00,3650.15300,N,12153.42888,W,1,10,0.9,-2.11,M,-32.71,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 118377770
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190432.00,3650.15290,N,12153.42860,W,1,10,0.9,-2.37,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,190433.00,3650.15291,N,12153.42833,W,1,10,0.9,-2.45,M,-32.71,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190434.00,3650.15283,N,12153.42810,W,1,10,0.9,-2.36,M,-32.71,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190435.00,3650.15291,N,12153.42786,W,1,10,0.9,-2.15,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,190436.00,3650.15286,N,12153.42732,W,1,10,0.9,-1.76,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190437.00,3650.15289,N,12153.42664,W,1,10,0.9,-1.50,M,-32.71,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190438.00,3650.15293,N,12153.42581,W,1,10,0.9,-1.53,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190439.00,3650.15301,N,12153.42501,W,1,10,0.9,-1.79,M,-32.71,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 617795520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190440.00,3650.15328,N,12153.42446,W,1,10,0.9,-2.16,M,-32.71,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190441.00,3650.15356,N,12153.42400,W,1,10,0.9,-2.36,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190442.00,3650.15395,N,12153.42371,W,1,10,0.9,-2.52,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,190443.00,3650.15415,N,12153.42329,W,1,10,0.9,-2.50,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190444.00,3650.15438,N,12153.42295,W,1,10,0.9,-2.35,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190445.00,3650.15473,N,12153.42248,W,1,10,0.9,-2.16,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190446.00,3650.15528,N,12153.42194,W,1,10,0.9,-2.07,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,190447.00,3650.15581,N,12153.42149,W,1,10,0.9,-2.23,M,-32.71,M,,*7B

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190448.00,3650.15630,N,12153.42119,W,1,10,0.9,-2.22,M,-32.71,M,,*79

: LayeredControl::execute() -- (t = 38.597356) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.597356) Behavior descend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190449.00,3650.15686,N,12153.42086,W,1,10,0.9,-2.05,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,190450.00,3650.15742,N,12153.42045,W,1,10,0.9,-2.03,M,-32.71,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190451.00,3650.15797,N,12153.42027,W,1,10,0.9,-1.96,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190452.00,3650.15857,N,12153.42005,W,1,10,0.9,-1.99,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190453.00,3650.15925,N,12153.42008,W,1,10,0.9,-2.25,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,190454.00,3650.15994,N,12153.42029,W,1,10,0.9,-2.41,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190455.00,3650.16060,N,12153.42050,W,1,10,0.9,-2.13,M,-32.71,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 116733770
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190456.00,3650.16114,N,12153.42055,W,1,10,0.9,-1.88,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,190457.00,3650.16163,N,12153.42073,W,1,10,0.9,-1.98,M,-32.71,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190458.00,3650.16215,N,12153.42112,W,1,10,0.9,-2.36,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190459.00,3650.16266,N,12153.42172,W,1,10,0.9,-2.69,M,-32.71,M,,*7F

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190500.00,3650.16308,N,12153.42233,W,1,10,0.9,-2.50,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,190501.00,3650.16414,N,12153.42285,W,1,09,1.0,-1.36,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190502.00,,,,,0,02,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190503.00,,,,,0,05,9.1,,M,,M,,*65

