Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - externalCom: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
msServer
Supervisor::createTask() - navigationS: WorkSite::WorkSite -- Finished loading parameters
er: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
ver: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2

S: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
uper: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
viso: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
r::c: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
rea: WorkSite server: 0x2300c
teTask() - layeredCont: New Navigation component constructor
rol: Navigation - Using only the Dvl to compute altitude.
Server
Supervisor::createTask() - dynamicControlServer
Supervisor::createTask() - newTailConeServer
Supervisor::createTask() - m3dmgx1Server
Supervisor::createTask() - gpsServer
Supervisor::createTask(: SerialDevice: done...

): TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts
 - : TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts
par: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts
os: Preparing to fork

c: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts
iServ: I'm the child...forking

e: SerialDevice: done...

r
Su: SerialDevice: done...

pervisor::createTask() - dvlServer
Superv: SerialDevice: done...

isor::: SerialDevice: done...

createTask() - fanServer
Superviso: Gps: initializing

r::: SerialDevice: done...

cr: SerialDevice: done...

eateTask: SerialDevice: done...

() : SerialDevice: done...

- drop: Crossbow.cc: In getSerialNumber()
WeightServer
Supervisor:: SerialDevice: done...

:createTa: SerialDevice: done...

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

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

() - echoSounderServer:  DropWeight::initialize - Resetting counters.

: SerialDevice: done...

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

: 
 Starting DVL Initialization.

: SerialDevice: done...

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

: ahrs if is Ahrs

: 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        = 0
	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
: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: SerialDevice: done...

: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

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

: 3 Modules found
: Gps: done initializing...

: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - 50.17802,N,12153.43080,W,1,11,0.8,-0.72,M,-32.71,M,,*7B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,192454.00,3650.17794,N,12153.43053,W,1,11,0.8,-1.08,M,-32.71,M,,*7E

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.700000, D:0.000000, U:0.000000, Q:0.000000

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.700000, D:0.000000, U:0.000000, Q:0.000000

: AshtechGps::processRecord() - $GPGGA,192455.00,3650.17811,N,12153.43051,W,1,11,0.8,-1.53,M,-32.71,M,,*71

: AshtechGps::processRecord() - $GPGGA,192456.00,3650.17810,N,12153.43061,W,1,11,0.8,-1.86,M,-32.71,M,,*78

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,192457.00,3650.17810,N,12153.43076,W,1,11,0.8,-1.73,M,-32.71,M,,*75

: AshtechGps::processRecord() - $GPGGA,192458.00,3650.17808,N,12153.43085,W,1,11,0.8,-1.71,M,-32.71,M,,*7D

: Parosci.cc -- Initial pressure = 0.068948
: AshtechGps::processRecord() - $GPGGA,192459.00,3650.17802,N,12153.43091,W,1,11,0.8,-1.49,M,-32.71,M,,*78

: Parosci.cc -- Parosci initial pressure period = 30.139110
: Parosci.cc -- Parosci initial temp period = 5.842520
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,192500.00,3650.17808,N,12153.43094,W,1,11,0.8,-1.32,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,192501.00,3650.17803,N,12153.43077,W,1,11,0.8,-1.11,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,192502.00,3650.17807,N,12153.43050,W,1,11,0.8,-1.16,M,-32.71,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 534020020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192503.00,3650.17807,N,12153.43035,W,1,11,0.8,-1.58,M,-32.71,M,,*7D

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,192504.00,3650.17814,N,12153.43047,W,1,11,0.8,-1.94,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,192505.00,3650.17818,N,12153.43074,W,1,11,0.8,-2.31,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,192506.00,3650.17820,N,12153.43110,W,1,11,0.8,-1.84,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,192507.00,3650.17814,N,12153.43108,W,1,11,0.8,-0.92,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,192508.00,3650.17813,N,12153.43065,W,1,11,0.8,-0.45,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,192509.00,3650.17818,N,12153.43027,W,1,11,0.8,-1.04,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,192510.00,3650.17823,N,12153.43021,W,1,11,0.8,-1.44,M,-32.71,M,,*71

: AshtechGps::processRecord() - $GPGGA,192511.00,3650.17830,N,12153.43028,W,1,11,0.8,-1.88,M,-32.71,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 33437770
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192512.00,3650.17835,N,12153.43051,W,1,11,0.8,-2.16,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,192513.00,3650.17822,N,12153.43060,W,1,11,0.8,-1.36,M,-32.71,M,,*73

: 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 ***

: AshtechGps::processRecord() - $GPGGA,192514.00,3650.17831,N,12153.43058,W,1,11,0.8,-0.89,M,-32.71,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: AshtechGps::processRecord() - $GPGGA,192515.00,3650.17819,N,12153.43029,W,1,11,0.8,-0.63,M,-32.71,M,,*71

: 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,192516.00,3650.17821,N,12153.43000,W,1,11,0.8,-0.87,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,192517.00,3650.17832,N,12153.43006,W,1,11,0.8,-1.43,M,-32.71,M,,*74

: 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,192518.00,3650.17835,N,12153.43024,W,1,11,0.8,-1.65,M,-32.71,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,192519.00,3650.17847,N,12153.43037,W,1,11,0.8,-1.85,M,-32.71,M,,*70

: 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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532855520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192520.00,3650.17845,N,12153.43050,W,1,11,0.8,-1.61,M,-32.71,M,,*73

: 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,192521.00,3650.17846,N,12153.43044,W,1,11,0.8,-1.01,M,-32.71,M,,*72

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,192522.00,3650.17839,N,12153.43010,W,1,11,0.8,-0.89,M,-32.71,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.199438) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.199438) Behavior setpoint:-1 has changed to state Active

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

: AshtechGps::processRecord() - $GPGGA,192523.00,3650.17842,N,12153.42990,W,1,11,0.8,-1.13,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,192524.00,3650.17856,N,12153.42995,W,1,11,0.8,-1.62,M,-32.71,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,192525.00,3650.17851,N,12153.43016,W,1,11,0.8,-1.73,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,192526.00,3650.17856,N,12153.43022,W,1,11,0.8,-1.34,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,192527.00,3650.17843,N,12153.43001,W,1,11,0.8,-1.26,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,192528.00,3650.17858,N,12153.42974,W,1,11,0.8,-1.06,M,-32.71,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 32273270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192529.00,3650.17860,N,12153.42945,W,1,11,0.8,-1.09,M,-32.71,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,192530.00,3650.17850,N,12153.42915,W,1,11,0.8,-1.46,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,192531.00,3650.17849,N,12153.42888,W,1,11,0.8,-1.51,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,192532.00,3650.17840,N,12153.42859,W,1,11,0.8,-1.56,M,-32.71,M,,*71

: AshtechGps::processRecord() - $GPGGA,192533.00,3650.17845,N,12153.42821,W,1,11,0.8,-1.52,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,192534.00,3650.17824,N,12153.42785,W,1,11,0.8,-1.45,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,192535.00,3650.17838,N,12153.42730,W,1,11,0.8,-1.12,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,192536.00,3650.17838,N,12153.42660,W,1,11,0.8,-1.10,M,-32.71,M,,*7C

