Supervisor::createCoreTasks()
Supervisor::createTask() - eventLogServer
Supervisor::createTask() - workSite
Supervisor::createTask() - vehicleCo: Initializing worksiteServer
nfigurat: WorkSite::WorkSite -- Adding attributes
ion: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg
Server
Supervisor::createTask() - external: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg"
CommsServer
Supervisor::createTask() - navigationServer
Supervisor::createTask() - layeredControlServer
Supervisor::createTask() - dynamicControlServer
: WorkSite::WorkSite -- Finished loading parameters
: WorkSite::WorkSite -- Starting Depth is 0.000000 meters
: 0:	1	600674.187500E	4067388.750000N	73.699997 m	10.000000 ms	channel:2
: 1:	2	600531.687500E	4065156.000000N	73.199997 m	10.000000 ms	channel:4
: 2:	3	598447.000000E	4067412.250000N	91.400002 m	10.000000 ms	channel:5
: 3:	4	600848.125000E	4069389.500000N	80.199997 m	10.000000 ms	channel:6
: 4:	5	602732.187500E	4067093.000000N	57.299999 m	10.000000 ms	channel:7
: WorkSite server: 0x2300c
: New Navigation component constructor
: Navigation - Using only the Dvl to compute altitude.
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
S: SerialDevice: done...

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

isor::: SerialDevice: done...

createTask() - fanServer
Superv: Gps: initializing

iso: SerialDevice: done...

r:: SerialDevice: done...

:createTa: SerialDevice: done...

sk(: SerialDevice: done...

): SerialDevice: done...

 - dro: Crossbow.cc: In getSerialNumber()
pWeightServer
Supervisor:: SerialDevice: done...

:createTask() - sonardyneServer
Super: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize()
visor::createTask() - cameraServer
: SerialDevice: done...

: ahrs if is Ahrs

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

: SerialDevice: done...

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

: SerialDevice: done...

: SerialDevice: done...

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

: SerialDevice: done...

: Crossbow.cc: device->read succeeded
: m3dmgx1: Serial Number is 6380

: PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100
: 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
: PeriodicTask::run() (sonardyneDriver) - sampleInterval=500, maxInterval=500
: PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000
: PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200
: 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
: AshtechGps::processRecord() - 3650.23405,N,12153.79490,W,1,12,0.7,-4.79,M,-32.72,M,,*76

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1
: **** EventTriggers::add() - attaching proxy
: SerialDevice: done...

: 3 Modules found
: AshtechGps::processRecord() - $GPGGA,224248.00,3650.23420,N,12153.79472,W,1,12,0.7,-4.71,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,224249.00,3650.23397,N,12153.79441,W,1,12,0.7,-4.91,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,224250.00,3650.23410,N,12153.79442,W,1,12,0.7,-5.46,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,224251.00,3650.23419,N,12153.79443,W,1,12,0.7,-5.90,M,-32.72,M,,*74

: PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200
: AshtechGps::processRecord() - $GPGGA,224252.00,3650.23428,N,12153.79462,W,1,12,0.7,-5.94,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,224253.00,3650.23434,N,12153.79474,W,1,12,0.7,-5.48,M,-32.72,M,,*78

: Parosci.cc -- Initial pressure = 0.068948
: Parosci.cc -- Parosci initial pressure period = 30.138900
: Parosci.cc -- Parosci initial temp period = 5.842418
: Parosci.cc -- Paroscientific configured.
: **** EventTriggers::add() - attaching proxy
: AshtechGps::processRecord() - $GPGGA,224254.00,3650.23425,N,12153.79461,W,1,12,0.7,-5.11,M,-32.72,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 115004870
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224255.00,3650.23426,N,12153.79444,W,1,12,0.7,-5.14,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,224256.00,3650.23427,N,12153.79424,W,1,12,0.7,-5.36,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,224257.00,3650.23455,N,12153.79419,W,1,12,0.7,-5.40,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,224258.00,3650.23460,N,12153.79439,W,1,12,0.7,-5.63,M,-32.72,M,,*72