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190504.00,3650.16442,N,12153.42441,W,1,09,1.0,-0.69,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190505.00,3650.16472,N,12153.42486,W,1,09,1.0,-0.65,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190506.00,3650.16498,N,12153.42571,W,1,09,1.0,-1.46,M,-32.71,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190507.00,3650.16502,N,12153.42636,W,1,09,1.0,-1.29,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,190508.00,3650.16492,N,12153.42707,W,1,09,1.0,-0.99,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190509.00,3650.16540,N,12153.42836,W,1,09,1.0,-3.89,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190510.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190511.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 665668595
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190512.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190513.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190514.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.400000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190515.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190516.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190517.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190518.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190519.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190520.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190521.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190522.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190523.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614850020
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190524.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190525.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190526.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.100000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190527.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190528.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190529.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190530.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190531.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190532.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190533.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190534.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190535.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614028020
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190536.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190537.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190538.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190539.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190540.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190541.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190542.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190543.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113445770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190544.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190545.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190546.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190547.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190548.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190549.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190550.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190551.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190552.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612863520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190553.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190554.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190555.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190556.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190557.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190558.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190559.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190600.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112281270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190601.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190602.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190603.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190604.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190605.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190606.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190607.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190608.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190609.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611699020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190610.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190611.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190612.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190613.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190614.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190615.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190616.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190617.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111116770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190618.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190619.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190620.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190621.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190622.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190623.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190624.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190625.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190626.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 620533835
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190627.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190628.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190629.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190630.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190631.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190632.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,190633.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on altitude 19.624167 < 20.000000 at time 143.600163

: LayeredControl::execute() -- (t = 143.600163) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 143.600163) Behavior setpoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=62.96
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190634.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 119951585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190635.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.27
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190636.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190637.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190638.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190639.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190640.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190641.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190642.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190643.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.99
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190644.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190645.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.44
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190646.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.50
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 119129585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190647.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190648.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190649.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.58
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190650.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.100000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=64.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190651.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190652.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.47
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190653.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.50
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190654.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.92
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190655.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190656.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.25
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190657.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.300000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.03
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190658.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190659.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190700.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190701.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190702.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190703.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190704.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190705.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 117828085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190706.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190707.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190708.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190709.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190710.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190711.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190712.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190713.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190714.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 617245835
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190715.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.42
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190716.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190717.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.38
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190718.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.12
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190719.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190720.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.16
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190721.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.13
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190722.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190723.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190724.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.67
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190725.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.14
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190726.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 616423835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190727.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.59
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190728.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.49
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190729.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.800000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.99
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190730.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190731.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=67.73
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190732.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190733.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190734.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.34
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190735.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190736.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190737.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190738.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.65
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190739.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.59
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190740.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190741.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 115362085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190742.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.38
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190743.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190744.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190745.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=64.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190746.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.64
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190747.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190748.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.42
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190749.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.46
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190750.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.31
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190751.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190752.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.47
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190753.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114540085
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.58
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190754.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190755.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.08
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190756.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.50
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190757.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190758.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190759.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190800.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190801.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190802.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=67.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190803.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=67.62
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190804.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190805.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113718085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190806.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190807.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.96
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190808.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190809.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190810.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.44
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190811.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190812.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190813.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.44
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190814.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190815.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190816.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190817.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190818.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190819.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190820.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190821.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612656335