: 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 531691020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192537.00,3650.17827,N,12153.42590,W,1,11,0.8,-1.58,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,192538.00,3650.17829,N,12153.42544,W,1,11,0.8,-1.99,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,192539.00,3650.17812,N,12153.42517,W,1,11,0.8,-1.90,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,192540.00,3650.17817,N,12153.42473,W,1,11,0.8,-1.57,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:-1.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192541.00,3650.17803,N,12153.42402,W,1,11,0.8,-1.25,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,192542.00,3650.17804,N,12153.42322,W,1,11,0.8,-1.11,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,192543.00,3650.17796,N,12153.42247,W,1,11,0.8,-1.13,M,-32.71,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,192544.00,3650.17791,N,12153.42165,W,1,11,0.8,-1.09,M,-32.71,M,,*7F

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

: AshtechGps::processRecord() - $GPGGA,192545.00,3650.17791,N,12153.42082,W,1,11,0.8,-1.48,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,192546.00,3650.17781,N,12153.42025,W,1,11,0.8,-1.91,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,192547.00,3650.17782,N,12153.41989,W,1,11,0.8,-1.56,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,192548.00,3650.17780,N,12153.41929,W,1,11,0.8,-1.09,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 530869020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192549.00,3650.17764,N,12153.41826,W,1,11,0.8,-0.78,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,192550.00,3650.17755,N,12153.41704,W,1,11,0.8,-1.05,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,192551.00,3650.17753,N,12153.41613,W,1,11,0.8,-1.72,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,192552.00,3650.17756,N,12153.41570,W,1,11,0.8,-2.01,M,-32.71,M,,*7B

: LayeredControl::execute() -- (t = 38.397369) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.397369) Behavior descend:-1 has changed to state Active

: 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

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

: AshtechGps::processRecord() - $GPGGA,192553.00,3650.17754,N,12153.41544,W,1,11,0.8,-1.97,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,192554.00,3650.17741,N,12153.41483,W,1,11,0.8,-1.46,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,192555.00,3650.17724,N,12153.41385,W,1,11,0.8,-0.96,M,-32.71,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,192556.00,3650.17717,N,12153.41275,W,1,11,0.8,-0.97,M,-32.71,M,,*75

: AshtechGps::processRecord() - $GPGGA,192557.00,3650.17715,N,12153.41180,W,1,11,0.8,-1.40,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,192558.00,3650.17720,N,12153.41107,W,1,11,0.8,-1.64,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,192559.00,3650.17707,N,12153.41057,W,1,11,0.8,-1.78,M,-32.71,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,192600.00,3650.17696,N,12153.41005,W,1,11,0.8,-1.61,M,-32.71,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530047020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192601.00,3650.17697,N,12153.40933,W,1,11,0.8,-1.30,M,-32.71,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,192602.00,3650.17701,N,12153.40842,W,1,11,0.8,-1.19,M,-32.71,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,192603.00,3650.17709,N,12153.40739,W,1,11,0.8,-1.16,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,192604.00,3650.17709,N,12153.40645,W,1,11,0.8,-1.56,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,192605.00,3650.17671,N,12153.40628,W,1,10,0.9,-2.60,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,192606.00,,,,,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,192607.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192608.00,,,,,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,192609.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29464770
: 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,192610.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192611.00,,,,,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,192612.00,,,,,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,192613.00,,,,,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,192614.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192615.00,,,,,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,192616.00,,,,,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,192617.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 528882520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192618.00,,,,,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,192619.00,,,,,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,192620.00,,,,,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,192621.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192622.00,,,,,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,192623.00,,,,,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,192624.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192625.00,,,,,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,192626.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 28300270
: 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,192627.00,,,,,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,192628.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192629.00,,,,,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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192630.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.400000, 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,192631.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192632.00,,,,,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,192633.00,,,,,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,192634.00,,,,,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,192635.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192636.00,,,,,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,192637.00,,,,,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,192638.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27478270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192639.00,,,,,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,192640.00,,,,,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,192641.00,,,,,0,00,,,M,,M,,*41

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

: AshtechGps::processRecord() - $GPGGA,192642.00,,,,,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:-nan

: AshtechGps::processRecord() - $GPGGA,192643.00,,,,,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,192644.00,,,,,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,192645.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192646.00,,,,,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,192647.00,,,,,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,192648.00,,,,,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,192649.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192650.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26656270
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192651.00,,,,,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,192652.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192653.00,,,,,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,192654.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.000000, 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,192655.00,,,,,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,192656.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192657.00,,,,,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,192658.00,,,,,0,00,,,M,,M,,*49

: 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,192659.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192700.00,,,,,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,192701.00,,,,,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,192702.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25834270
: 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,192703.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192704.00,,,,,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,192705.00,,,,,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,192706.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192707.00,,,,,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,192708.00,,,,,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,192709.00,,,,,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,192710.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 525252020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192711.00,,,,,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,192712.00,,,,,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,192713.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192714.00,,,,,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,192715.00,,,,,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,192716.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192717.00,,,,,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,192718.00,,,,,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,192719.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 24669770
: 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,192720.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192721.00,,,,,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,192722.00,,,,,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,192723.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192724.00,,,,,0,00,,,M,,M,,*43

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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192725.00,,,,,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,192726.00,,,,,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,192727.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 534086835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192728.00,,,,,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,192729.00,,,,,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,192730.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192731.00,,,,,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

: 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,192732.00,,,,,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,192733.00,,,,,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,192734.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192735.00,,,,,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,192736.00,,,,,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,192737.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192738.00,,,,,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,192739.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 533264835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192740.00,,,,,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,192741.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192742.00,,,,,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,192743.00,,,,,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,192744.00,,,,,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,192745.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192746.00,,,,,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,192747.00,,,,,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,192748.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 32682585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192749.00,,,,,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,192750.00,,,,,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,192751.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192752.00,,,,,0,00,,,M,,M,,*42

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

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192753.00,,,,,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,192754.00,,,,,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,192755.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192756.00,,,,,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 532100335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192757.00,,,,,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,192758.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192759.00,,,,,0,00,,,M,,M,,*49

: 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,192800.00,,,,,0,00,,,M,,M,,*4A

: 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:-6.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-6.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,192801.00,,,,,0,00,,,M,,M,,*4B

: 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,192802.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192803.00,,,,,0,00,,,M,,M,,*49

: 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,192804.00,,,,,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,192805.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192806.00,,,,,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,192807.00,,,,,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,192808.00,,,,,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 531278335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192809.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192810.00,,,,,0,00,,,M,,M,,*4B

: 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,192811.00,,,,,0,00,,,M,,M,,*4A

: 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,192812.00,,,,,0,00,,,M,,M,,*49

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

: AshtechGps::processRecord() - $GPGGA,192813.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192814.00,,,,,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,192815.00,,,,,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,192816.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192817.00,,,,,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,192818.00,,,,,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,192819.00,,,,,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,192820.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530456335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192821.00,,,,,0,00,,,M,,M,,*49

: 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,192822.00,,,,,0,00,,,M,,M,,*4A

: 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,192823.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192824.00,,,,,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,192825.00,,,,,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,192826.00,,,,,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,192827.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192828.00,,,,,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,192829.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29874085
: 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,192830.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192831.00,,,,,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,192832.00,,,,,0,00,,,M,,M,,*4B

: 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:-4.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192833.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.300000, 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,192834.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192835.00,,,,,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,192836.00,,,,,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,192837.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192838.00,,,,,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,192839.00,,,,,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,192840.00,,,,,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,192841.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29052085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192842.00,,,,,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,192843.00,,,,,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,192844.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192845.00,,,,,0,00,,,M,,M,,*4B

