Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCon: Initializing worksiteServer
figurati: WorkSite::WorkSite -- Adding attributes
onS: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
erver
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigat: WorkSite::WorkSite -- Finished loading parameters
io: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
nSer: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
ver: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4

S: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
upe: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
rvis: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
or:: WorkSite server: 0x2300c
:createTask() - layeredCont: New Navigation component constructor
rolServer
Supervisor::createTask() - dyn: Navigation - Using only the Dvl to compute altitude.
amicControlServer
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
Supervis: SerialDevice: done...

or::createTask() - dvlServer
Supervi: SerialDevice: done...

sor::cr: SerialDevice: done...

eateTask() - fanServer
Supervisor:: Gps: initializing

:cr: SerialDevice: done...

e: SerialDevice: done...

ateTas: SerialDevice: done...

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

opWei: Crossbow.cc: In getSerialNumber()
ghtServer
Superv: SerialDevice: done...

isor::cre: SerialDevice: done...

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

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

: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

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

: CameraDriver:: Before navigation IF.
: SonardyneDriver -- configuration:
	PollPeriod = 500 ms
	PresetGain = 1
	PowerLevel = 1
	LblWait    = 3 s
	ESV        = 1485.000000 m/s
	Beacon     = V7,7
	MRPL       = 0.000000ms

: PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200
: ahrs if is Ahrs

: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 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+04238
>
: 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
: Gps: done initializing...

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

: 3 Modules found
: AshtechGps::processRecord() - 650.13478,N,12153.02750,W,1,12,0.8,-2.93,M,-32.72,M,,*71

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,215013.00,3650.13471,N,12153.02743,W,1,12,0.8,-2.76,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,215014.00,3650.13478,N,12153.02750,W,1,12,0.8,-3.08,M,-32.72,M,,*74

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,215015.00,3650.13482,N,12153.02771,W,1,12,0.8,-3.21,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,215016.00,3650.13496,N,12153.02781,W,1,12,0.8,-3.02,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,215017.00,3650.13504,N,12153.02787,W,1,12,0.8,-2.75,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,215018.00,3650.13504,N,12153.02766,W,1,12,0.8,-2.44,M,-32.72,M,,*7E

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138930
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421184705
: SonardyneDriver::acquireRangeData() - no valid response
: Parosci.cc -- Parosci initial temp period = 5.842458
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,215019.00,3650.13501,N,12153.02747,W,1,12,0.8,-2.55,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,215020.00,3650.13490,N,12153.02729,W,1,12,0.8,-2.70,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,215021.00,3650.13486,N,12153.02739,W,1,12,0.8,-2.97,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,215022.00,3650.13485,N,12153.02754,W,1,12,0.8,-3.14,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,215023.00,3650.13494,N,12153.02740,W,1,12,0.8,-2.97,M,-32.72,M,,*74

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,215024.00,3650.13485,N,12153.02701,W,1,12,0.8,-2.62,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,215025.00,3650.13506,N,12153.02728,W,1,12,0.8,-3.82,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,215026.00,3650.13517,N,12153.02765,W,1,12,0.8,-4.23,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,215027.00,3650.13519,N,12153.02774,W,1,12,0.8,-3.74,M,-32.72,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920602455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215028.00,3650.13515,N,12153.02767,W,1,12,0.8,-3.27,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,215029.00,3650.13502,N,12153.02742,W,1,12,0.8,-2.74,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,215030.00,3650.13493,N,12153.02704,W,1,12,0.8,-2.55,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,215031.00,3650.13500,N,12153.02697,W,1,12,0.8,-3.10,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,215032.00,3650.13497,N,12153.02709,W,1,12,0.8,-3.45,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,215033.00,3650.13500,N,12153.02719,W,1,12,0.8,-3.31,M,-32.72,M,,*78

: 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,215034.00,3650.13496,N,12153.02715,W,1,12,0.8,-3.03,M,-32.72,M,,*7C

: 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,215035.00,3650.13496,N,12153.02718,W,1,12,0.8,-2.97,M,-32.72,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420020205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215036.00,3650.13492,N,12153.02718,W,1,12,0.8,-2.82,M,-32.72,M,,*7F

: 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,215037.00,3650.13490,N,12153.02704,W,1,12,0.8,-2.67,M,-32.72,M,,*7A

: 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,215038.00,3650.13496,N,12153.02704,W,1,12,0.8,-2.91,M,-32.72,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,215039.00,3650.13488,N,12153.02705,W,1,12,0.8,-3.01,M,-32.72,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,215040.00,3650.13487,N,12153.02689,W,1,12,0.8,-2.93,M,-32.72,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,215041.00,3650.13482,N,12153.02689,W,1,12,0.8,-3.04,M,-32.72,M,,*78

: 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,215042.00,3650.13492,N,12153.02715,W,1,12,0.8,-3.34,M,-32.72,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 8.599411) Behavior getgps:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 8.599411) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,215043.00,3650.13498,N,12153.02727,W,1,12,0.8,-3.07,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215044.00,3650.13496,N,12153.02717,W,1,12,0.8,-2.90,M,-32.72,M,,*72

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919437955
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215045.00,3650.13493,N,12153.02696,W,1,12,0.8,-2.66,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215046.00,3650.13484,N,12153.02687,W,1,12,0.8,-2.80,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,215047.00,3650.13491,N,12153.02687,W,1,12,0.8,-3.24,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215048.00,3650.13491,N,12153.02693,W,1,12,0.8,-3.55,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215049.00,3650.13508,N,12153.02743,W,1,12,0.8,-4.36,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,215050.00,3650.13519,N,12153.02813,W,1,12,0.8,-4.10,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215051.00,3650.13514,N,12153.02845,W,1,12,0.8,-3.14,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215052.00,3650.13516,N,12153.02854,W,1,12,0.8,-2.53,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418855705
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215053.00,3650.13502,N,12153.02865,W,1,12,0.8,-2.56,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,215054.00,3650.13510,N,12153.02882,W,1,12,0.8,-2.89,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215055.00,3650.13505,N,12153.02933,W,1,12,0.8,-3.62,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215056.00,3650.13519,N,12153.03020,W,1,12,0.8,-3.90,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,215057.00,3650.13514,N,12153.03094,W,1,12,0.8,-3.72,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215058.00,3650.13505,N,12153.03145,W,1,12,0.8,-3.20,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215059.00,3650.13482,N,12153.03206,W,1,12,0.8,-3.11,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215100.00,3650.13484,N,12153.03266,W,1,12,0.8,-3.32,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,215101.00,3650.13478,N,12153.03328,W,1,12,0.8,-3.40,M,-32.72,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918273455
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215102.00,3650.13458,N,12153.03372,W,1,12,0.8,-2.60,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215103.00,3650.13454,N,12153.03425,W,1,12,0.8,-2.48,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,215104.00,3650.13438,N,12153.03491,W,1,12,0.8,-2.66,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215105.00,3650.13436,N,12153.03571,W,1,12,0.8,-2.31,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215106.00,3650.13431,N,12153.03637,W,1,12,0.8,-2.06,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215107.00,3650.13445,N,12153.03690,W,1,12,0.8,-1.69,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,215108.00,3650.13456,N,12153.03738,W,1,11,0.8,-2.34,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215109.00,3650.13442,N,12153.03808,W,1,12,0.8,-2.69,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417691205
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215110.00,3650.13424,N,12153.03877,W,1,12,0.8,-2.05,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,215111.00,3650.13440,N,12153.03952,W,1,11,0.8,-2.16,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215112.00,3650.13419,N,12153.04006,W,1,12,0.8,-1.77,M,-32.72,M,,*7C