: Lbl NavSensor - could not create LBL task interface
: Navigation: Server for aux sensor "Lbl" not found
: AshtechGps::processRecord() - $GPGGA,224259.00,3650.23450,N,12153.79437,W,1,12,0.7,-5.08,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,224300.00,3650.23446,N,12153.79420,W,1,12,0.7,-4.85,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,224301.00,3650.23433,N,12153.79376,W,1,12,0.7,-5.08,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,224302.00,3650.23449,N,12153.79383,W,1,12,0.7,-5.44,M,-32.72,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614422620
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224303.00,3650.23465,N,12153.79386,W,1,12,0.7,-5.41,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,224304.00,3650.23464,N,12153.79358,W,1,12,0.7,-5.50,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,224305.00,3650.23470,N,12153.79369,W,1,12,0.7,-5.86,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,224306.00,3650.23463,N,12153.79365,W,1,12,0.7,-5.55,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,224307.00,3650.23476,N,12153.79376,W,1,12,0.7,-5.68,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,224308.00,3650.23476,N,12153.79364,W,1,12,0.7,-5.22,M,-32.72,M,,*7B

: 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,224309.00,3650.23475,N,12153.79335,W,1,12,0.7,-4.89,M,-32.72,M,,*7D

: 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,224310.00,3650.23476,N,12153.79311,W,1,12,0.7,-5.01,M,-32.72,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,224311.00,3650.23465,N,12153.79283,W,1,12,0.7,-5.48,M,-32.72,M,,*75

: 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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113840370
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224312.00,3650.23479,N,12153.79316,W,1,12,0.7,-6.03,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,224313.00,3650.23478,N,12153.79341,W,1,12,0.7,-5.87,M,-32.72,M,,*77

: 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,224314.00,3650.23483,N,12153.79331,W,1,12,0.7,-4.90,M,-32.72,M,,*74

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,224315.00,3650.23484,N,12153.79309,W,1,12,0.7,-4.77,M,-32.72,M,,*70

: 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,224316.00,3650.23491,N,12153.79275,W,1,12,0.7,-5.04,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,224317.00,3650.23504,N,12153.79273,W,1,12,0.7,-5.28,M,-32.72,M,,*7C

: 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,224318.00,3650.23488,N,12153.79272,W,1,12,0.7,-5.45,M,-32.72,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,224319.00,3650.23498,N,12153.79269,W,1,12,0.7,-5.54,M,-32.72,M,,*76

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613258120
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224320.00,3650.23506,N,12153.79270,W,1,12,0.7,-5.61,M,-32.72,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,224321.00,3650.23514,N,12153.79278,W,1,12,0.7,-5.52,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,224322.00,3650.23511,N,12153.79281,W,1,12,0.7,-5.81,M,-32.72,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,224323.00,3650.23494,N,12153.79295,W,1,12,0.7,-5.83,M,-32.72,M,,*7A

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

: AshtechGps::processRecord() - $GPGGA,224324.00,3650.23495,N,12153.79311,W,1,12,0.7,-5.83,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,224325.00,3650.23488,N,12153.79325,W,1,12,0.7,-6.07,M,-32.72,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,224326.00,3650.23477,N,12153.79351,W,1,12,0.7,-5.77,M,-32.72,M,,*70

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

: AshtechGps::processRecord() - $GPGGA,224327.00,3650.23456,N,12153.79375,W,1,12,0.7,-5.59,M,-32.72,M,,*78

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

: AshtechGps::processRecord() - $GPGGA,224328.00,3650.23458,N,12153.79415,W,1,12,0.7,-5.62,M,-32.72,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112675870
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224329.00,3650.23453,N,12153.79442,W,1,12,0.7,-5.50,M,-32.72,M,,*79

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

: AshtechGps::processRecord() - $GPGGA,224330.00,3650.23448,N,12153.79477,W,1,12,0.7,-5.51,M,-32.72,M,,*7C

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

: AshtechGps::processRecord() - $GPGGA,224331.00,3650.23444,N,12153.79511,W,1,12,0.7,-5.46,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,224332.00,3650.23428,N,12153.79543,W,1,12,0.7,-5.58,M,-32.72,M,,*77

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

: AshtechGps::processRecord() - $GPGGA,224333.00,3650.23431,N,12153.79565,W,1,12,0.7,-5.47,M,-32.72,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,224334.00,3650.23425,N,12153.79603,W,1,12,0.7,-6.01,M,-32.72,M,,*74