: 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,192846.00,,,,,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,192847.00,,,,,0,00,,,M,,M,,*49

: 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,192848.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192849.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 528469835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192850.00,,,,,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,192851.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192852.00,,,,,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,192853.00,,,,,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,192854.00,,,,,0,00,,,M,,M,,*4B

: 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,192855.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192856.00,,,,,0,00,,,M,,M,,*49

: 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,192857.00,,,,,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,192858.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27887585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192859.00,,,,,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,192900.00,,,,,0,00,,,M,,M,,*4B

: 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,192901.00,,,,,0,00,,,M,,M,,*4A

: 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,192902.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192903.00,,,,,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,192904.00,,,,,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,192905.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192906.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 527305335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192907.00,,,,,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,192908.00,,,,,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,192909.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192910.00,,,,,0,00,,,M,,M,,*4A

: 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,192911.00,,,,,0,00,,,M,,M,,*4B

: 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,192912.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192913.00,,,,,0,00,,,M,,M,,*49

: 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,192914.00,,,,,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,192915.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26723085
: 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,192916.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192917.00,,,,,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,192918.00,,,,,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,192919.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192920.00,,,,,0,00,,,M,,M,,*49

: 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,192921.00,,,,,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,192922.00,,,,,0,00,,,M,,M,,*4B

: 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,192923.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 526140835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192924.00,,,,,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

: Descend::execute() - Descend terminating on altitude 19.957555 < 20.000000 at time 250.592833

: LayeredControl::execute() -- (t = 250.592833) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 250.592833) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,192925.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.40
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192926.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192927.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192928.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192929.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192930.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192931.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192932.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25558585
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192933.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192934.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.52
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192935.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192936.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=61.40
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192937.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192938.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192939.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.42
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192940.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192941.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192942.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192943.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192944.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 24736585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192945.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192946.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192947.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,192948.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=62.10
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192949.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.27
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192950.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192951.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.93
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192952.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.03
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192953.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.22
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192954.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192955.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192956.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 33913900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.42
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192957.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.62
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,192958.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,192959.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.52
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

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

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193000.00,,,,,0,00,,,M,,M,,*43

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

: LayeredControl _resolvedCommand - vertMode=2 vert=62.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193001.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193002.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.64
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193003.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=62.75
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193004.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193005.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193006.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193007.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=62.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193008.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193009.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193010.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.86
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193011.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193012.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.84
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193013.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.92
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193014.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193015.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 32612400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193016.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193017.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193018.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193019.00,,,,,0,00,,,M,,M,,*4B

: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193020.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193021.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193022.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193023.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.13
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532030150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193024.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193025.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193026.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193027.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.41
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193028.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.29
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193029.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193030.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.42
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193031.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.56
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193032.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31447900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=63.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193033.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193034.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.53
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193035.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193036.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,193037.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.60
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193038.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193039.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,193040.00,,,,,0,00,,,M,,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=63.69
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193041.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193042.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193043.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193044.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193045.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193046.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193047.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530386150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193048.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193049.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.01
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193050.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193051.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193052.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.11
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193053.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193054.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193055.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.10
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193056.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29803900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.06
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193057.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193058.00,,,,,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,193059.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193100.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.22
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193101.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193102.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193103.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193104.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 529221650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193105.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193106.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193107.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193108.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193109.00,,,,,0,00,,,M,,M,,*4B

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

: AshtechGps::processRecord() - $GPGGA,193110.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.37
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193111.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193112.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.30
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193113.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 28639400
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.31
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193114.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193115.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193116.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.27
	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
: AshtechGps::processRecord() - $GPGGA,193117.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.900000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=64.32
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193118.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193119.00,,,,,0,00,,,M,,M,,*4A

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

: AshtechGps::processRecord() - $GPGGA,193120.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.40
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193121.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193122.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193123.00,,,,,0,00,,,M,,M,,*43

: 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,193124.00,,,,,0,00,,,M,,M,,*44

: 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,193125.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27817400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193126.00,,,,,0,00,,,M,,M,,*46

: 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,193127.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193128.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.37
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193129.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193130.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193131.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193132.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193133.00,,,,,0,00,,,M,,M,,*42

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 527235150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193134.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193135.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193136.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193137.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.54
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193138.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193139.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193140.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.53
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193141.00,,,,,0,00,,,M,,M,,*47

: 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,193142.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26652900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193143.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193144.00,,,,,0,00,,,M,,M,,*42

: 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,193145.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193146.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193147.00,,,,,0,00,,,M,,M,,*41

: 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,193148.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.55
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193149.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.56
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193150.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 526070650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193151.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.55
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193152.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.53
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193153.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193154.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193155.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193156.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193157.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193158.00,,,,,0,00,,,M,,M,,*4F

: 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,193159.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25488400
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.47
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193200.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193201.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193202.00,,,,,0,00,,,M,,M,,*43

: 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,193203.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193204.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193205.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.51
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193206.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193207.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 524906150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193208.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193209.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.45
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193210.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193211.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193212.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193213.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193214.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193215.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.43
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193216.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 24323900
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193217.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.48
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193218.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193219.00,,,,,0,00,,,M,,M,,*49

: 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,193220.00,,,,,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,193221.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193222.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.40
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193223.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193224.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 533740965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193225.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193226.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.35
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193227.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.36
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193228.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193229.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.36
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193230.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.41
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193231.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193232.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.41
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193233.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.39
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 33158715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193234.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.33
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193235.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193236.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.33
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193237.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.34
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193238.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193239.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193240.00,,,,,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,193241.00,,,,,0,00,,,M,,M,,*44

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532576465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193242.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193243.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193244.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.28
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193245.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193246.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=64.33
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193247.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.34
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193248.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.36
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193249.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193250.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.32
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31994215
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193251.00,,,,,0,00,,,M,,M,,*45

: 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,193252.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193253.00,,,,,0,00,,,M,,M,,*47

: LayeredControl _resolvedCommand - vertMode=2 vert=64.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193254.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.500000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193255.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193256.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193257.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193258.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193259.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193300.00,,,,,0,00,,,M,,M,,*40

: 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,193301.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.29
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193302.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31172215
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.29
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193303.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193304.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193305.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.23
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193306.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193307.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193308.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193309.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.19
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193310.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530589965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193311.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193312.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193313.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.18
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193314.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193315.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.17
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193316.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193317.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193318.00,,,,,0,00,,,M,,M,,*49

: 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,193319.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 30007715
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.15
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193320.00,,,,,0,00,,,M,,M,,*42

: 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,193321.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193322.00,,,,,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,193323.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.06
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193324.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193325.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.11
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193326.00,,,,,0,00,,,M,,M,,*44

: 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,193327.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 529425465
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.12
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193328.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193329.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193330.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193331.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193332.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193333.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193334.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193335.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193336.00,,,,,0,00,,,M,,M,,*45

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 28843215
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193337.00,,,,,0,00,,,M,,M,,*44

: 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,193338.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193339.00,,,,,0,00,,,M,,M,,*4A

: 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,193340.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.09
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193341.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193342.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193343.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193344.00,,,,,0,00,,,M,,M,,*40

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 528260965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193345.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193346.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.04
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193347.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193348.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193349.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193350.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193351.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.03
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193352.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193353.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27678715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193354.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193355.00,,,,,0,00,,,M,,M,,*40

: 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,193356.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193357.00,,,,,0,00,,,M,,M,,*42

: 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,193358.00,,,,,0,00,,,M,,M,,*4D