: LayeredControl::execute() -- (t = 38.797342) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 38.797342) Behavior descend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215113.00,3650.13397,N,12153.04065,W,1,12,0.8,-1.90,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215114.00,3650.13413,N,12153.04143,W,1,12,0.8,-2.67,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,215115.00,3650.13392,N,12153.04225,W,1,12,0.8,-2.38,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215116.00,3650.13407,N,12153.04333,W,1,12,0.8,-2.41,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215117.00,3650.13406,N,12153.04408,W,1,12,0.8,-2.16,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,215118.00,3650.13399,N,12153.04447,W,1,12,0.8,-1.47,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917108955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215119.00,3650.13388,N,12153.04496,W,1,12,0.8,-1.58,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215120.00,3650.13380,N,12153.04554,W,1,12,0.8,-2.01,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215121.00,3650.13410,N,12153.04647,W,1,12,0.8,-3.00,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,215122.00,3650.13425,N,12153.04742,W,1,12,0.8,-3.00,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215123.00,3650.13427,N,12153.04827,W,1,12,0.8,-2.61,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215124.00,3650.13436,N,12153.04918,W,1,12,0.8,-2.67,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,215125.00,3650.13400,N,12153.04943,W,1,11,1.3,-1.11,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215126.00,3650.13415,N,12153.04989,W,1,11,0.8,-2.15,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416526705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215127.00,3650.13391,N,12153.05047,W,1,12,0.8,-2.66,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215128.00,3650.13400,N,12153.05127,W,1,12,0.8,-3.43,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,215129.00,3650.13384,N,12153.05199,W,1,12,0.8,-3.08,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215130.00,3650.13396,N,12153.05290,W,1,12,0.8,-3.46,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215131.00,3650.13387,N,12153.05375,W,1,12,0.8,-3.15,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,215132.00,3650.13385,N,12153.05462,W,1,12,0.8,-3.43,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215133.00,3650.13389,N,12153.05577,W,1,11,0.8,-5.24,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215134.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215135.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915944455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215136.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215137.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215138.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,215139.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215140.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215141.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215142.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215143.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215144.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215145.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215146.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215147.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915122455
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215148.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215149.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215150.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215151.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215152.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215153.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215154.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215155.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414540205
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215156.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215157.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215158.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215159.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215200.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215201.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215202.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215203.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215204.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913957955
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215205.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215206.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215207.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215208.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215209.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215210.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215211.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215212.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413375705
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215213.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215214.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215215.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215216.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215217.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215218.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215219.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215220.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215221.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912793455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215222.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215223.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215224.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215225.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215226.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215227.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215228.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215229.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412211205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215230.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215231.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215232.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215233.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.500000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215234.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215235.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215236.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215237.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215238.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215239.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215240.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215241.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411389205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215242.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215243.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215244.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215245.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215246.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215247.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215248.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215249.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215250.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920806270
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215251.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215252.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215253.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215254.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215255.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215256.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215257.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215258.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420224020
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215259.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215300.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215301.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215302.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215303.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215304.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215305.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215306.00,,,,,0,00,,,M,,M,,*4B

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215307.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919641770
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215308.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215309.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215310.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215311.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215312.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215313.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215314.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215315.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419059520
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215316.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215317.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215318.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215319.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.100000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215320.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215321.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215322.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215323.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215324.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215325.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215326.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215327.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418237520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215328.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215329.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215330.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215331.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

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

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.600000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,215332.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215333.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215334.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215335.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215336.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215337.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215338.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215339.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417415520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215340.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215341.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215342.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215343.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-8.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215344.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215345.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215346.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215347.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215348.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215349.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215350.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215351.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416593520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215352.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215353.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215354.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215355.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215356.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215357.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215358.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215359.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215400.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916011270
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215401.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215402.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215403.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215404.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215405.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215406.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215407.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215408.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415429020
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215409.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215410.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215411.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215412.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215413.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215414.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215415.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215416.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215417.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914846770
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215418.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215419.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215420.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215421.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215422.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215423.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215424.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215425.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414264520
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215426.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215427.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215428.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215429.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-10.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-10.100000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215430.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215431.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215432.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215433.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215434.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215435.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215436.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215437.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413442520
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215438.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215439.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215440.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215441.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215442.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215443.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215444.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215445.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215446.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912860270
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215447.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215448.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215449.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215450.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215451.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215452.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215453.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215454.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412278020
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215455.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215456.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215457.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215458.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215459.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215500.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215501.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215502.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215503.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 911695770
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215504.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215505.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215506.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215507.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215508.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215509.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215510.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215511.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421112835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215512.00,,,,,0,00,,,M,,M,,*48

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215513.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215514.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215515.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215516.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215517.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215518.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215519.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215520.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920530585
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215521.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215522.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215523.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,215524.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215525.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215526.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215527.00,,,,,0,00,,,M,,M,,*4E

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

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

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215528.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215529.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215530.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215531.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215532.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215533.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215534.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215535.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419468835
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215536.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215537.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215538.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215539.00,,,,,0,00,,,M,,M,,*41

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

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

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215540.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215541.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215542.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215543.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215544.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215545.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215546.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215547.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418646835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215548.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215549.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215550.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215551.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215552.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: Descend::execute() - Descend terminating on altitude 19.990169 < 20.000000 at time 318.598175

: LayeredControl::execute() -- (t = 318.598175) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 318.598175) Behavior setpoint:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=61.87
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215553.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.73
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215554.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215555.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.84
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215556.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918064585
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.96
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215557.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215558.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.67
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215559.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.12
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215600.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.01
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215601.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215602.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.77
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215603.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215604.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417482335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215605.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.58
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215606.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.46
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215607.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.03
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215608.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215609.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.97
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215610.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.13
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215611.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215612.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.53
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215613.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916900085
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215614.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.38
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215615.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215616.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.56
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215617.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.58
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215618.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215619.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215620.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215621.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416317835
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.87
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215622.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215623.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.84
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215624.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215625.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215626.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.27
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215627.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215628.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.13
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215629.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215630.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915735585
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=63.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215631.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.53
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215632.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215633.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.57
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215634.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.68
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215635.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.74
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215636.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215637.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215638.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415153335
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=64.16
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215639.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215640.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.93
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215641.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215642.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215643.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215644.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.21
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215645.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.24
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215646.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215647.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.55
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914571085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215648.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.70
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215649.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.62
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215650.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215651.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.67
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215652.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.77
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215653.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215654.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.67
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215655.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413988835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215656.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.03
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215657.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215658.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.04
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215659.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.02
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215700.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215701.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.99
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215702.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.97
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215703.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.99
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215704.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913406585
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215705.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215706.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.10
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215707.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215708.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.19
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215709.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215710.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215711.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215712.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412824335
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215713.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215714.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215715.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215716.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215717.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215718.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215719.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.35
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215720.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.38
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215721.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912242085
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215722.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215723.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215724.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215725.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215726.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215727.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215728.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215729.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411659835
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215730.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,215731.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215732.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 418.601324) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          418.60.
: LayeredControl::execute() -- (t = 418.601324) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 418.601324) Behavior setpoint:-1 has changed to state Active

: CameraDriver::readData - starting a 333 photo sequence.
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215733.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215734.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=65.46
	horzlMode=1 horz=4.71
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,215735.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.485758 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215736.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=65.41
	horzlMode=1 horz=4.71
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215737.00,,,,,0,00,,,M,,M,,*4D

: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215738.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921076900
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,215739.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.443300 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=0.00

: DepthEnvelope -- altitude 1.557546 over abort altitude 1.500000, starting prop!
: AshtechGps::processRecord() - $GPGGA,215740.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215741.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.36
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215742.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215743.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215744.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215745.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.41
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215746.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420494650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215747.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215748.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215749.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215750.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.500000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,215751.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215752.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215753.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215754.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.49
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215755.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215756.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215757.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.54
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215758.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.46
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419672650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215759.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215800.00,,,,,0,00,,,M,,M,,*46

: LayeredControl _resolvedCommand - vertMode=2 vert=65.41
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215801.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215802.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.27
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215803.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215804.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215805.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215806.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215807.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919090400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215808.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215809.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215810.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215811.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.38
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215812.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215813.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215814.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215815.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.30
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418508150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215816.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215817.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215818.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215819.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215820.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215821.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215822.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215823.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215824.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917925900
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215825.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215826.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215827.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215828.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215829.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215830.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.35
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215831.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215832.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.36
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417343650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215833.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215834.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215835.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215836.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215837.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215838.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215839.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215840.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215841.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916761400
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215842.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215843.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215844.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.35
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215845.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215846.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215847.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215848.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215849.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215850.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215851.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215852.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215853.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915939400
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215854.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215855.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215856.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215857.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215858.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215859.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215900.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215901.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415357150
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215902.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215903.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215904.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215905.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215906.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215907.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215908.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.37
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215909.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.40
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215910.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914774900
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215911.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215912.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.48
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215913.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215914.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215915.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215916.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215917.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215918.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414192650
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215919.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215920.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215921.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215922.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=65.47
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215923.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215924.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215925.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215926.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215927.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215928.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215929.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215930.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413370650
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.48
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215931.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215932.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.55
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215933.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.56
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215934.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215935.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.54
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215936.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.49
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215937.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.49
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215938.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215939.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912788400
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.49
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215940.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.46
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215941.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215942.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.48
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215943.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215944.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.56
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215945.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215946.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.58
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215947.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412206150
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.56
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215948.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215949.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.56
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215950.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.58
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215951.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.55
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215952.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215953.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.60
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215954.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215955.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,215956.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 911623900
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,215957.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215958.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.60
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,215959.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220000.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220001.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.65
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220002.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220003.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.68
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220004.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.68
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 421040965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220005.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220006.00,,,,,0,00,,,M,,M,,*4E