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

: AshtechGps::processRecord() - $GPGGA,224335.00,3650.23419,N,12153.79686,W,1,12,0.7,-6.40,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,224336.00,3650.23436,N,12153.79748,W,1,12,0.7,-6.08,M,-32.72,M,,*73

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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612093620
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224337.00,3650.23445,N,12153.79786,W,1,12,0.7,-6.54,M,-32.72,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,224338.00,3650.23460,N,12153.79831,W,1,12,0.7,-5.97,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,224339.00,3650.23468,N,12153.79886,W,1,12,0.7,-6.25,M,-32.72,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,224340.00,3650.23484,N,12153.79956,W,1,12,0.7,-6.33,M,-32.72,M,,*72

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

: AshtechGps::processRecord() - $GPGGA,224341.00,3650.23501,N,12153.80032,W,1,12,0.7,-5.59,M,-32.72,M,,*7D

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

: AshtechGps::processRecord() - $GPGGA,224342.00,3650.23527,N,12153.80079,W,1,12,0.7,-5.13,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,224343.00,3650.23574,N,12153.80100,W,1,12,0.7,-4.89,M,-32.72,M,,*71

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

: AshtechGps::processRecord() - $GPGGA,224344.00,3650.23611,N,12153.80131,W,1,12,0.7,-5.89,M,-32.72,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,224345.00,3650.23663,N,12153.80172,W,1,12,0.7,-6.17,M,-32.72,M,,*72

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111511370
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224346.00,3650.23703,N,12153.80230,W,1,12,0.7,-7.32,M,-32.72,M,,*75

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

: AshtechGps::processRecord() - $GPGGA,224347.00,3650.23749,N,12153.80300,W,1,12,0.7,-6.20,M,-32.72,M,,*7A

: 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=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224348.00,3650.23807,N,12153.80342,W,1,12,0.7,-5.63,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224349.00,3650.23863,N,12153.80379,W,1,12,0.7,-5.89,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,224350.00,3650.23924,N,12153.80381,W,1,12,0.7,-5.72,M,-32.72,M,,*74

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224351.00,3650.23999,N,12153.80415,W,1,12,0.7,-5.92,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224352.00,3650.24054,N,12153.80414,W,1,12,0.7,-5.99,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,224353.00,3650.24124,N,12153.80445,W,1,12,0.7,-5.90,M,-32.72,M,,*7B

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610929120
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224354.00,3650.24184,N,12153.80457,W,1,12,0.7,-5.83,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224355.00,3650.24237,N,12153.80465,W,1,12,0.7,-6.06,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224356.00,3650.24300,N,12153.80430,W,1,12,0.7,-5.50,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,224357.00,3650.24365,N,12153.80435,W,1,12,0.7,-6.22,M,-32.72,M,,*75

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224358.00,3650.24418,N,12153.80437,W,1,12,0.7,-6.87,M,-32.72,M,,*7A

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224359.00,3650.24495,N,12153.80467,W,1,12,0.7,-6.39,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,224400.00,3650.24567,N,12153.80464,W,1,12,0.7,-5.79,M,-32.72,M,,*7D

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224401.00,3650.24637,N,12153.80429,W,1,12,0.7,-5.84,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224402.00,3650.24716,N,12153.80426,W,1,12,0.7,-5.85,M,-32.72,M,,*7E

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110346870
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224403.00,3650.24788,N,12153.80412,W,1,12,0.7,-5.85,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,224404.00,3650.24852,N,12153.80394,W,1,12,0.7,-6.00,M,-32.72,M,,*77

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224405.00,3650.24917,N,12153.80369,W,1,12,0.7,-6.24,M,-32.72,M,,*72

: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224406.00,3650.24967,N,12153.80352,W,1,12,0.7,-5.81,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,224407.00,,,,,0,03,2.0,,M,,M,,*60