: 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,193359.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193400.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.97
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193401.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 527096465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193402.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193403.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193404.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193405.00,,,,,0,00,,,M,,M,,*42

: 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,193406.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193407.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193408.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.02
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193409.00,,,,,0,00,,,M,,M,,*4E

: 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,193410.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26514215
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193411.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.00
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193412.00,,,,,0,00,,,M,,M,,*44

: 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,193413.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193414.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193415.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193416.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193417.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193418.00,,,,,0,00,,,M,,M,,*4E

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 525931965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193419.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.94
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193420.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193421.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193422.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.95
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193423.00,,,,,0,00,,,M,,M,,*46

: 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,193424.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 550.792268) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          550.79.
: LayeredControl::execute() -- (t = 550.792268) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 550.792268) Behavior setpoint:-1 has changed to state Active

: CameraDriver::readData - starting a 20 photo sequence.
: AshtechGps::processRecord() - $GPGGA,193425.00,,,,,0,00,,,M,,M,,*40

: 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,193426.00,,,,,0,00,,,M,,M,,*43

: 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,193427.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25349715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193428.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193429.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.89
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193430.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193431.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193432.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193433.00,,,,,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,193434.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193435.00,,,,,0,00,,,M,,M,,*41

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 524767465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193436.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.89
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193437.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193438.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193439.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: 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,193440.00,,,,,0,00,,,M,,M,,*43

: 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,193441.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193442.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193443.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193444.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193445.00,,,,,0,00,,,M,,M,,*46

: 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,193446.00,,,,,0,00,,,M,,M,,*45

: 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,193447.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.85
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 533944780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193448.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193449.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.87
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193450.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.88
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193451.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193452.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193453.00,,,,,0,00,,,M,,M,,*41

: 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,193454.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193455.00,,,,,0,00,,,M,,M,,*47

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

: AshtechGps::processRecord() - $GPGGA,193456.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193457.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193458.00,,,,,0,00,,,M,,M,,*4A

: 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

: AshtechGps::processRecord() - $GPGGA,193459.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193500.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.80
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193501.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.83
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193502.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193503.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.80
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193504.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193505.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193506.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.75
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532643280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193507.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193508.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193509.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193510.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: 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,193511.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.75
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193512.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193513.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193514.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=63.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193515.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.78
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193516.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193517.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193518.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.79
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193519.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193520.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193521.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193522.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31581530
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=63.73
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193523.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193524.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193525.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193526.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193527.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193528.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193529.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193530.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530999280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193531.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193532.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.71
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193533.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193534.00,,,,,0,00,,,M,,M,,*41

: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193535.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.70
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193536.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193537.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193538.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.70
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193539.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 30417030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=63.68
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193540.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193541.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193542.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193543.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=63.64
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193544.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193545.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193546.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.64
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193547.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193548.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.64
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193549.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193550.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.67
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193551.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29595030
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193552.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.69
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193553.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,193554.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 640.796102) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 640.796102) Behavior ascend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,193555.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193556.00,,,,,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,193557.00,,,,,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,193558.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193559.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 529012780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193600.00,,,,,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,193601.00,,,,,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,193602.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193603.00,,,,,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,193604.00,,,,,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,193605.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193606.00,,,,,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,193607.00,,,,,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,193608.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 28430530
: 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,193609.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193610.00,,,,,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,193611.00,,,,,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,193612.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193613.00,,,,,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,193614.00,,,,,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,193615.00,,,,,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,193616.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 527848280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193617.00,,,,,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,193618.00,,,,,0,00,,,M,,M,,*4C

: 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,193619.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193620.00,,,,,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,193621.00,,,,,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,193622.00,,,,,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,193623.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193624.00,,,,,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,193625.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27266030
: 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,193626.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193627.00,,,,,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,193628.00,,,,,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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193629.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:5.100000, 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,193630.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193631.00,,,,,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,193632.00,,,,,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,193633.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193634.00,,,,,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,193635.00,,,,,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,193636.00,,,,,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,193637.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26444030
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193638.00,,,,,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,193639.00,,,,,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,193640.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193641.00,,,,,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,193642.00,,,,,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,193643.00,,,,,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,193644.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193645.00,,,,,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 - caught exception during DIAG cycle: Timed Out 525861780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193646.00,,,,,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,193647.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193648.00,,,,,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,193649.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193650.00,,,,,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,193651.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193652.00,,,,,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,193653.00,,,,,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,193654.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25279530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193655.00,,,,,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,193656.00,,,,,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,193657.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:***************************************

: 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,193658.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,193659.00,,,,,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,193700.00,,,,,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,193701.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193702.00,,,,,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,193703.00,,,,,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,193704.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193705.00,,,,,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,193706.00,,,,,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 - caught exception during DIAG cycle: Timed Out 24457530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193707.00,,,,,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,193708.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193709.00,,,,,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,193710.00,,,,,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,193711.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193712.00,,,,,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,193713.00,,,,,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,193714.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 533874595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193715.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193716.00,,,,,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,193717.00,,,,,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,193718.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193719.00,,,,,0,00,,,M,,M,,*4C

: 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,193720.00,,,,,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,193721.00,,,,,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,193722.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193723.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 33292345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193724.00,,,,,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,193725.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193726.00,,,,,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,193727.00,,,,,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,193728.00,,,,,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,193729.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193730.00,,,,,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,193731.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532710095
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193732.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193733.00,,,,,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,193734.00,,,,,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,193735.00,,,,,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,193736.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193737.00,,,,,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,193738.00,,,,,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,193739.00,,,,,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,193740.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 32127845
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193741.00,,,,,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,193742.00,,,,,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,193743.00,,,,,0,00,,,M,,M,,*43

: 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
: AshtechGps::processRecord() - $GPGGA,193744.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.800000, 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,193745.00,,,,,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,193746.00,,,,,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,193747.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193748.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193749.00,,,,,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,193750.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193751.00,,,,,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,193752.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31305845
: 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,193753.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193754.00,,,,,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,193755.00,,,,,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,193756.00,,,,,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,193757.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193758.00,,,,,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,193759.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193800.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530723595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193801.00,,,,,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,193802.00,,,,,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,193803.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193804.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193805.00,,,,,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,193806.00,,,,,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,193807.00,,,,,0,00,,,M,,M,,*4C

: 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,193808.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193809.00,,,,,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 - caught exception during DIAG cycle: Timed Out 30141345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193810.00,,,,,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,193811.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193812.00,,,,,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::acquireDiagData() - S:100.000000, N:-2.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193813.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.000000, 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,193814.00,,,,,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,193815.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193816.00,,,,,0,00,,,M,,M,,*4C

: 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:-0.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,193817.00,,,,,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,193818.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193819.00,,,,,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,193820.00,,,,,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,193821.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193822.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193823.00,,,,,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,193824.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 529079595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193825.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193826.00,,,,,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,193827.00,,,,,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,193828.00,,,,,0,00,,,M,,M,,*41

: 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

: AshtechGps::processRecord() - $GPGGA,193829.00,,,,,0,00,,,M,,M,,*40

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=1.57
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193830.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193831.00,,,,,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,193832.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193833.00,,,,,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,193834.00,,,,,0,00,,,M,,M,,*4C

: 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,193835.00,,,,,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,193836.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 528257595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193837.00,,,,,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,193838.00,,,,,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,193839.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193840.00,,,,,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,193841.00,,,,,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,193842.00,,,,,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,193843.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193844.00,,,,,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,193845.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27675345
: 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,193846.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193847.00,,,,,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