: LayeredControl _resolvedCommand - vertMode=2 vert=65.74
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220007.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220008.00,,,,,0,00,,,M,,M,,*40

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=65.60
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220009.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220010.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.60
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220011.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.63
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220012.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220013.00,,,,,0,00,,,M,,M,,*4A

: LayeredControl _resolvedCommand - vertMode=2 vert=65.68
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220014.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220015.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.73
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220016.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420218965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220017.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.74
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220018.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.74
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220019.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220020.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: 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,220021.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220022.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220023.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220024.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220025.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.72
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220026.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.74
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220027.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220028.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419396965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220029.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220030.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220031.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220032.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220033.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.73
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220034.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220035.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220036.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.71
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220037.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918814715
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220038.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220039.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220040.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220041.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220042.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.76
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220043.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220044.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220045.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.82
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418232465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220046.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220047.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220048.00,,,,,0,00,,,M,,M,,*44

: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220049.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220050.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.73
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220051.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220052.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220053.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220054.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917650215
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220055.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220056.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220057.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.83
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220058.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220059.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.83
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220100.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220101.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.78
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220102.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417067965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220103.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.79
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220104.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220105.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220106.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.84
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220107.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.86
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220108.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.89
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220109.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220110.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.89
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220111.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916485715
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220112.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220113.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.89
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220114.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220115.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220116.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220117.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220118.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.81
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220119.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415903465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220120.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.87
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220121.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220122.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.96
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220123.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220124.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220125.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220126.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220127.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.89
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220128.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915321215
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220129.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.89
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220130.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220131.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.88
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220132.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220133.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220134.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220135.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.96
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220136.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414738965
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220137.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220138.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220139.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220140.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220141.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.91
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220142.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.93
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220143.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.97
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220144.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220145.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914156715
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220146.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220147.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220148.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.03
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220149.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220150.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220151.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220152.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220153.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413574465
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220154.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220155.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220156.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220157.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220158.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220159.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220200.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220201.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220202.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220203.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.94
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220204.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220205.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412752465
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220206.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.90
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220207.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220208.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220209.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220210.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220211.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220212.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220213.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220214.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912170215
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.04
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220215.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220216.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.98
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220217.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220218.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.95
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220219.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220220.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=65.92
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220221.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220222.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411587965
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220223.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.03
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220224.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.07
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220225.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220226.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220227.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220228.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220229.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220230.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.02
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220231.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921005030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220232.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220233.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.03
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220234.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.00
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220235.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.05
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220236.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220237.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220238.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220239.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420422780
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.13
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220240.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220241.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.13
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220242.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220243.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: 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,220244.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220245.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220246.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220247.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220248.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220249.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220250.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220251.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419600780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220252.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.06
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220253.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220254.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220255.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220256.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220257.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220258.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220259.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220300.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919018530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220301.00,,,,,0,00,,,M,,M,,*4A

: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220302.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.09
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220303.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220304.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220305.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220306.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220307.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220308.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418436280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220309.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220310.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220311.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220312.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220313.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.21
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220314.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220315.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220316.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.12
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220317.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917854030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220318.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220319.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220320.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.18
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220321.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.18
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220322.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220323.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.20
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220324.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220325.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417271780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220326.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220327.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220328.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.11
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220329.00,,,,,0,00,,,M,,M,,*40

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

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

: AshtechGps::processRecord() - $GPGGA,220330.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.08
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220331.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220332.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220333.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220334.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220335.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220336.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220337.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416449780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220338.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.16
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220339.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220340.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.20
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220341.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220342.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220343.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220344.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220345.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220346.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915867530
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220347.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220348.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220349.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.15
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220350.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220351.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220352.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.19
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220353.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220354.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415285280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220355.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220356.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220357.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220358.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220359.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220400.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220401.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.14
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220402.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220403.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914703030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220404.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220405.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220406.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220407.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220408.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220409.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220410.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220411.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414120780
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220412.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220413.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.20
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220414.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220415.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220416.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220417.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220418.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220419.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220420.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913538530
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.28
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220421.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220422.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220423.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.20
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220424.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220425.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220426.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220427.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220428.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412956280
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220429.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220430.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220431.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220432.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220433.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.18
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220434.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.17
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220435.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220436.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.22
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220437.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912374030
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220438.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220439.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220440.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220441.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220442.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220443.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.27
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220444.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.23
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220445.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411791780
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.21
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220446.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220447.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220448.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.27
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220449.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220450.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220451.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.35
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220452.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220453.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.35
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220454.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921208845
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220455.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.27
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220456.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220457.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.21
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220458.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.24
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220459.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220500.00,,,,,0,00,,,M,,M,,*4D

: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220501.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220502.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420626595
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220503.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220504.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220505.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.43
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220506.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220507.00,,,,,0,00,,,M,,M,,*4A

: LayeredControl _resolvedCommand - vertMode=2 vert=66.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220508.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.33
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220509.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220510.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220511.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920044345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220512.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.25
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220513.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220514.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.29
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220515.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.39
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220516.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220517.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220518.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.54
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220519.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419462095
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220520.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220521.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220522.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.34
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220523.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=2 vert=66.31
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220524.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220525.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.32
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220526.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.36
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220527.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220528.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220529.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220530.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220531.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418640095
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220532.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220533.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220534.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220535.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220536.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.41
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220537.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.47
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220538.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220539.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.41
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220540.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918057845
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.47
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220541.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220542.00,,,,,0,00,,,M,,M,,*4B

: LayeredControl _resolvedCommand - vertMode=2 vert=66.44
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220543.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.47
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220544.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.42
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220545.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220546.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220547.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.45
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220548.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417475595
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=66.50
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220549.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220550.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.49
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220551.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=66.47
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,220552.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 918.797058) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 918.797058) Behavior ascend:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,220553.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220554.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220555.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220556.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220557.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916893345
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220558.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220559.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220600.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220601.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220602.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220603.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220604.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220605.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416311095
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220606.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220607.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220608.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220609.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220610.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220611.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220612.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220613.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220614.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915728845
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220615.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220616.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220617.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220618.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220619.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220620.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220621.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220622.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415146595
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220623.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220624.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220625.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220626.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220627.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220628.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220629.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220630.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220631.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914564345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220632.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220633.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220634.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220635.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220636.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220637.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220638.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220639.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413982095
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220640.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220641.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220642.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220643.00,,,,,0,00,,,M,,M,,*49

: 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
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.200000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220644.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220645.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220646.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.700000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,220647.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220648.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220649.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220650.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220651.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220652.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220653.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220654.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220655.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912920345
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220656.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220657.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220658.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220659.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220700.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220701.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220702.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220703.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412338095
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220704.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220705.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220706.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220707.00,,,,,0,00,,,M,,M,,*48

: 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=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220708.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220709.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220710.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220711.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220712.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220713.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220714.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220715.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411516095
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220716.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220717.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220718.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220719.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220720.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220721.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220722.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220723.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220724.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920933160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220725.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220726.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220727.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220728.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220729.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220730.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220731.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220732.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420350910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220733.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220734.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220735.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220736.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220737.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220738.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220739.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220740.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220741.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919768660
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220742.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220743.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220744.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220745.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220746.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220747.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220748.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220749.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419186410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220750.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220751.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220752.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220753.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220754.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220755.00,,,,,0,00,,,M,,M,,*4F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220756.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220757.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220758.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918604160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220759.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220800.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220801.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220802.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220803.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220804.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220805.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220806.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418021910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220807.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220808.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220809.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220810.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220811.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220812.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220813.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220814.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220815.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917439660
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220816.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220817.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220818.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220819.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220820.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220821.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220822.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220823.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416857410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220824.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220825.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220826.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220827.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.800000, D:0.000000, U:0.000000, Q:***************************************