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224408.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224409.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224410.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609764620
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224411.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224412.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224413.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224414.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224415.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224416.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224417.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224418.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224419.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109182370
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224420.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224421.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224422.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224423.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224424.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224425.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224426.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224427.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608600120
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224428.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224429.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224430.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224431.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-4.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,224432.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224433.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224434.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224435.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224436.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224437.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224438.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224439.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607778120
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224440.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224441.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224442.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224443.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224444.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224445.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224446.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224447.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224448.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107195870
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224449.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224450.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224451.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224452.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224453.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224454.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224455.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224456.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606613620
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224457.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224458.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224459.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224500.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224501.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224502.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224503.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224504.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224505.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106031370
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224506.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224507.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224508.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224509.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224510.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224511.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224512.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224513.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605449120
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224514.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224515.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224516.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224517.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224518.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224519.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224520.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224521.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224522.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114866185
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224523.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224524.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224525.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224526.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224527.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224528.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224529.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224530.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614283935
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224531.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224532.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224533.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224534.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224535.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224536.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224537.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224538.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224539.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113701685
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224540.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224541.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224542.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224543.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224544.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224545.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224546.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224547.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613119435
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224548.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224549.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224550.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224551.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224552.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224553.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224554.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224555.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224556.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112537185
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224557.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224558.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224559.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.100000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-3.100000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,224600.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224601.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224602.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224603.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224604.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224605.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224606.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224607.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224608.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111715185
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224609.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224610.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224611.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.900000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-5.900000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,224612.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224613.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224614.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224615.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224616.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224617.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224618.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224619.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224620.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110893185
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224621.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224622.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224623.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224624.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224625.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224626.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224627.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224628.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610310935
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224629.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224630.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224631.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224632.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224633.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224634.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224635.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224636.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224637.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109728685
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224638.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224639.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224640.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224641.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224642.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224643.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224644.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224645.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609146435
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224646.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224647.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224648.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224649.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224650.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224651.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224652.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224653.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224654.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108564185
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224655.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224656.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224657.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224658.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224659.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224700.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224701.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224702.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607981935
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224703.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224704.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224705.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224706.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224707.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224708.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224709.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224710.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224711.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107399685
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224712.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224713.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224714.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224715.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224716.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224717.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224718.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224719.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606817435
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224720.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224721.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224722.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224723.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=-0.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: Descend::execute() - Descend terminating on altitude 19.838194 < 20.000000 at time 254.792546

: LayeredControl::execute() -- (t = 254.792546) Behavior descend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 254.792546) Behavior setpoint:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,224724.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224725.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224726.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.34
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224727.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224728.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106235185
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224729.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224730.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224731.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224732.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224733.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224734.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224735.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224736.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605652935
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224737.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224738.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224739.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224740.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224741.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224742.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224743.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224744.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224745.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105070685
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224746.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224747.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224748.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224749.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224750.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224751.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224752.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224753.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614487750
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224754.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224755.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224756.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224757.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224758.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224759.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224800.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224801.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224802.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113905500
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.95
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224803.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224804.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224805.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224806.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224807.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224808.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224809.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224810.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613323250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224811.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224812.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224813.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224814.00,,,,,0,00,,,M,,M,,*41

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

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

: AshtechGps::processRecord() - $GPGGA,224815.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224816.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224817.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224818.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224819.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224820.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224821.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224822.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=64.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612501250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224823.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,224824.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.90
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224825.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.457896 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224826.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.84
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224827.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224828.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.337140 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225593 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225593 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225593 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224829.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.84
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224830.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.225300 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.119914 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.119914 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224831.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.119914 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111919000
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224832.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.118920 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224833.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.008642 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.008642 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.008642 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224834.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224835.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.003792 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899671 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899671 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899671 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224836.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224837.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.899777 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797079 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224838.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.797079 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797079 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224839.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611336750
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224840.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224841.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.797343 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224842.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224843.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.686780 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.687341 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687341 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687341 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687539 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224844.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687539 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687539 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224845.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687641 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224846.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224847.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224848.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110754500
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224849.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224850.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.63
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.687725 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224851.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.789918 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224852.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224853.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.788961 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224854.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.898374 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.898374 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.898374 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897837 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897837 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224855.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.897837 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897155 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.897155 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224856.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.944863 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610172250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224857.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.998084 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 0.998084 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.998084 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.997480 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 0.997480 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224858.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 0.997480 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.044862 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.044862 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.044862 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224859.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.048404 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,224900.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.106893 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.106893 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.106893 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224901.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.42
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224902.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.181648 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224903.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: LayeredControl::execute() -- (t = 354.795695) Behavior setpoint:-1 has changed to state Finished

: The StartCamera Behavior has executed at t =          354.80.
: CameraDriver::readData - starting a 333 photo sequence.
: LayeredControl::execute() -- (t = 354.795695) Behavior startCamera:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 354.805694) Behavior setpoint:-1 has changed to state Active