: AshtechGps::processRecord() - $GPGGA,193848.00,,,,,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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193849.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.800000, 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,193850.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193851.00,,,,,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,193852.00,,,,,0,00,,,M,,M,,*4C

: 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,193853.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193854.00,,,,,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,193855.00,,,,,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

: LayeredControl::execute() -- (t = 821.993690) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 821.993690) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,193856.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193857.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26853345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193858.00,,,,,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,193859.00,,,,,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,193900.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193901.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.400000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193902.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193903.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193904.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193905.00,,,,,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,193906.00,3650.14537,N,12152.77134,W,1,08,1.0,-1.52,M,-32.71,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,193907.00,,,,,0,04,7.2,,M,,M,,*62

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193908.00,,,,,0,03,15.5,,M,,M,,*5E

: 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,193909.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26031345
: 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,193910.00,,,,,0,00,,,M,,M,,*4B

: 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,193911.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193912.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193913.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193914.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193915.00,,,,,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,193916.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193917.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 525449095
: 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,193918.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193919.00,,,,,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,193920.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193921.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193922.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193923.00,,,,,0,00,,,M,,M,,*4B

: 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,193924.00,,,,,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,193925.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193926.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 24866845
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193927.00,,,,,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,193928.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,193929.00,,,,,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

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193930.00,3650.14475,N,12152.76088,W,1,06,1.4,-0.22,M,-32.71,M,,*7C

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.200000, D:0.000000, U:0.000000, Q:-nan

: 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,193931.00,3650.14485,N,12152.76073,W,1,09,1.1,-1.21,M,-32.71,M,,*7E

: 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,193932.00,3650.14438,N,12152.76093,W,1,10,0.9,1.29,M,-32.71,M,,*51

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: AshtechGps::processRecord() - $GPGGA,193933.00,3650.14417,N,12152.76063,W,1,10,0.9,-0.95,M,-32.71,M,,*79

: 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

: 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

: AshtechGps::processRecord() - $GPGGA,193934.00,3650.14441,N,12152.76024,W,1,10,0.9,-1.18,M,-32.71,M,,*7A

: 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,193935.00,3650.14438,N,12152.76025,W,1,10,0.9,-1.31,M,-32.71,M,,*7F

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,193936.00,3650.14425,N,12152.76011,W,1,10,0.9,-1.35,M,-32.71,M,,*73

: 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,193937.00,3650.14425,N,12152.75969,W,1,10,0.9,-0.81,M,-32.71,M,,*79

: 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,193938.00,3650.14402,N,12152.75949,W,1,10,0.9,-0.77,M,-32.71,M,,*78

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 864.200798) 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 = 864.400784) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 864.400784) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,193939.00,3650.14393,N,12152.75925,W,1,10,0.9,-0.62,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,193940.00,3650.14378,N,12152.75886,W,1,10,0.9,-0.43,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,193941.00,3650.14366,N,12152.75847,W,1,10,0.9,-1.14,M,-32.71,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 533804410
: 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,193942.00,3650.14367,N,12152.75841,W,1,10,0.9,-1.67,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,193943.00,3650.14350,N,12152.75866,W,1,10,0.9,-1.53,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,193944.00,3650.14346,N,12152.75852,W,1,10,0.9,-1.07,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,193945.00,3650.14320,N,12152.75816,W,1,10,0.9,-0.71,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,193946.00,3650.14314,N,12152.75757,W,1,10,0.9,-0.98,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,193947.00,3650.14288,N,12152.75736,W,1,10,0.9,-1.14,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,193948.00,3650.14278,N,12152.75730,W,1,10,0.9,-1.37,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,193949.00,3650.14267,N,12152.75736,W,1,10,0.9,-1.60,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,193950.00,3650.14264,N,12152.75745,W,1,10,0.9,-1.32,M,-32.71,M,,*72

: 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 33222160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193951.00,3650.14264,N,12152.75731,W,1,10,0.9,-0.84,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,193952.00,3650.14257,N,12152.75695,W,1,10,0.9,-0.63,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,193953.00,3650.14247,N,12152.75653,W,1,10,0.9,-0.57,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,193954.00,3650.14231,N,12152.75616,W,1,10,0.9,-0.83,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,193955.00,3650.14214,N,12152.75599,W,1,10,0.9,-1.33,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,193956.00,3650.14208,N,12152.75606,W,1,10,0.9,-1.65,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,193957.00,3650.14209,N,12152.75618,W,1,10,0.9,-1.43,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,193958.00,3650.14213,N,12152.75616,W,1,10,0.9,-1.14,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 532639910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,193959.00,3650.14204,N,12152.75603,W,1,10,0.9,-1.03,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,194000.00,3650.14188,N,12152.75590,W,1,10,0.9,-1.02,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,194001.00,3650.14177,N,12152.75560,W,1,10,0.9,-0.73,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,194002.00,3650.14165,N,12152.75531,W,1,10,0.9,-0.92,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,194003.00,3650.14159,N,12152.75514,W,1,10,0.9,-1.17,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,194004.00,3650.14156,N,12152.75509,W,1,10,0.9,-1.34,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,194005.00,3650.14130,N,12152.75524,W,1,11,0.8,-2.20,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,194006.00,3650.14130,N,12152.75520,W,1,11,0.8,-2.05,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,194007.00,3650.14129,N,12152.75508,W,1,11,0.8,-2.00,M,-32.71,M,,*7D

: 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 32057660
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194008.00,3650.14125,N,12152.75485,W,1,11,0.8,-2.03,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,194009.00,3650.14109,N,12152.75479,W,1,11,0.8,-2.19,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,194010.00,3650.14106,N,12152.75471,W,1,11,0.8,-2.06,M,-32.71,M,,*7F

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194011.00,3650.14098,N,12152.75457,W,1,11,0.8,-1.88,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,194012.00,3650.14086,N,12152.75438,W,1,11,0.8,-1.98,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,194013.00,3650.14081,N,12152.75426,W,1,11,0.8,-2.30,M,-32.71,M,,*75

: AshtechGps::processRecord() - $GPGGA,194014.00,3650.14078,N,12152.75430,W,1,11,0.8,-2.38,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,194015.00,3650.14068,N,12152.75432,W,1,11,0.8,-2.27,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,194016.00,3650.14063,N,12152.75418,W,1,11,0.8,-2.15,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,194017.00,3650.14057,N,12152.75416,W,1,11,0.8,-1.88,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,194018.00,3650.14061,N,12152.75393,W,1,11,0.8,-1.66,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,194019.00,3650.14045,N,12152.75367,W,1,11,0.8,-1.82,M,-32.71,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 31235660
: 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,194020.00,3650.14039,N,12152.75342,W,1,11,0.8,-2.30,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,194021.00,3650.14026,N,12152.75359,W,1,11,0.8,-2.52,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194022.00,3650.14033,N,12152.75355,W,1,11,0.8,-2.35,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,194023.00,3650.14023,N,12152.75356,W,1,11,0.8,-2.13,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,194024.00,3650.14024,N,12152.75338,W,1,11,0.8,-1.98,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,194025.00,3650.14015,N,12152.75320,W,1,11,0.8,-1.99,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,194026.00,3650.14005,N,12152.75307,W,1,11,0.8,-2.29,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,194027.00,3650.13991,N,12152.75316,W,1,11,0.8,-2.45,M,-32.71,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530653410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194028.00,3650.13986,N,12152.75316,W,1,11,0.8,-2.24,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,194029.00,3650.13983,N,12152.75306,W,1,11,0.8,-1.90,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,194030.00,3650.13977,N,12152.75293,W,1,11,0.8,-1.98,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,194031.00,3650.13974,N,12152.75274,W,1,11,0.8,-2.11,M,-32.71,M,,*73