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

: AshtechGps::processRecord() - $GPGGA,220828.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220829.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220830.00,,,,,0,00,,,M,,M,,*43

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220831.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220832.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220833.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220834.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220835.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416035410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220836.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220837.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220838.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220839.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220840.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220841.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220842.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220843.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220844.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915453160
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220845.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220846.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220847.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220848.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220849.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220850.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220851.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220852.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414870910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220853.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220854.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220855.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220856.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220857.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220858.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220859.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220900.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220901.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914288660
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220902.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220903.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220904.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220905.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220906.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220907.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220908.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220909.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 413706410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220910.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220911.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220912.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220913.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220914.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220915.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220916.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220917.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220918.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913124160
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220919.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220920.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220921.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220922.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220923.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220924.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220925.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=4.71
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,220926.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412541910
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220927.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 1133.592344) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1133.592344) Behavior getgps:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220928.00,,,,,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,220929.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220930.00,,,,,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,220931.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220932.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220933.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220934.00,,,,,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,220935.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 911959660
: 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,220936.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220937.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220938.00,,,,,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,220939.00,,,,,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,220940.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,220941.00,,,,,0,00,,,M,,M,,*44

: 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,220942.00,3650.21387,N,12153.87244,W,1,10,0.8,-3.39,M,-32.72,M,,*73

: 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,220943.00,3650.21427,N,12153.87272,W,1,10,0.8,-3.66,M,-32.72,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411377410
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,220944.00,3650.21426,N,12153.87337,W,1,10,0.8,-3.69,M,-32.72,M,,*79

: 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,220945.00,3650.21448,N,12153.87368,W,1,10,0.8,-3.49,M,-32.72,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,220946.00,3650.21450,N,12153.87396,W,1,10,0.8,-3.21,M,-32.72,M,,*7D

: 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,220947.00,3650.21467,N,12153.87396,W,1,10,0.8,-3.07,M,-32.72,M,,*7C

: GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed
: AshtechGps::processRecord() - $GPGGA,220948.00,3650.21467,N,12153.87412,W,1,10,0.8,-3.01,M,-32.72,M,,*7E

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

: AshtechGps::processRecord() - $GPGGA,220949.00,3650.21492,N,12153.87420,W,1,10,0.8,-3.53,M,-32.72,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,220950.00,3650.21509,N,12153.87454,W,1,10,0.8,-4.09,M,-32.72,M,,*73

: GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed
: AshtechGps::processRecord() - $GPGGA,220951.00,3650.21523,N,12153.87460,W,1,10,0.8,-4.09,M,-32.72,M,,*7D

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1157.600699) 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 = 1157.800685) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1157.800685) Behavior missionTimer:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220952.00,3650.21542,N,12153.87485,W,1,10,0.8,-4.55,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920794475
: 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,220953.00,3650.21562,N,12153.87522,W,1,10,0.8,-4.73,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,220954.00,3650.21580,N,12153.87562,W,1,10,0.8,-4.84,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220955.00,3650.21595,N,12153.87606,W,1,10,0.8,-4.85,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220956.00,3650.21585,N,12153.87621,W,1,10,0.8,-3.89,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220957.00,3650.21597,N,12153.87572,W,1,10,0.8,-3.49,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,220958.00,3650.21605,N,12153.87544,W,1,10,0.8,-3.94,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,220959.00,3650.21624,N,12153.87555,W,1,10,0.8,-4.87,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221000.00,3650.21641,N,12153.87625,W,1,10,0.8,-5.19,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420212225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221001.00,3650.21663,N,12153.87644,W,1,10,0.8,-4.32,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221002.00,3650.21666,N,12153.87652,W,1,10,0.8,-3.75,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221003.00,3650.21687,N,12153.87608,W,1,10,0.8,-3.33,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221004.00,3650.21692,N,12153.87605,W,1,10,0.8,-3.66,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221005.00,3650.21713,N,12153.87609,W,1,10,0.8,-4.25,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221006.00,3650.21720,N,12153.87637,W,1,10,0.8,-4.44,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221007.00,3650.21720,N,12153.87664,W,1,10,0.8,-4.55,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221008.00,3650.21732,N,12153.87676,W,1,10,0.8,-4.36,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221009.00,3650.21743,N,12153.87697,W,1,10,0.8,-4.23,M,-32.72,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919629975
: 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,221010.00,3650.21757,N,12153.87706,W,1,10,0.8,-4.05,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221011.00,3650.21762,N,12153.87715,W,1,10,0.8,-3.94,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221012.00,3650.21765,N,12153.87705,W,1,10,0.8,-3.81,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221013.00,3650.21768,N,12153.87700,W,1,10,0.8,-4.05,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221014.00,3650.21776,N,12153.87727,W,1,10,0.8,-4.27,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,221015.00,3650.21781,N,12153.87757,W,1,10,0.8,-4.15,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221016.00,3650.21795,N,12153.87767,W,1,10,0.8,-3.85,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221017.00,3650.21796,N,12153.87760,W,1,10,0.8,-3.55,M,-32.72,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419047725
: 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,221018.00,3650.21807,N,12153.87737,W,1,10,0.8,-3.48,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221019.00,3650.21810,N,12153.87736,W,1,10,0.8,-4.15,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221020.00,3650.21824,N,12153.87770,W,1,10,0.8,-4.84,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221021.00,3650.21828,N,12153.87806,W,1,10,0.8,-4.49,M,-32.72,M,,*7C

: 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,221022.00,3650.21826,N,12153.87823,W,1,10,0.8,-4.05,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221023.00,3650.21829,N,12153.87807,W,1,10,0.8,-3.23,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221024.00,3650.21838,N,12153.87793,W,1,10,0.8,-3.24,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221025.00,3650.21838,N,12153.87781,W,1,10,0.8,-3.66,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221026.00,3650.21836,N,12153.87795,W,1,10,0.8,-4.25,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221027.00,3650.21841,N,12153.87809,W,1,10,0.8,-4.24,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221028.00,3650.21859,N,12153.87830,W,1,10,0.8,-4.55,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221029.00,3650.21874,N,12153.87863,W,1,10,0.8,-4.69,M,-32.72,M,,*7C

: 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 418225725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221030.00,3650.21873,N,12153.87880,W,1,10,0.8,-4.32,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221031.00,3650.21883,N,12153.87884,W,1,10,0.8,-4.12,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221032.00,3650.21871,N,12153.87885,W,1,10,0.8,-3.90,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,221033.00,3650.21873,N,12153.87881,W,1,10,0.8,-3.83,M,-32.72,M,,*7F

: 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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221034.00,3650.21865,N,12153.87860,W,1,10,0.8,-3.60,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221035.00,3650.21867,N,12153.87836,W,1,10,0.8,-3.69,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221036.00,3650.21871,N,12153.87851,W,1,10,0.8,-4.62,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221037.00,3650.21863,N,12153.87883,W,1,10,0.8,-4.69,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221038.00,3650.21877,N,12153.87899,W,1,10,0.8,-4.52,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221039.00,3650.21868,N,12153.87904,W,1,10,0.8,-4.30,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221040.00,3650.21882,N,12153.87914,W,1,10,0.8,-4.18,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221041.00,3650.21867,N,12153.87914,W,1,10,0.8,-4.06,M,-32.72,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417403725
: 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,221042.00,3650.21872,N,12153.87916,W,1,10,0.8,-3.80,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221043.00,3650.21853,N,12153.87923,W,1,10,0.8,-3.81,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221044.00,3650.21852,N,12153.87908,W,1,10,0.8,-3.47,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221045.00,3650.21851,N,12153.87878,W,1,10,0.8,-3.45,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221046.00,3650.21865,N,12153.87902,W,1,10,0.8,-4.23,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221047.00,3650.21865,N,12153.87931,W,1,10,0.8,-4.08,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221048.00,3650.21861,N,12153.87953,W,1,10,0.8,-3.89,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221049.00,3650.21857,N,12153.87940,W,1,10,0.8,-3.62,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,221050.00,3650.21853,N,12153.87927,W,1,10,0.8,-3.69,M,-32.72,M,,*71