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.81
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190822.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190823.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190824.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190825.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.05
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190826.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190827.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190828.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190829.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112074085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190830.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.62
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190831.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.70
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190832.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190833.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,190834.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190835.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.98
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190836.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190837.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190838.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190839.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190840.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190841.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111252085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190842.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=80.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190843.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190844.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190845.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.56
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190846.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190847.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190848.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190849.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.20
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190850.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 620669150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190851.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190852.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190853.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190854.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190855.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190856.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190857.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190858.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190859.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190900.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190901.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190902.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 619847150
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190903.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.54
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190904.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190905.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190906.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.52
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190907.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.58
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190908.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190909.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.60
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190910.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 119264900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.69
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190911.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190912.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190913.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.75
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190914.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190915.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190916.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190917.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190918.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190919.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 618682650
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.73
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190920.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190921.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.73
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190922.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190923.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.62
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190924.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190925.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190926.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190927.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 118100400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190928.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190929.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190930.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190931.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.06
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190932.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190933.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190934.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190935.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190936.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190937.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190938.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.60
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190939.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 117278400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,190940.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190941.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.37
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190942.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190943.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190944.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190945.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190946.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190947.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190948.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 616696150
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190949.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190950.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190951.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190952.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190953.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190954.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190955.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190956.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 116113900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190957.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,190958.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,190959.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.80
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191000.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.400000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191001.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191002.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191003.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191004.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191005.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191006.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191007.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191008.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 115291900
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191009.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191010.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191011.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191012.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.800000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191013.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.97
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191014.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191015.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.99
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191016.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191017.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191018.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191019.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191020.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114469900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191021.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191022.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191023.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191024.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191025.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191026.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191027.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191028.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191029.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613887650
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191030.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191031.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191032.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191033.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191034.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.99
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191035.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191036.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191037.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113305400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191038.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191039.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191040.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191041.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191042.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191043.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191044.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.27
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191045.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.487398 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.487398 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.487398 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191046.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612723150
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191047.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.36
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191048.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.36
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191049.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.472243 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.472243 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.472243 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191050.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- altitude 1.524205 over abort altitude 1.500000, starting prop!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191051.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.54
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191052.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.46
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191053.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191054.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.40
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112140900
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191055.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191056.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191057.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191058.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191059.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191100.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191101.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191102.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191103.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611558650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191104.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191105.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191106.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.900000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191107.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191108.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191109.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191110.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191111.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191112.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191113.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191114.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191115.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191116.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191117.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191118.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191119.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.33
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191120.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.300000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191121.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191122.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191123.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.10
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191124.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191125.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.97
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191126.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191127.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.96
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191128.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191129.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 619776965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191130.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191131.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191132.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.400000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191133.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: LayeredControl::execute() -- (t = 443.799598) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          443.80.
: LayeredControl::execute() -- (t = 443.799598) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 443.799598) Behavior setpoint:-1 has changed to state Active