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194032.00,3650.13967,N,12152.75279,W,1,11,0.8,-2.14,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,194033.00,3650.13974,N,12152.75262,W,1,11,0.8,-2.09,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,194034.00,3650.13958,N,12152.75254,W,1,11,0.8,-2.21,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,194035.00,3650.13947,N,12152.75239,W,1,11,0.8,-2.36,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,194036.00,3650.13943,N,12152.75239,W,1,11,0.8,-2.58,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,194037.00,3650.13936,N,12152.75278,W,1,11,0.8,-2.92,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,194038.00,3650.13940,N,12152.75290,W,1,11,0.8,-2.05,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,194039.00,3650.13936,N,12152.75241,W,1,11,0.8,-0.88,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 529831410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194040.00,3650.13935,N,12152.75130,W,1,11,0.8,-0.93,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,194041.00,3650.13909,N,12152.75099,W,1,11,0.8,-2.41,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,194042.00,3650.13904,N,12152.75118,W,1,11,0.8,-3.29,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,194043.00,3650.13900,N,12152.75170,W,1,11,0.8,-3.08,M,-32.71,M,,*7B

: 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=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194044.00,3650.13913,N,12152.75178,W,1,11,0.8,-2.33,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,194045.00,3650.13950,N,12152.75149,W,1,11,0.8,-0.28,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,194046.00,3650.13941,N,12152.75123,W,1,11,0.8,-0.24,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,194047.00,3650.13927,N,12152.75089,W,1,11,0.8,-0.48,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,194048.00,3650.13902,N,12152.75087,W,1,11,0.8,-1.18,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,194049.00,3650.13883,N,12152.75100,W,1,11,0.8,-2.17,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,194050.00,3650.13875,N,12152.75130,W,1,11,0.8,-2.05,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194051.00,3650.13877,N,12152.75120,W,1,11,0.8,-1.64,M,-32.71,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 529009410
: 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,194052.00,3650.13871,N,12152.75093,W,1,11,0.8,-1.51,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,194053.00,3650.13859,N,12152.75067,W,1,11,0.8,-1.70,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,194054.00,3650.13844,N,12152.75056,W,1,11,0.8,-2.30,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,194055.00,3650.13832,N,12152.75075,W,1,11,0.8,-2.46,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,194056.00,3650.13833,N,12152.75089,W,1,11,0.8,-2.66,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,194057.00,3650.13837,N,12152.75103,W,1,11,0.8,-2.34,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,194058.00,3650.13837,N,12152.75089,W,1,11,0.8,-2.07,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,194059.00,3650.13822,N,12152.75075,W,1,11,0.8,-1.64,M,-32.71,M,,*7D

: AshtechGps::processRecord() - $GPGGA,194100.00,3650.13813,N,12152.75038,W,1,11,0.8,-1.73,M,-32.71,M,,*7D

: 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 28427160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194101.00,3650.13786,N,12152.75014,W,1,12,0.8,-2.32,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,194102.00,3650.13788,N,12152.75016,W,1,12,0.8,-2.71,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,194103.00,3650.13783,N,12152.75047,W,1,12,0.8,-2.85,M,-32.71,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194104.00,3650.13786,N,12152.75051,W,1,12,0.8,-2.66,M,-32.71,M,,*71

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.100000, 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,194105.00,3650.13775,N,12152.75061,W,1,12,0.8,-2.28,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,194106.00,3650.13776,N,12152.75026,W,1,12,0.8,-1.93,M,-32.71,M,,*75

: AshtechGps::processRecord() - $GPGGA,194107.00,3650.13763,N,12152.75010,W,1,12,0.8,-2.04,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,194108.00,3650.13757,N,12152.74986,W,1,12,0.8,-2.44,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,194109.00,3650.13750,N,12152.75002,W,1,12,0.8,-2.86,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,194110.00,3650.13747,N,12152.75027,W,1,12,0.8,-2.96,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,194111.00,3650.13746,N,12152.75036,W,1,12,0.8,-2.51,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,194112.00,3650.13741,N,12152.75026,W,1,12,0.8,-2.05,M,-32.71,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 27605160
: 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,194113.00,3650.13737,N,12152.74990,W,1,12,0.8,-1.93,M,-32.71,M,,*71

: AshtechGps::processRecord() - $GPGGA,194114.00,3650.13726,N,12152.74977,W,1,12,0.8,-2.19,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,194115.00,3650.13720,N,12152.74968,W,1,12,0.8,-2.58,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194116.00,3650.13721,N,12152.74990,W,1,12,0.8,-2.88,M,-32.71,M,,*7A