: 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 916821475
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221051.00,3650.21863,N,12153.87917,W,1,10,0.8,-3.69,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221052.00,3650.21856,N,12153.87917,W,1,10,0.8,-3.84,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221053.00,3650.21854,N,12153.87931,W,1,10,0.8,-4.30,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,221054.00,3650.21844,N,12153.87930,W,1,10,0.8,-4.20,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221055.00,3650.21837,N,12153.87934,W,1,10,0.8,-4.25,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221056.00,3650.21841,N,12153.87952,W,1,10,0.8,-4.37,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,221057.00,3650.21839,N,12153.87958,W,1,10,0.8,-4.14,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221058.00,3650.21842,N,12153.87960,W,1,10,0.8,-4.07,M,-32.72,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 416239225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221059.00,3650.21832,N,12153.87964,W,1,10,0.8,-4.04,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221100.00,3650.21824,N,12153.87954,W,1,10,0.8,-3.77,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221101.00,3650.21839,N,12153.87942,W,1,10,0.8,-3.66,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221102.00,3650.21835,N,12153.87938,W,1,10,0.8,-3.85,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221103.00,3650.21832,N,12153.87947,W,1,10,0.8,-3.94,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221104.00,3650.21815,N,12153.87950,W,1,10,0.8,-3.97,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221105.00,3650.21823,N,12153.87949,W,1,10,0.8,-4.02,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221106.00,3650.21807,N,12153.87934,W,1,10,0.8,-4.06,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221107.00,3650.21813,N,12153.87929,W,1,10,0.8,-4.05,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 915656975
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221108.00,3650.21811,N,12153.87948,W,1,10,0.8,-4.63,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221109.00,3650.21812,N,12153.87966,W,1,10,0.8,-4.38,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221110.00,3650.21817,N,12153.87975,W,1,10,0.8,-4.29,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221111.00,3650.21815,N,12153.87979,W,1,10,0.8,-4.06,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221112.00,3650.21808,N,12153.87963,W,1,10,0.8,-3.68,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221113.00,3650.21796,N,12153.87949,W,1,10,0.8,-3.99,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221114.00,3650.21781,N,12153.87942,W,1,10,0.8,-3.95,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221115.00,3650.21778,N,12153.87933,W,1,10,0.8,-3.95,M,-32.72,M,,*71

: 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 415074725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221116.00,3650.21776,N,12153.87944,W,1,10,0.8,-4.43,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221117.00,3650.21786,N,12153.87965,W,1,10,0.8,-4.20,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221118.00,3650.21790,N,12153.87958,W,1,10,0.8,-3.78,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221119.00,3650.21771,N,12153.87925,W,1,10,0.8,-3.49,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221120.00,3650.21769,N,12153.87922,W,1,10,0.8,-4.23,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221121.00,3650.21754,N,12153.87921,W,1,10,0.8,-4.36,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221122.00,3650.21754,N,12153.87940,W,1,10,0.8,-4.63,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221123.00,3650.21752,N,12153.87947,W,1,10,0.8,-4.26,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221124.00,3650.21768,N,12153.87942,W,1,10,0.8,-3.89,M,-32.72,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914492475
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221125.00,3650.21748,N,12153.87930,W,1,10,0.8,-3.63,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221126.00,3650.21756,N,12153.87920,W,1,10,0.8,-3.75,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221127.00,3650.21737,N,12153.87910,W,1,10,0.8,-4.03,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221128.00,3650.21751,N,12153.87918,W,1,10,0.8,-4.22,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221129.00,3650.21746,N,12153.87937,W,1,10,0.8,-4.28,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221130.00,3650.21739,N,12153.87943,W,1,10,0.8,-3.81,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221131.00,3650.21735,N,12153.87930,W,1,10,0.8,-3.57,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221132.00,3650.21725,N,12153.87902,W,1,10,0.8,-3.22,M,-32.72,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 413910225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221133.00,3650.21726,N,12153.87867,W,1,10,0.8,-3.45,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221134.00,3650.21709,N,12153.87864,W,1,10,0.8,-4.10,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221135.00,3650.21717,N,12153.87890,W,1,10,0.8,-4.64,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221136.00,3650.21717,N,12153.87923,W,1,10,0.8,-4.58,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221137.00,3650.21719,N,12153.87934,W,1,10,0.8,-4.09,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221138.00,3650.21709,N,12153.87932,W,1,10,0.8,-3.79,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221139.00,3650.21692,N,12153.87915,W,1,10,0.8,-3.38,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221140.00,3650.21695,N,12153.87869,W,1,10,0.8,-3.20,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221141.00,3650.21683,N,12153.87847,W,1,11,0.8,-3.33,M,-32.72,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913327975
: 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,221142.00,3650.21690,N,12153.87839,W,1,11,0.8,-3.93,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221143.00,3650.21677,N,12153.87867,W,1,11,0.8,-4.61,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221144.00,3650.21681,N,12153.87887,W,1,11,0.8,-4.30,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221145.00,3650.21672,N,12153.87896,W,1,11,0.8,-3.89,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221146.00,3650.21679,N,12153.87854,W,1,11,0.8,-3.41,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221147.00,3650.21680,N,12153.87834,W,1,11,0.8,-3.65,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221148.00,3650.21676,N,12153.87856,W,1,11,0.8,-3.87,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221149.00,3650.21673,N,12153.87873,W,1,11,0.8,-3.73,M,-32.72,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412745725
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221150.00,3650.21673,N,12153.87853,W,1,11,0.8,-3.40,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221151.00,3650.21672,N,12153.87830,W,1,11,0.8,-3.66,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221152.00,3650.21662,N,12153.87831,W,1,11,0.8,-3.94,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221153.00,3650.21649,N,12153.87848,W,1,11,0.8,-3.74,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221154.00,3650.21663,N,12153.87861,W,1,11,0.8,-3.68,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221155.00,3650.21682,N,12153.87847,W,1,11,0.8,-3.41,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221156.00,3650.21663,N,12153.87840,W,1,11,0.8,-3.38,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221157.00,3650.21658,N,12153.87815,W,1,11,0.8,-3.28,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221158.00,3650.21642,N,12153.87797,W,1,11,0.8,-3.47,M,-32.72,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912163475
: 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,221159.00,3650.21652,N,12153.87780,W,1,11,0.8,-4.01,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221200.00,3650.21652,N,12153.87819,W,1,11,0.8,-4.56,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221201.00,3650.21666,N,12153.87846,W,1,11,0.8,-4.25,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221202.00,3650.21666,N,12153.87857,W,1,11,0.8,-3.71,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221203.00,3650.21673,N,12153.87827,W,1,11,0.8,-3.24,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221204.00,3650.21666,N,12153.87791,W,1,11,0.8,-3.16,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221205.00,3650.21660,N,12153.87779,W,1,11,0.8,-3.63,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221206.00,3650.21663,N,12153.87773,W,1,11,0.8,-3.88,M,-32.72,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411581225
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221207.00,3650.21658,N,12153.87770,W,1,11,0.8,-4.03,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221208.00,3650.21669,N,12153.87770,W,1,11,0.8,-4.27,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221209.00,3650.21669,N,12153.87785,W,1,11,0.8,-4.25,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221210.00,3650.21674,N,12153.87787,W,1,11,0.8,-4.12,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,221211.00,3650.21679,N,12153.87787,W,1,11,0.8,-4.14,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221212.00,3650.21672,N,12153.87788,W,1,11,0.8,-4.02,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221213.00,3650.21668,N,12153.87775,W,1,11,0.8,-3.66,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221214.00,3650.21663,N,12153.87747,W,1,11,0.8,-3.56,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221215.00,3650.21668,N,12153.87720,W,1,11,0.8,-3.88,M,-32.72,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920998290
: 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,221216.00,3650.21667,N,12153.87727,W,1,11,0.8,-4.62,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221217.00,3650.21669,N,12153.87755,W,1,11,0.8,-4.81,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221218.00,3650.21680,N,12153.87784,W,1,11,0.8,-4.61,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221219.00,3650.21676,N,12153.87790,W,1,11,0.8,-3.93,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221220.00,3650.21674,N,12153.87758,W,1,11,0.8,-3.24,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221221.00,3650.21665,N,12153.87732,W,1,11,0.8,-3.26,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221222.00,3650.21656,N,12153.87701,W,1,11,0.8,-3.38,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221223.00,3650.21660,N,12153.87685,W,1,11,0.8,-3.74,M,-32.72,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420416040
: 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,221224.00,3650.21669,N,12153.87700,W,1,11,0.8,-4.34,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,221225.00,3650.21675,N,12153.87714,W,1,11,0.8,-4.39,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221226.00,3650.21669,N,12153.87738,W,1,11,0.8,-4.22,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221227.00,3650.21665,N,12153.87731,W,1,11,0.8,-3.65,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221228.00,3650.21664,N,12153.87697,W,1,11,0.8,-3.20,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221229.00,3650.21673,N,12153.87681,W,1,11,0.8,-3.68,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221230.00,3650.21660,N,12153.87676,W,1,11,0.8,-3.87,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221231.00,3650.21665,N,12153.87673,W,1,11,0.8,-4.00,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221232.00,3650.21656,N,12153.87677,W,1,11,0.8,-4.09,M,-32.72,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919833790
: 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,221233.00,3650.21656,N,12153.87675,W,1,11,0.8,-3.90,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221234.00,3650.21657,N,12153.87674,W,1,11,0.8,-4.04,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,221235.00,3650.21661,N,12153.87683,W,1,11,0.8,-4.22,M,-32.72,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: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