: CameraDriver::readData - starting a 20 photo sequence.
: AshtechGps::processRecord() - $GPGGA,191134.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191135.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191136.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191137.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191138.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191139.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.96
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191140.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191141.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 618954965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191142.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191143.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.13
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191144.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.200000, D:0.000000, U:0.000000, Q:-nan

: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191145.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.366155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191146.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.20
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.316358 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.368320 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.368320 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.368320 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191147.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.394301 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.420282 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.420282 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191148.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.420282 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- altitude 1.524205 over abort altitude 1.500000, starting prop!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.37
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191149.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191150.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.44
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191151.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.38
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191152.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191153.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 618132965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191154.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191155.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.03
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191156.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191157.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191158.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191159.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191200.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191201.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191202.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191203.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191204.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.03
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191205.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 617310965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.97
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191206.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191207.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.97
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191208.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191209.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191210.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191211.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191212.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191213.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 116728715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191214.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191215.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191216.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191217.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.600000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191218.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191219.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191220.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191221.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191222.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.10
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191223.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191224.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191225.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 115906715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191226.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191227.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191228.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191229.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191230.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191231.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191232.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191233.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191234.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 615324465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191235.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191236.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191237.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191238.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191239.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191240.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191241.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191242.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.338009 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.286048 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.286048 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114742215
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.286048 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191243.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.234086 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191244.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191245.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.281718 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191246.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.290378 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191247.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.446262 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.498224 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=66.37
	horzlMode=1 horz=1.57
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.498224 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,191248.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.498224 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- altitude 1.558846 over abort altitude 1.500000, starting prop!
: AshtechGps::processRecord() - $GPGGA,191249.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.41
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191250.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191251.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614159965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191252.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191253.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191254.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191255.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191256.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191257.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191258.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.80
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191259.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113577715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191300.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191301.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,191302.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191303.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: LayeredControl::execute() -- (t = 533.993419) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 533.993419) Behavior ascend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191304.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191305.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191306.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191307.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191308.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612995465
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191309.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191310.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191311.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191312.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191313.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191314.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191315.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191316.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191317.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191318.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191319.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191320.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612173465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191321.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191322.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191323.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191324.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191325.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191326.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191327.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191328.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111591215
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191329.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191330.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191331.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191332.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191333.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191334.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191335.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191336.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191337.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191338.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191339.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191340.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191341.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191342.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191343.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191344.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191345.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191346.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191347.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191348.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191349.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191350.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191351.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191352.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191353.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191354.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 119809530
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191355.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191356.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191357.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191358.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191359.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191400.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191401.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191402.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191403.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 619227280
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191404.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191405.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191406.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191407.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191408.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191409.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191410.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191411.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 118645030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,191412.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 602.798706) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 602.798706) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,191413.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191414.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191415.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191416.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191417.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191418.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191419.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191420.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 618062780
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191421.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191422.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191423.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191424.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191425.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191426.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,191427.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191428.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191429.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191430.00,3650.17400,N,12153.44346,W,1,10,0.9,-1.09,M,-32.71,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed
: AshtechGps::processRecord() - $GPGGA,191431.00,3650.17394,N,12153.44313,W,1,10,0.9,-1.49,M,-32.71,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 617240780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191432.00,3650.17427,N,12153.44357,W,1,10,0.9,-2.01,M,-32.71,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191433.00,3650.17423,N,12153.44378,W,1,10,0.9,-2.49,M,-32.71,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191434.00,3650.17401,N,12153.44363,W,1,10,0.9,-2.10,M,-32.71,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed
: AshtechGps::processRecord() - $GPGGA,191435.00,3650.17388,N,12153.44353,W,1,10,0.9,-1.79,M,-32.71,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191436.00,3650.17388,N,12153.44336,W,1,10,0.9,-1.52,M,-32.71,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191437.00,3650.17396,N,12153.44313,W,1,10,0.9,-1.69,M,-32.71,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed
: AshtechGps::processRecord() - $GPGGA,191438.00,3650.17404,N,12153.44312,W,1,10,0.9,-2.13,M,-32.71,M,,*75