: DepthEnvelope -- Measured altitude 1.260460 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.308437 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.308437 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224904.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.308437 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.37
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224905.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.367897 under allowable altitude 1.500000. Stopping!
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109590000
: SonardyneDriver::acquireRangeData() - no valid response
: DepthEnvelope -- Measured altitude 1.443771 under allowable altitude 1.500000. Stopping!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=0.00

: DepthEnvelope -- Measured altitude 1.443771 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.443771 under allowable altitude 1.500000. Stopping!
: AshtechGps::processRecord() - $GPGGA,224906.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: DepthEnvelope -- Measured altitude 1.471495 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.471495 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- Measured altitude 1.471495 under allowable altitude 1.500000. Stopping!
: DepthEnvelope -- altitude 1.524069 over abort altitude 1.500000, starting prop!
: LayeredControl _resolvedCommand - vertMode=2 vert=63.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224907.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224908.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224909.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224910.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224911.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224912.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224913.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.34
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609007750
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224914.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224915.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.34
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224916.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.29
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224917.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224918.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.24
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224919.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224920.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224921.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224922.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108425500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224923.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224924.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224925.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224926.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224927.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.11
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224928.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224929.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224930.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607843250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224931.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224932.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224933.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224934.00,,,,,0,00,,,M,,M,,*42

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

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

: LayeredControl _resolvedCommand - vertMode=2 vert=63.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224935.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224936.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224937.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:1.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,224938.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224939.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.14
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224940.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224941.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224942.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224943.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224944.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224945.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224946.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106781500
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224947.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224948.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224949.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224950.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224951.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224952.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224953.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224954.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606199250
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,224955.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224956.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,224957.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224958.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,224959.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225000.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225001.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225002.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225003.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105617000
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225004.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225005.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225006.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225007.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225008.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225009.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.06
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225010.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225011.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 615034065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225012.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225013.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225014.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225015.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225016.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225017.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225018.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225019.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225020.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114451815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225021.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225022.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225023.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225024.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225025.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225026.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=63.01
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225027.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225028.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613869565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225029.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225030.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225031.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225032.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225033.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225034.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225035.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225036.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225037.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113287315
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225038.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225039.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225040.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225041.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225042.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225043.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225044.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225045.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612705065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225046.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225047.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225048.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225049.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225050.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225051.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225052.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225053.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225054.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112122815
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.83
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225055.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225056.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225057.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225058.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225059.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225100.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225101.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225102.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611540565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225103.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225104.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225105.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225106.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225107.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225108.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225109.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225110.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225111.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110958315
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=62.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225112.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225113.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225114.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225115.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225116.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225117.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.60
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225118.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225119.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610376065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225120.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225121.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225122.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225123.00,,,,,0,00,,,M,,M,,*4D