: AshtechGps::processRecord() - $GPGGA,221236.00,3650.21666,N,12153.87702,W,1,11,0.8,-4.17,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221237.00,3650.21661,N,12153.87680,W,1,11,0.8,-3.38,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221238.00,3650.21653,N,12153.87646,W,1,11,0.8,-3.35,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221239.00,3650.21651,N,12153.87633,W,1,11,0.8,-3.56,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221240.00,3650.21641,N,12153.87624,W,1,11,0.8,-3.79,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221241.00,3650.21655,N,12153.87629,W,1,11,0.8,-4.02,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221242.00,3650.21658,N,12153.87638,W,1,11,0.8,-4.37,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221243.00,3650.21648,N,12153.87646,W,1,11,0.8,-4.20,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221244.00,3650.21641,N,12153.87634,W,1,11,0.8,-3.76,M,-32.72,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 919011790
: 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,221245.00,3650.21633,N,12153.87637,W,1,11,0.8,-3.86,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221246.00,3650.21641,N,12153.87620,W,1,11,0.8,-3.47,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221247.00,3650.21641,N,12153.87606,W,1,11,0.8,-3.84,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221248.00,3650.21637,N,12153.87621,W,1,11,0.8,-4.39,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221249.00,3650.21635,N,12153.87634,W,1,11,0.8,-4.25,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221250.00,3650.21635,N,12153.87630,W,1,11,0.8,-4.12,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221251.00,3650.21630,N,12153.87627,W,1,11,0.8,-3.89,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221252.00,3650.21636,N,12153.87624,W,1,11,0.8,-3.75,M,-32.72,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418429540
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221253.00,3650.21629,N,12153.87607,W,1,11,0.8,-3.60,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221254.00,3650.21627,N,12153.87599,W,1,11,0.8,-3.79,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221255.00,3650.21619,N,12153.87595,W,1,11,0.8,-3.89,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221256.00,3650.21615,N,12153.87586,W,1,11,0.8,-3.79,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221257.00,3650.21604,N,12153.87570,W,1,11,0.8,-3.83,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221258.00,3650.21610,N,12153.87579,W,1,11,0.8,-4.27,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221259.00,3650.21613,N,12153.87586,W,1,11,0.8,-4.15,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,221300.00,3650.21615,N,12153.87584,W,1,11,0.8,-4.14,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221301.00,3650.21621,N,12153.87580,W,1,11,0.8,-3.96,M,-32.72,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 917847290
: 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,221302.00,3650.21612,N,12153.87566,W,1,11,0.8,-3.79,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,221303.00,3650.21611,N,12153.87564,W,1,11,0.8,-3.78,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221304.00,3650.21606,N,12153.87555,W,1,11,0.8,-3.70,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221305.00,3650.21605,N,12153.87547,W,1,11,0.8,-3.86,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221306.00,3650.21604,N,12153.87528,W,1,11,0.8,-3.50,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221307.00,3650.21616,N,12153.87527,W,1,11,0.8,-3.85,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221308.00,3650.21614,N,12153.87532,W,1,11,0.8,-3.83,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221309.00,3650.21602,N,12153.87524,W,1,11,0.8,-3.78,M,-32.72,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417265040
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221310.00,3650.21595,N,12153.87522,W,1,11,0.8,-3.84,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221311.00,3650.21594,N,12153.87518,W,1,11,0.8,-3.57,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221312.00,3650.21600,N,12153.87523,W,1,11,0.8,-3.81,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221313.00,3650.21602,N,12153.87512,W,1,11,0.8,-3.36,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221314.00,3650.21614,N,12153.87492,W,1,11,0.8,-3.36,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221315.00,3650.21615,N,12153.87468,W,1,11,0.8,-3.71,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221316.00,3650.21614,N,12153.87486,W,1,11,0.8,-4.61,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221317.00,3650.21595,N,12153.87498,W,1,11,0.8,-4.06,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221318.00,3650.21582,N,12153.87533,W,1,11,0.8,-1.40,M,-32.72,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916682790
: 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,221319.00,3650.21570,N,12153.87482,W,1,11,0.8,-2.83,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221320.00,3650.21578,N,12153.87454,W,1,11,0.8,-3.27,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221321.00,3650.21572,N,12153.87469,W,1,11,0.8,-4.08,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221322.00,3650.21557,N,12153.87461,W,1,11,0.8,-4.68,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221323.00,3650.21570,N,12153.87465,W,1,10,0.8,-4.25,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221324.00,3650.21584,N,12153.87456,W,1,10,0.8,-4.29,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221325.00,3650.21585,N,12153.87482,W,1,11,0.8,-4.52,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221326.00,3650.21596,N,12153.87467,W,1,11,0.8,-4.69,M,-32.72,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416100540
: 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,221327.00,3650.21578,N,12153.87404,W,1,11,0.8,-3.80,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221328.00,3650.21593,N,12153.87386,W,1,11,0.8,-4.67,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221329.00,3650.21589,N,12153.87404,W,1,11,0.8,-4.77,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221330.00,3650.21575,N,12153.87428,W,1,11,0.8,-4.59,M,-32.72,M,,*7A