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191439.00,3650.17402,N,12153.44324,W,1,10,0.9,-1.82,M,-32.71,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 629.396883) Behavior getgps:-1 has changed to state Finished

: Stack empty after processing.  Aborting.
: *** LayeredControl - initiating mission abort... ***
: Initiating Mission Abort!

: **** EventTriggers::add() - attaching proxy
: LayeredControl::execute() -- (t = 629.596870) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 629.596870) Behavior missionTimer:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191440.00,3650.17405,N,12153.44314,W,1,10,0.9,-1.51,M,-32.71,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 116658530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191441.00,3650.17397,N,12153.44289,W,1,10,0.9,-1.64,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191442.00,3650.17398,N,12153.44296,W,1,10,0.9,-1.89,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191443.00,3650.17387,N,12153.44308,W,1,10,0.9,-1.78,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191444.00,3650.17389,N,12153.44301,W,1,10,0.9,-1.48,M,-32.71,M,,*73

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-9.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-9.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,191445.00,3650.17395,N,12153.44277,W,1,10,0.9,-1.70,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191446.00,3650.17397,N,12153.44262,W,1,10,0.9,-2.10,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191447.00,3650.17401,N,12153.44279,W,1,10,0.9,-2.46,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,191448.00,3650.17403,N,12153.44302,W,1,10,0.9,-2.30,M,-32.71,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191449.00,3650.17408,N,12153.44302,W,1,10,0.9,-1.78,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191450.00,3650.17410,N,12153.44278,W,1,10,0.9,-1.51,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191451.00,3650.17405,N,12153.44255,W,1,10,0.9,-1.56,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,191452.00,3650.17402,N,12153.44249,W,1,10,0.9,-1.72,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 115836530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191453.00,3650.17401,N,12153.44248,W,1,10,0.9,-1.89,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191454.00,3650.17407,N,12153.44255,W,1,10,0.9,-2.00,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,191455.00,3650.17414,N,12153.44261,W,1,10,0.9,-1.86,M,-32.71,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191456.00,3650.17417,N,12153.44255,W,1,10,0.9,-1.77,M,-32.71,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191457.00,3650.17416,N,12153.44254,W,1,10,0.9,-1.82,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191458.00,3650.17413,N,12153.44258,W,1,10,0.9,-1.96,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,191459.00,3650.17411,N,12153.44263,W,1,10,0.9,-1.91,M,-32.71,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191500.00,3650.17414,N,12153.44270,W,1,10,0.9,-1.94,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 615254280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191501.00,3650.17419,N,12153.44270,W,1,10,0.9,-1.62,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,191502.00,3650.17422,N,12153.44253,W,1,10,0.9,-1.51,M,-32.71,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191503.00,3650.17425,N,12153.44238,W,1,10,0.9,-1.67,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191504.00,3650.17429,N,12153.44248,W,1,10,0.9,-1.86,M,-32.71,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191505.00,3650.17429,N,12153.44251,W,1,10,0.9,-1.92,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,191506.00,3650.17430,N,12153.44244,W,1,10,0.9,-1.89,M,-32.71,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191507.00,3650.17438,N,12153.44253,W,1,10,0.9,-1.78,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191508.00,3650.17436,N,12153.44244,W,1,10,0.9,-1.64,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,191509.00,3650.17440,N,12153.44241,W,1,10,0.9,-1.61,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114672030
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191510.00,3650.17442,N,12153.44232,W,1,10,0.9,-1.78,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191511.00,3650.17447,N,12153.44236,W,1,10,0.9,-2.01,M,-32.71,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191512.00,3650.17445,N,12153.44244,W,1,10,0.9,-2.09,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,191513.00,3650.17451,N,12153.44270,W,1,10,0.9,-1.96,M,-32.71,M,,*76

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.300000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191514.00,3650.17451,N,12153.44257,W,1,10,0.9,-1.49,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191515.00,3650.17469,N,12153.44248,W,1,10,0.9,-1.63,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,191516.00,3650.17463,N,12153.44238,W,1,10,0.9,-1.75,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191517.00,3650.17455,N,12153.44246,W,1,10,0.9,-1.67,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191518.00,3650.17456,N,12153.44248,W,1,10,0.9,-1.61,M,-32.71,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191519.00,3650.17458,N,12153.44238,W,1,10,0.9,-1.41,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,191520.00,3650.17467,N,12153.44228,W,1,10,0.9,-1.45,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191521.00,3650.17483,N,12153.44235,W,1,10,0.9,-1.66,M,-32.71,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113850030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191522.00,3650.17482,N,12153.44234,W,1,10,0.9,-1.83,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,191523.00,3650.17484,N,12153.44239,W,1,10,0.9,-1.70,M,-32.71,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191524.00,3650.17477,N,12153.44229,W,1,10,0.9,-1.76,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191525.00,3650.17477,N,12153.44241,W,1,11,0.8,-1.91,M,-32.71,M,,*72

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191526.00,3650.17483,N,12153.44251,W,1,11,0.8,-2.00,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,191527.00,3650.17487,N,12153.44270,W,1,11,0.8,-1.92,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191528.00,3650.17488,N,12153.44277,W,1,11,0.8,-1.47,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191529.00,3650.17488,N,12153.44253,W,1,11,0.8,-1.09,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,191530.00,3650.17490,N,12153.44222,W,1,11,0.8,-1.02,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191531.00,3650.17484,N,12153.44192,W,1,11,0.8,-1.67,M,-32.71,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191532.00,3650.17495,N,12153.44225,W,1,11,0.8,-2.32,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191533.00,3650.17498,N,12153.44259,W,1,11,0.8,-2.18,M,-32.71,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113028030
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191534.00,3650.17505,N,12153.44275,W,1,11,0.8,-1.32,M,-32.71,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191535.00,3650.17499,N,12153.44221,W,1,11,0.8,-0.74,M,-32.71,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191536.00,3650.17511,N,12153.44173,W,1,11,0.8,-1.15,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,191537.00,3650.17517,N,12153.44167,W,1,11,0.8,-2.08,M,-32.71,M,,*72