: AshtechGps::processRecord() - $GPGGA,194117.00,3650.13722,N,12152.75002,W,1,12,0.8,-2.83,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,194118.00,3650.13711,N,12152.75009,W,1,12,0.8,-2.49,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194119.00,3650.13705,N,12152.74992,W,1,12,0.8,-2.15,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,194120.00,3650.13703,N,12152.74963,W,1,12,0.8,-2.20,M,-32.71,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 527022910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194121.00,3650.13697,N,12152.74962,W,1,12,0.8,-2.69,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,194122.00,3650.13692,N,12152.74976,W,1,12,0.8,-2.82,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,194123.00,3650.13683,N,12152.74978,W,1,12,0.8,-2.59,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,194124.00,3650.13681,N,12152.74965,W,1,12,0.8,-2.44,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,194125.00,3650.13678,N,12152.74963,W,1,12,0.8,-2.58,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,194126.00,3650.13673,N,12152.74959,W,1,12,0.8,-2.59,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,194127.00,3650.13663,N,12152.74965,W,1,12,0.8,-2.54,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,194128.00,3650.13655,N,12152.74954,W,1,12,0.8,-2.33,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,194129.00,3650.13648,N,12152.74944,W,1,12,0.8,-2.46,M,-32.71,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 26440660
: 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,194130.00,3650.13653,N,12152.74940,W,1,12,0.8,-2.59,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,194131.00,3650.13655,N,12152.74941,W,1,12,0.8,-2.75,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,194132.00,3650.13639,N,12152.74953,W,1,12,0.8,-2.90,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194133.00,3650.13626,N,12152.74959,W,1,12,0.8,-2.79,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,194134.00,3650.13626,N,12152.74962,W,1,12,0.8,-2.31,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,194135.00,3650.13631,N,12152.74933,W,1,12,0.8,-2.22,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194136.00,3650.13627,N,12152.74921,W,1,12,0.8,-2.53,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,194137.00,3650.13616,N,12152.74929,W,1,12,0.8,-2.88,M,-32.71,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 525858410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194138.00,3650.13604,N,12152.74934,W,1,12,0.8,-2.73,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,194139.00,3650.13597,N,12152.74935,W,1,12,0.8,-2.68,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,194140.00,3650.13603,N,12152.74929,W,1,12,0.8,-2.54,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,194141.00,3650.13607,N,12152.74940,W,1,12,0.8,-2.57,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,194142.00,3650.13600,N,12152.74936,W,1,12,0.8,-2.43,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194143.00,3650.13586,N,12152.74913,W,1,12,0.8,-2.11,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,194144.00,3650.13575,N,12152.74890,W,1,12,0.8,-2.30,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,194145.00,3650.13572,N,12152.74891,W,1,12,0.8,-2.84,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,194146.00,3650.13571,N,12152.74908,W,1,12,0.8,-3.20,M,-32.71,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 25276160
: 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,194147.00,3650.13567,N,12152.74935,W,1,12,0.8,-3.10,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,194148.00,3650.13567,N,12152.74950,W,1,12,0.8,-2.56,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,194149.00,3650.13586,N,12152.74912,W,1,12,0.8,-1.06,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-2.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194150.00,3650.13562,N,12152.74884,W,1,12,0.8,-1.95,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,194151.00,3650.13547,N,12152.74853,W,1,12,0.8,-2.59,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,194152.00,3650.13535,N,12152.74879,W,1,12,0.8,-3.27,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,194153.00,3650.13531,N,12152.74900,W,1,12,0.8,-3.07,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,194154.00,3650.13556,N,12152.74888,W,1,11,0.8,-1.69,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,194155.00,3650.13552,N,12152.74882,W,1,12,0.8,-1.98,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,194156.00,3650.13531,N,12152.74886,W,1,12,0.8,-2.75,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,194157.00,3650.13523,N,12152.74893,W,1,12,0.8,-2.63,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,194158.00,3650.13521,N,12152.74886,W,1,12,0.8,-2.74,M,-32.71,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 24454160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194159.00,3650.13524,N,12152.74881,W,1,12,0.8,-2.66,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,194200.00,3650.13510,N,12152.74875,W,1,12,0.8,-2.64,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,194201.00,3650.13491,N,12152.74865,W,1,12,0.8,-2.70,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,194202.00,3650.13489,N,12152.74863,W,1,12,0.8,-2.86,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,194203.00,3650.13498,N,12152.74876,W,1,12,0.8,-2.95,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,194204.00,3650.13507,N,12152.74875,W,1,12,0.8,-2.66,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,194205.00,3650.13499,N,12152.74869,W,1,12,0.8,-2.70,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,194206.00,3650.13483,N,12152.74884,W,1,12,0.8,-2.79,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 533871225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194207.00,3650.13480,N,12152.74896,W,1,12,0.8,-2.46,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,194208.00,3650.13481,N,12152.74880,W,1,12,0.8,-2.12,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,194209.00,3650.13481,N,12152.74861,W,1,12,0.8,-2.14,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,194210.00,3650.13479,N,12152.74861,W,1,12,0.8,-2.34,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,194211.00,3650.13471,N,12152.74858,W,1,12,0.8,-2.35,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,194212.00,3650.13470,N,12152.74869,W,1,12,0.8,-2.38,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,194213.00,3650.13464,N,12152.74847,W,1,12,0.8,-2.42,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,194214.00,3650.13469,N,12152.74867,W,1,12,0.8,-2.68,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,194215.00,3650.13456,N,12152.74872,W,1,12,0.8,-2.69,M,-32.71,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 33288975
: 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,194216.00,3650.13452,N,12152.74881,W,1,12,0.8,-2.38,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,194217.00,3650.13450,N,12152.74867,W,1,12,0.8,-2.18,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,194218.00,3650.13444,N,12152.74832,W,1,12,0.8,-2.15,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,194219.00,3650.13435,N,12152.74812,W,1,12,0.8,-2.56,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,194220.00,3650.13427,N,12152.74831,W,1,12,0.8,-3.23,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,194221.00,3650.13432,N,12152.74880,W,1,12,0.8,-3.19,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,194222.00,3650.13432,N,12152.74888,W,1,12,0.8,-2.39,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,194223.00,3650.13429,N,12152.74862,W,1,12,0.8,-1.87,M,-32.71,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 532706725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194224.00,3650.13423,N,12152.74823,W,1,12,0.8,-1.96,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,194225.00,3650.13419,N,12152.74799,W,1,12,0.8,-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,194226.00,3650.13422,N,12152.74818,W,1,12,0.8,-2.83,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,194227.00,3650.13404,N,12152.74839,W,1,12,0.8,-2.78,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194228.00,3650.13405,N,12152.74847,W,1,12,0.8,-2.19,M,-32.71,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194229.00,3650.13398,N,12152.74809,W,1,12,0.8,-1.86,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,194230.00,3650.13403,N,12152.74786,W,1,12,0.8,-2.22,M,-32.71,M,,*77

: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194231.00,3650.13395,N,12152.74777,W,1,12,0.8,-2.63,M,-32.71,M,,*75

: SonardyneDriver::acquireDiagData() - S:100.000000, N:7.900000, 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,194232.00,3650.13394,N,12152.74802,W,1,12,0.8,-3.05,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,194233.00,3650.13392,N,12152.74827,W,1,12,0.8,-3.02,M,-32.71,M,,*7C

: AshtechGps::processRecord() - $GPGGA,194234.00,3650.13388,N,12152.74841,W,1,12,0.8,-2.62,M,-32.71,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:13.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:13.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194235.00,3650.13380,N,12152.74832,W,1,12,0.8,-2.17,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,194236.00,3650.13373,N,12152.74808,W,1,12,0.8,-1.87,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,194237.00,3650.13371,N,12152.74782,W,1,12,0.8,-1.96,M,-32.71,M,,*7A

: SonardyneDriver::acquireDiagData() - S:100.000000, N:11.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194238.00,3650.13365,N,12152.74768,W,1,12,0.8,-2.41,M,-32.71,M,,*7D

: SonardyneDriver::acquireDiagData() - S:100.000000, N:11.100000, 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,194239.00,3650.13367,N,12152.74794,W,1,12,0.8,-2.90,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,194240.00,3650.13368,N,12152.74810,W,1,12,0.8,-2.62,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,194241.00,3650.13362,N,12152.74795,W,1,12,0.8,-2.12,M,-32.71,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194242.00,3650.13358,N,12152.74775,W,1,12,0.8,-1.98,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,194243.00,3650.13351,N,12152.74772,W,1,12,0.8,-2.42,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,194244.00,3650.13348,N,12152.74780,W,1,12,0.8,-2.56,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,194245.00,3650.13348,N,12152.74793,W,1,12,0.8,-2.71,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,194246.00,3650.13341,N,12152.74796,W,1,12,0.8,-2.43,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,194247.00,3650.13337,N,12152.74778,W,1,12,0.8,-2.06,M,-32.71,M,,*70

: AshtechGps::processRecord() - $GPGGA,194248.00,3650.13334,N,12152.74761,W,1,12,0.8,-2.12,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,194249.00,3650.13342,N,12152.74762,W,1,12,0.8,-2.43,M,-32.71,M,,*76

: 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 530925725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194250.00,3650.13340,N,12152.74767,W,1,12,0.8,-2.63,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,194251.00,3650.13337,N,12152.74778,W,1,12,0.8,-2.64,M,-32.71,M,,*73

: AshtechGps::processRecord() - $GPGGA,194252.00,3650.13328,N,12152.74792,W,1,12,0.8,-2.47,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,194253.00,3650.13326,N,12152.74786,W,1,12,0.8,-2.00,M,-32.71,M,,*72