: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:3.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,221331.00,3650.21568,N,12153.87422,W,1,11,0.8,-4.28,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221332.00,3650.21556,N,12153.87386,W,1,11,0.8,-3.61,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221333.00,3650.21560,N,12153.87352,W,1,11,0.8,-4.34,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221334.00,3650.21542,N,12153.87359,W,1,11,0.8,-4.42,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221335.00,3650.21550,N,12153.87370,W,1,11,0.8,-4.55,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221336.00,3650.21554,N,12153.87376,W,1,11,0.8,-4.64,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221337.00,3650.21545,N,12153.87366,W,1,11,0.8,-4.25,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221338.00,3650.21536,N,12153.87346,W,1,11,0.8,-4.20,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 415278540
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221339.00,3650.21554,N,12153.87305,W,1,11,0.8,-4.10,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221340.00,3650.21548,N,12153.87297,W,1,11,0.8,-4.64,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221341.00,3650.21530,N,12153.87327,W,1,11,0.8,-4.99,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,221342.00,3650.21542,N,12153.87329,W,1,11,0.8,-4.55,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221343.00,3650.21535,N,12153.87332,W,1,11,0.8,-3.83,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221344.00,3650.21526,N,12153.87305,W,1,11,0.8,-3.99,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221345.00,3650.21520,N,12153.87274,W,1,11,0.8,-4.00,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221346.00,3650.21501,N,12153.87267,W,1,11,0.8,-4.12,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221347.00,3650.21497,N,12153.87250,W,1,11,0.8,-4.07,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914696290
: 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,221348.00,3650.21511,N,12153.87239,W,1,11,0.8,-4.11,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221349.00,3650.21520,N,12153.87249,W,1,11,0.8,-4.66,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221350.00,3650.21506,N,12153.87248,W,1,11,0.8,-4.50,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221351.00,3650.21511,N,12153.87233,W,1,11,0.8,-3.86,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221352.00,3650.21493,N,12153.87212,W,1,11,0.8,-3.66,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221353.00,3650.21494,N,12153.87187,W,1,11,0.8,-3.87,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221354.00,3650.21487,N,12153.87211,W,1,11,0.8,-4.47,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221355.00,3650.21481,N,12153.87205,W,1,11,0.8,-4.18,M,-32.72,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 414114040
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221356.00,3650.21499,N,12153.87199,W,1,11,0.8,-3.97,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221357.00,3650.21484,N,12153.87198,W,1,11,0.8,-3.91,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221358.00,3650.21492,N,12153.87168,W,1,11,0.8,-3.55,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221359.00,3650.21482,N,12153.87153,W,1,11,0.8,-4.06,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221400.00,3650.21484,N,12153.87136,W,1,11,0.8,-4.54,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221401.00,3650.21482,N,12153.87140,W,1,11,0.8,-4.83,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221402.00,3650.21492,N,12153.87136,W,1,11,0.8,-4.16,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221403.00,3650.21480,N,12153.87134,W,1,11,0.8,-3.97,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221404.00,3650.21468,N,12153.87115,W,1,11,0.8,-3.69,M,-32.72,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913531790
: 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,221405.00,3650.21488,N,12153.87085,W,1,11,0.8,-4.16,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221406.00,3650.21488,N,12153.87102,W,1,11,0.8,-4.64,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221407.00,3650.21477,N,12153.87102,W,1,11,0.8,-4.25,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221408.00,3650.21478,N,12153.87078,W,1,11,0.8,-3.99,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221409.00,3650.21473,N,12153.87034,W,1,11,0.8,-3.92,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,221410.00,3650.21469,N,12153.87011,W,1,11,0.8,-4.76,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221411.00,3650.21467,N,12153.87012,W,1,11,0.8,-5.12,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221412.00,3650.21474,N,12153.87055,W,1,11,0.8,-4.96,M,-32.72,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 412949540
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221413.00,3650.21463,N,12153.87080,W,1,11,0.8,-4.45,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221414.00,3650.21463,N,12153.87033,W,1,11,0.8,-3.19,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221415.00,3650.21442,N,12153.86957,W,1,11,0.8,-2.78,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221416.00,3650.21452,N,12153.86901,W,1,11,0.8,-3.16,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221417.00,3650.21464,N,12153.86912,W,1,11,0.8,-4.25,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221418.00,3650.21473,N,12153.86938,W,1,11,0.8,-4.86,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221419.00,3650.21468,N,12153.86946,W,1,11,0.8,-4.82,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,221420.00,3650.21465,N,12153.86962,W,1,11,0.8,-4.41,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221421.00,3650.21456,N,12153.86952,W,1,11,0.8,-4.17,M,-32.72,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 912367290
: 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,221422.00,3650.21457,N,12153.86920,W,1,11,0.8,-3.95,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221423.00,3650.21468,N,12153.86885,W,1,11,0.8,-4.02,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221424.00,3650.21453,N,12153.86864,W,1,11,0.8,-4.02,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221425.00,3650.21478,N,12153.86861,W,1,11,0.8,-4.45,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221426.00,3650.21454,N,12153.86892,W,1,12,0.8,-4.62,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,221427.00,3650.21437,N,12153.86896,W,1,12,0.8,-4.06,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221428.00,3650.21432,N,12153.86895,W,1,12,0.8,-4.23,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221429.00,3650.21450,N,12153.86866,W,1,12,0.8,-3.98,M,-32.72,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 411785040
: 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,221430.00,3650.21437,N,12153.86833,W,1,12,0.8,-4.04,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,221431.00,3650.21437,N,12153.86824,W,1,12,0.8,-4.60,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221432.00,3650.21433,N,12153.86835,W,1,12,0.8,-4.78,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221433.00,3650.21439,N,12153.86829,W,1,12,0.8,-4.74,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,221434.00,3650.21435,N,12153.86835,W,1,12,0.8,-4.35,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221435.00,3650.21434,N,12153.86806,W,1,12,0.8,-3.74,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221436.00,3650.21438,N,12153.86783,W,1,12,0.8,-3.70,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221437.00,3650.21422,N,12153.86782,W,1,12,0.8,-3.75,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221438.00,3650.21420,N,12153.86781,W,1,12,0.8,-4.24,M,-32.72,M,,*7C

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 921202105
: 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,221439.00,3650.21424,N,12153.86799,W,1,12,0.8,-4.60,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221440.00,3650.21422,N,12153.86800,W,1,12,0.8,-4.15,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221441.00,3650.21417,N,12153.86781,W,1,12,0.8,-3.51,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221442.00,3650.21425,N,12153.86768,W,1,12,0.8,-3.82,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221443.00,3650.21407,N,12153.86751,W,1,12,0.8,-4.17,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221444.00,3650.21413,N,12153.86758,W,1,12,0.8,-4.28,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,221445.00,3650.21405,N,12153.86761,W,1,12,0.8,-4.20,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221446.00,3650.21417,N,12153.86758,W,1,12,0.8,-4.25,M,-32.72,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 420619855
: 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,221447.00,3650.21432,N,12153.86745,W,1,12,0.8,-4.57,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221448.00,3650.21431,N,12153.86739,W,1,12,0.8,-4.08,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221449.00,3650.21425,N,12153.86714,W,1,12,0.8,-3.80,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221450.00,3650.21428,N,12153.86668,W,1,12,0.8,-4.15,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221451.00,3650.21437,N,12153.86677,W,1,12,0.8,-4.78,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221452.00,3650.21439,N,12153.86692,W,1,12,0.8,-5.06,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221453.00,3650.21446,N,12153.86719,W,1,12,0.8,-5.05,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221454.00,3650.21442,N,12153.86721,W,1,12,0.8,-4.42,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,221455.00,3650.21443,N,12153.86710,W,1,12,0.8,-4.19,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 920037605
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221456.00,3650.21439,N,12153.86691,W,1,12,0.8,-4.08,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221457.00,3650.21429,N,12153.86650,W,1,12,0.8,-4.00,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221458.00,3650.21432,N,12153.86643,W,1,12,0.8,-4.67,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221459.00,3650.21430,N,12153.86650,W,1,12,0.8,-4.83,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221500.00,3650.21441,N,12153.86665,W,1,12,0.8,-4.60,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221501.00,3650.21425,N,12153.86660,W,1,12,0.8,-4.67,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221502.00,3650.21429,N,12153.86655,W,1,12,0.8,-4.35,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221503.00,3650.21419,N,12153.86627,W,1,12,0.8,-4.03,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 419455355
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221504.00,3650.21407,N,12153.86605,W,1,12,0.8,-4.14,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221505.00,3650.21407,N,12153.86602,W,1,12,0.8,-4.45,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221506.00,3650.21427,N,12153.86624,W,1,12,0.8,-4.64,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221507.00,3650.21419,N,12153.86625,W,1,12,0.8,-4.43,M,-32.72,M,,*75