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.900000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191538.00,3650.17515,N,12153.44201,W,1,11,0.8,-2.46,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191539.00,3650.17516,N,12153.44239,W,1,11,0.8,-2.34,M,-32.71,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191540.00,3650.17522,N,12153.44255,W,1,11,0.8,-1.93,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,191541.00,3650.17525,N,12153.44242,W,1,11,0.8,-1.24,M,-32.71,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191542.00,3650.17517,N,12153.44190,W,1,11,0.8,-1.08,M,-32.71,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191543.00,3650.17525,N,12153.44175,W,1,11,0.8,-1.66,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,191544.00,3650.17525,N,12153.44192,W,1,11,0.8,-1.89,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191545.00,3650.17530,N,12153.44202,W,1,11,0.8,-1.60,M,-32.71,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112206030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191546.00,3650.17533,N,12153.44186,W,1,11,0.8,-1.64,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191547.00,3650.17536,N,12153.44187,W,1,11,0.8,-1.93,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,191548.00,3650.17539,N,12153.44202,W,1,11,0.8,-1.92,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191549.00,3650.17549,N,12153.44208,W,1,11,0.8,-1.61,M,-32.71,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191550.00,3650.17557,N,12153.44204,W,1,11,0.8,-1.76,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,191551.00,3650.17553,N,12153.44207,W,1,11,0.8,-1.74,M,-32.71,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191552.00,3650.17546,N,12153.44217,W,1,11,0.8,-1.62,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191553.00,3650.17548,N,12153.44212,W,1,11,0.8,-1.23,M,-32.71,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611623780
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191554.00,3650.17553,N,12153.44176,W,1,11,0.8,-1.20,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,191555.00,3650.17565,N,12153.44172,W,1,11,0.8,-1.78,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191556.00,3650.17560,N,12153.44182,W,1,11,0.8,-2.36,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191557.00,3650.17571,N,12153.44228,W,1,11,0.8,-2.02,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,191558.00,3650.17566,N,12153.44212,W,1,11,0.8,-1.61,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191559.00,3650.17583,N,12153.44217,W,1,11,0.8,-1.48,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191600.00,3650.17571,N,12153.44184,W,1,11,0.8,-1.20,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191601.00,3650.17574,N,12153.44163,W,1,11,0.8,-1.43,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,191602.00,3650.17584,N,12153.44168,W,1,11,0.8,-2.14,M,-32.71,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111041530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191603.00,3650.17590,N,12153.44201,W,1,11,0.8,-2.47,M,-32.71,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191604.00,3650.17595,N,12153.44239,W,1,11,0.8,-2.05,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,191605.00,3650.17597,N,12153.44230,W,1,11,0.8,-1.14,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191606.00,3650.17603,N,12153.44195,W,1,11,0.8,-0.89,M,-32.71,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191607.00,3650.17596,N,12153.44158,W,1,11,0.8,-1.13,M,-32.71,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191608.00,3650.17591,N,12153.44138,W,1,11,0.8,-1.50,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,191609.00,3650.17600,N,12153.44148,W,1,11,0.8,-2.19,M,-32.71,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191610.00,3650.17610,N,12153.44183,W,1,11,0.8,-2.38,M,-32.71,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 620458595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,191611.00,3650.17615,N,12153.44207,W,1,11,0.8,-2.03,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,191612.00,3650.17617,N,12153.44208,W,1,11,0.8,-1.74,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191613.00,3650.17624,N,12153.44206,W,1,11,0.8,-1.42,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,191614.00,3650.17627,N,12153.44192,W,1,11,0.8,-1.43,M,-32.71,M,,*76

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task SimulatorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: Supervisor::shutdown() - done()

:  DropWeight Destructor Executing.
: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

:  Fan Destructor Executing.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2

:  CameraDestructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object CameraOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:00021390.
: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