: 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=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,194254.00,3650.13324,N,12152.74758,W,1,12,0.8,-1.76,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,194255.00,3650.13324,N,12152.74735,W,1,12,0.8,-2.03,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,194256.00,3650.13322,N,12152.74727,W,1,12,0.8,-2.41,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,194257.00,3650.13315,N,12152.74730,W,1,12,0.8,-2.68,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,194258.00,3650.13312,N,12152.74755,W,1,12,0.8,-2.92,M,-32.71,M,,*7B

: AshtechGps::processRecord() - $GPGGA,194259.00,3650.13307,N,12152.74768,W,1,12,0.8,-2.47,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,194300.00,3650.13313,N,12152.74761,W,1,12,0.8,-2.09,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,194301.00,3650.13319,N,12152.74750,W,1,12,0.8,-2.16,M,-32.71,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 530103725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194302.00,3650.13312,N,12152.74732,W,1,12,0.8,-2.11,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,194303.00,3650.13317,N,12152.74709,W,1,12,0.8,-1.99,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,194304.00,3650.13313,N,12152.74709,W,1,12,0.8,-2.43,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,194305.00,3650.13308,N,12152.74728,W,1,12,0.8,-2.54,M,-32.71,M,,*79

: AshtechGps::processRecord() - $GPGGA,194306.00,3650.13296,N,12152.74731,W,1,12,0.8,-2.27,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,194307.00,3650.13299,N,12152.74717,W,1,12,0.8,-2.07,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,194308.00,3650.13304,N,12152.74699,W,1,12,0.8,-2.14,M,-32.71,M,,*77

: AshtechGps::processRecord() - $GPGGA,194309.00,3650.13301,N,12152.74690,W,1,12,0.8,-2.40,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,194310.00,3650.13306,N,12152.74710,W,1,12,0.8,-2.77,M,-32.71,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 29521475
: 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,194311.00,3650.13299,N,12152.74732,W,1,12,0.8,-2.52,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,194312.00,3650.13300,N,12152.74710,W,1,12,0.8,-1.91,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,194313.00,3650.13299,N,12152.74682,W,1,12,0.8,-1.91,M,-32.71,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194314.00,3650.13297,N,12152.74679,W,1,12,0.8,-2.36,M,-32.71,M,,*7F

: SonardyneDriver::acquireDiagData() - S:100.000000, N:6.500000, 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,194315.00,3650.13283,N,12152.74691,W,1,12,0.8,-2.44,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,194316.00,3650.13283,N,12152.74697,W,1,12,0.8,-2.28,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,194317.00,3650.13298,N,12152.74692,W,1,12,0.8,-2.14,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,194318.00,3650.13294,N,12152.74684,W,1,12,0.8,-2.10,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,194319.00,3650.13294,N,12152.74670,W,1,12,0.8,-2.12,M,-32.71,M,,*7E

: AshtechGps::processRecord() - $GPGGA,194320.00,3650.13278,N,12152.74660,W,1,12,0.8,-2.19,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,194321.00,3650.13280,N,12152.74662,W,1,12,0.8,-2.54,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,194322.00,3650.13273,N,12152.74685,W,1,12,0.8,-2.77,M,-32.71,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 28699475
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194323.00,3650.13277,N,12152.74689,W,1,12,0.8,-2.30,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,194324.00,3650.13268,N,12152.74666,W,1,12,0.8,-2.08,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,194325.00,3650.13274,N,12152.74650,W,1,12,0.8,-2.25,M,-32.71,M,,*79

: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:***************************************

: 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,194326.00,3650.13269,N,12152.74677,W,1,12,0.8,-2.86,M,-32.71,M,,*7A

: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194327.00,3650.13282,N,12152.74699,W,1,12,0.8,-2.60,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,194328.00,3650.13271,N,12152.74695,W,1,12,0.8,-2.13,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,194329.00,3650.13276,N,12152.74666,W,1,12,0.8,-1.86,M,-32.71,M,,*78

: AshtechGps::processRecord() - $GPGGA,194330.00,3650.13269,N,12152.74628,W,1,12,0.8,-1.92,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,194331.00,3650.13266,N,12152.74616,W,1,12,0.8,-2.48,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,194332.00,3650.13263,N,12152.74640,W,1,12,0.8,-2.98,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,194333.00,3650.13260,N,12152.74663,W,1,12,0.8,-2.68,M,-32.71,M,,*72

: AshtechGps::processRecord() - $GPGGA,194334.00,3650.13259,N,12152.74652,W,1,12,0.8,-2.23,M,-32.71,M,,*72

: 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 27877475
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194335.00,3650.13263,N,12152.74623,W,1,12,0.8,-2.11,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,194336.00,3650.13268,N,12152.74618,W,1,12,0.8,-2.57,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,194337.00,3650.13272,N,12152.74641,W,1,12,0.8,-2.93,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,194338.00,3650.13267,N,12152.74659,W,1,12,0.8,-2.72,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,194339.00,3650.13261,N,12152.74657,W,1,12,0.8,-2.30,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,194340.00,3650.13247,N,12152.74635,W,1,12,0.8,-1.81,M,-32.71,M,,*74

: AshtechGps::processRecord() - $GPGGA,194341.00,3650.13241,N,12152.74606,W,1,12,0.8,-1.90,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,194342.00,3650.13244,N,12152.74603,W,1,12,0.8,-2.36,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 527295225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194343.00,3650.13256,N,12152.74619,W,1,12,0.8,-2.64,M,-32.71,M,,*71

: AshtechGps::processRecord() - $GPGGA,194344.00,3650.13257,N,12152.74627,W,1,12,0.8,-2.31,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,194345.00,3650.13264,N,12152.74611,W,1,12,0.8,-2.17,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,194346.00,3650.13256,N,12152.74588,W,1,12,0.8,-2.08,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,194347.00,3650.13251,N,12152.74580,W,1,12,0.8,-2.41,M,-32.71,M,,*76

: AshtechGps::processRecord() - $GPGGA,194348.00,3650.13235,N,12152.74595,W,1,12,0.8,-2.75,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,194349.00,3650.13245,N,12152.74605,W,1,12,0.8,-2.61,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,194350.00,3650.13238,N,12152.74608,W,1,12,0.8,-2.42,M,-32.71,M,,*7F

: AshtechGps::processRecord() - $GPGGA,194351.00,3650.13249,N,12152.74613,W,1,12,0.8,-2.54,M,-32.71,M,,*75

: 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 26712975
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,194352.00,3650.13243,N,12152.74618,W,1,12,0.8,-2.47,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,194353.00,3650.13241,N,12152.74613,W,1,12,0.8,-2.42,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,194354.00,3650.13232,N,12152.74604,W,1,12,0.8,-2.14,M,-32.71,M,,*7E

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.300000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,194355.00,3650.13232,N,12152.74584,W,1,12,0.8,-1.94,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,194356.00,3650.13241,N,12152.74568,W,1,12,0.8,-2.09,M,-32.71,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() 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


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000422A0.
: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: 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 LayeredControlIFServer - exit() on signal 18

: Supervisor::shutdown() - done()

: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: 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.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object EchoSounderOutput_ShmemName ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/echoSounderDriver terminated (SIGSEGV) at 0007:00021390.
: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18

: TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/sonardyneDriver terminated (SIGSEGV) at 0007:00022298.
: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 18

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 5d 5d 00 00 01 00 00
: StepGetStat (2) failed to read chars, rcvd=2, want=8
: StepGetStat (2) 18 18 00 00 01 00 00
: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