: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.400000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:8.400000, 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,221508.00,3650.21417,N,12153.86607,W,1,12,0.8,-3.93,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221509.00,3650.21410,N,12153.86578,W,1,12,0.8,-3.93,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221510.00,3650.21409,N,12153.86556,W,1,12,0.8,-4.21,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221511.00,3650.21405,N,12153.86555,W,1,12,0.8,-4.70,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221512.00,3650.21406,N,12153.86575,W,1,12,0.8,-4.99,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221513.00,3650.21413,N,12153.86587,W,1,12,0.8,-4.84,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221514.00,3650.21415,N,12153.86590,W,1,12,0.8,-4.56,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221515.00,3650.21411,N,12153.86578,W,1,12,0.8,-4.36,M,-32.72,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 418633355
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221516.00,3650.21403,N,12153.86557,W,1,12,0.8,-4.20,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221517.00,3650.21393,N,12153.86535,W,1,12,0.8,-4.23,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221518.00,3650.21396,N,12153.86520,W,1,12,0.8,-4.27,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221519.00,3650.21389,N,12153.86508,W,1,12,0.8,-4.56,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221520.00,3650.21394,N,12153.86506,W,1,12,0.8,-4.80,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221521.00,3650.21402,N,12153.86517,W,1,12,0.8,-4.83,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221522.00,3650.21407,N,12153.86520,W,1,12,0.8,-4.54,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221523.00,3650.21403,N,12153.86502,W,1,12,0.8,-4.34,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221524.00,3650.21391,N,12153.86485,W,1,12,0.8,-4.53,M,-32.72,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 918051105
: 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,221525.00,3650.21390,N,12153.86477,W,1,12,0.8,-4.70,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221526.00,3650.21390,N,12153.86477,W,1,12,0.8,-4.78,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,221527.00,3650.21405,N,12153.86477,W,1,12,0.8,-4.67,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221528.00,3650.21403,N,12153.86470,W,1,12,0.8,-4.67,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221529.00,3650.21400,N,12153.86474,W,1,12,0.8,-4.64,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,221530.00,3650.21395,N,12153.86464,W,1,12,0.8,-4.60,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221531.00,3650.21396,N,12153.86463,W,1,12,0.8,-4.44,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221532.00,3650.21390,N,12153.86466,W,1,12,0.8,-4.46,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 417468855
: 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,221533.00,3650.21393,N,12153.86430,W,1,12,0.8,-4.04,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,221534.00,3650.21395,N,12153.86395,W,1,12,0.8,-4.33,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221535.00,3650.21408,N,12153.86404,W,1,12,0.8,-4.80,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221536.00,3650.21407,N,12153.86412,W,1,12,0.8,-4.70,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,221537.00,3650.21411,N,12153.86415,W,1,12,0.8,-4.63,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221538.00,3650.21399,N,12153.86394,W,1,12,0.8,-4.56,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221539.00,3650.21405,N,12153.86384,W,1,12,0.8,-4.38,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221540.00,3650.21399,N,12153.86376,W,1,12,0.8,-4.57,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,221541.00,3650.21404,N,12153.86373,W,1,12,0.8,-4.54,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 916886605
: 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,221542.00,3650.21404,N,12153.86372,W,1,12,0.8,-4.73,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221543.00,3650.21403,N,12153.86370,W,1,12,0.8,-4.49,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,221544.00,3650.21410,N,12153.86370,W,1,12,0.8,-4.40,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221545.00,3650.21408,N,12153.86358,W,1,12,0.8,-4.26,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221546.00,3650.21402,N,12153.86313,W,1,12,0.8,-3.94,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221547.00,3650.21401,N,12153.86291,W,1,12,0.8,-4.32,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,221548.00,3650.21401,N,12153.86301,W,1,12,0.8,-4.93,M,-32.72,M,,*79

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221549.00,3650.21404,N,12153.86314,W,1,12,0.8,-4.88,M,-32.72,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 416304355
: 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,221550.00,3650.21398,N,12153.86300,W,1,12,0.8,-4.61,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,221551.00,3650.21410,N,12153.86294,W,1,12,0.8,-4.39,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221552.00,3650.21407,N,12153.86290,W,1,12,0.8,-4.40,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221553.00,3650.21398,N,12153.86263,W,1,12,0.8,-4.12,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221554.00,3650.21385,N,12153.86254,W,1,12,0.8,-4.71,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,221555.00,3650.21380,N,12153.86269,W,1,12,0.8,-4.90,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221556.00,3650.21384,N,12153.86268,W,1,12,0.8,-4.60,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221557.00,3650.21393,N,12153.86250,W,1,12,0.8,-4.52,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221558.00,3650.21392,N,12153.86225,W,1,12,0.8,-4.71,M,-32.72,M,,*7E

: 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 915722105
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221559.00,3650.21393,N,12153.86231,W,1,12,0.8,-5.12,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221600.00,3650.21386,N,12153.86239,W,1,12,0.8,-4.73,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221601.00,3650.21394,N,12153.86237,W,1,12,0.8,-4.53,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221602.00,3650.21392,N,12153.86227,W,1,12,0.8,-4.52,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221603.00,3650.21391,N,12153.86210,W,1,12,0.8,-4.55,M,-32.72,M,,*70

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221604.00,3650.21384,N,12153.86199,W,1,12,0.8,-4.53,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,221605.00,3650.21384,N,12153.86187,W,1,12,0.8,-4.54,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221606.00,3650.21393,N,12153.86192,W,1,12,0.8,-4.57,M,-32.72,M,,*7C

: 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 415139855
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221607.00,3650.21393,N,12153.86206,W,1,12,0.8,-4.74,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221608.00,3650.21385,N,12153.86186,W,1,12,0.8,-4.31,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221609.00,3650.21382,N,12153.86149,W,1,12,0.8,-4.29,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221610.00,3650.21380,N,12153.86130,W,1,12,0.8,-4.75,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221611.00,3650.21378,N,12153.86149,W,1,12,0.8,-5.28,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,221612.00,3650.21389,N,12153.86169,W,1,12,0.8,-4.84,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221613.00,3650.21387,N,12153.86164,W,1,12,0.8,-4.51,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221614.00,3650.21388,N,12153.86142,W,1,12,0.8,-4.34,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221615.00,3650.21370,N,12153.86106,W,1,12,0.8,-4.26,M,-32.72,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 914557605
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221616.00,3650.21378,N,12153.86081,W,1,12,0.8,-4.56,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221617.00,3650.21367,N,12153.86075,W,1,12,0.8,-4.90,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221618.00,3650.21372,N,12153.86073,W,1,12,0.8,-5.02,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221619.00,3650.21373,N,12153.86089,W,1,12,0.8,-5.24,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221620.00,3650.21374,N,12153.86112,W,1,12,0.8,-5.22,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221621.00,3650.21378,N,12153.86115,W,1,12,0.8,-4.63,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221622.00,3650.21375,N,12153.86100,W,1,12,0.8,-4.26,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,221623.00,3650.21377,N,12153.86069,W,1,12,0.8,-4.05,M,-32.72,M,,*73

: 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 413975355
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221624.00,3650.21376,N,12153.86028,W,1,12,0.8,-4.00,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221625.00,3650.21374,N,12153.86008,W,1,12,0.8,-4.55,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,221626.00,3650.21371,N,12153.86023,W,1,12,0.8,-5.24,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221627.00,3650.21363,N,12153.86039,W,1,12,0.8,-5.29,M,-32.72,M,,*78

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221628.00,3650.21370,N,12153.86040,W,1,12,0.8,-4.94,M,-32.72,M,,*7C

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221629.00,3650.21377,N,12153.86046,W,1,12,0.8,-4.92,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,221630.00,3650.21390,N,12153.86039,W,1,12,0.8,-4.47,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221631.00,3650.21385,N,12153.86017,W,1,12,0.8,-4.30,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221632.00,3650.21370,N,12153.85984,W,1,12,0.8,-4.03,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 913393105
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,221633.00,3650.21355,N,12153.85955,W,1,12,0.8,-4.27,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221634.00,3650.21358,N,12153.85937,W,1,12,0.8,-4.69,M,-32.72,M,,*73

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221635.00,3650.21358,N,12153.85956,W,1,12,0.8,-5.37,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221636.00,3650.21364,N,12153.85989,W,1,12,0.8,-5.35,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,221637.00,3650.21367,N,12153.85993,W,1,12,0.8,-4.74,M,-32.72,M,,*7E

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221638.00,3650.21380,N,12153.85960,W,1,12,0.8,-4.21,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,221639.00,3650.21374,N,12153.85937,W,1,12,0.8,-4.21,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,221640.00,3650.21375,N,12153.85929,W,1,12,0.8,-4.53,M,-32.72,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 412810855
: SonardyneDriver::acquireRangeData() - no valid response
: 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.
: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: 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.
:  CameraDestructor Executing.
:  DropWeight Destructor Executing.
: **** SharedData destructor for object GpsOutput_ShmemName ****

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_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 navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****


//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 dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object CameraOutput ****

: TaskServer::signalHandler() for task FanIFServer - exit() on signal 18

: TaskServer::signalHandler() - _theTaskServer doesn't exist
: **** SharedData destructor for object navigationOutput ****

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: SerialDevice: done...

:  Dvl::~Dvl: Destructor Finished.


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.