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

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

: AshtechGps::processRecord() - $GPGGA,225124.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225125.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225126.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.200000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:0.200000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,225127.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225128.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225129.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225130.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225131.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225132.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225133.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225134.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225135.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.47
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109314315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225136.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.46
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225137.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225138.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.46
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225139.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.44
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225140.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.41
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225141.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225142.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225143.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608732065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225144.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225145.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225146.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225147.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.36
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225148.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225149.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225150.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225151.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225152.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108149815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225153.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225154.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225155.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225156.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225157.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225158.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225159.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225200.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607567565
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225201.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225202.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225203.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.24
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225204.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.29
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225205.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225206.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225207.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.29
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225208.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.23
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225209.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106985315
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225210.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225211.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225212.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225213.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225214.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225215.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.04
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225216.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225217.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606403065
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225218.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225219.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225220.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.10
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225221.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.13
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225222.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225223.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225224.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225225.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225226.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105820815
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225227.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225228.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225229.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,225230.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225231.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225232.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225233.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225234.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225235.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225236.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225237.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225238.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114998130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225239.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=62.03
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225240.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225241.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225242.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225243.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.88
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225244.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225245.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.84
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225246.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614415880
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225247.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225248.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225249.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225250.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225251.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225252.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225253.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.95
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225254.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225255.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113833630
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225256.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225257.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225258.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225259.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225300.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225301.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225302.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225303.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.79
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613251380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225304.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225305.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225306.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225307.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225308.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225309.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225310.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.67
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225311.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225312.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112669130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225313.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225314.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225315.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225316.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225317.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225318.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225319.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225320.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612086880
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225321.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225322.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225323.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225324.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.62
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225325.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225326.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225327.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225328.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.64
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225329.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111504630
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225330.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225331.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225332.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225333.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225334.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225335.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225336.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225337.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.57
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610922380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225338.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225339.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225340.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225341.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225342.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225343.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225344.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225345.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.54
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225346.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110340130
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225347.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225348.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225349.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.51
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225350.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225351.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.49
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225352.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225353.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225354.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609757880
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225355.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225356.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225357.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225358.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225359.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225400.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225401.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225402.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225403.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109175630
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.39
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225404.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225405.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.41
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225406.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225407.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225408.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225409.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.32
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225410.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225411.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608593380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225412.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225413.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225414.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225415.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225416.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225417.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225418.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225419.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225420.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108011130
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=61.28
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225421.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.31
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225422.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225423.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225424.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225425.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225426.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225427.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225428.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607428880
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225429.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225430.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225431.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225432.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225433.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225434.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225435.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225436.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225437.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.18
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106846630
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225438.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.12
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225439.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225440.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.08
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225441.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225442.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225443.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225444.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225445.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606264380
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225446.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225447.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225448.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225449.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225450.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225451.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=61.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225452.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225453.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225454.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105682130
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225455.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225456.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225457.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225458.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225459.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225500.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225501.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.93
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225502.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.95
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605099880
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225503.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.98
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225504.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225505.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.95
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225506.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225507.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225508.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.87
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225509.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.82
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225510.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.77
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225511.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114516945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225512.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225513.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.81
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225514.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225515.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.80
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225516.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225517.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.78
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225518.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225519.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613934695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225520.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225521.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225522.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.73
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225523.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.75
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225524.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225525.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225526.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.76
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225527.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.74
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225528.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113352445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225529.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.72
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225530.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225531.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.65
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225532.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225533.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225534.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225535.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225536.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612770195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225537.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.68
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225538.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.66
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225539.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225540.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.71
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225541.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.69
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225542.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225543.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225544.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.55
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225545.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112187945
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=60.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225546.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225547.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225548.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225549.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225550.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225551.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225552.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.61
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225553.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611605695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225554.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.56
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225555.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.52
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225556.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225557.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225558.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225559.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225600.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225601.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225602.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111023445
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=60.59
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225603.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225604.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.53
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225605.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.48
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.500000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:4.500000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,225606.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.40
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225607.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225608.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225609.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225610.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225611.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225612.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.50
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225613.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.45
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225614.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110201445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225615.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.45
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225616.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.43
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225617.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225618.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.38
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225619.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.35
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225620.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225621.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225622.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609619195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225623.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225624.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225625.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.33
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225626.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225627.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225628.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225629.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225630.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.30
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225631.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 109036945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225632.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.27
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225633.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.20
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225634.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.17
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225635.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225636.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.15
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225637.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.16
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225638.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225639.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.22
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608454695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225640.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225641.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.25
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225642.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225643.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.19
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225644.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225645.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225646.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225647.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225648.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107872445
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=2 vert=60.11
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225649.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225650.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225651.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

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

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:2.300000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,225652.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225653.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225654.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225655.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225656.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225657.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225658.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225659.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225700.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.09
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107050445
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225701.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.07
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225702.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.05
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225703.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225704.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.97
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225705.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225706.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225707.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.92
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225708.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.99
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606468195
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225709.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225710.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225711.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.02
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225712.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=60.00
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225713.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225714.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.96
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225715.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225716.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.94
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225717.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105885945
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225718.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.91
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225719.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.89
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225720.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225721.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.86
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225722.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=59.84
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.00

: AshtechGps::processRecord() - $GPGGA,225723.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl::execute() -- (t = 855.001428) Behavior setpoint:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 855.001428) Behavior ascend:-1 has changed to state Active

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225724.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225725.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605303695
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225726.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225727.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225728.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225729.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225730.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225731.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225732.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225733.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225734.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114720760
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225735.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225736.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225737.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225738.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225739.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225740.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225741.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225742.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614138510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225743.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225744.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225745.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225746.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225747.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225748.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225749.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225750.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225751.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113556260
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225752.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225753.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225754.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225755.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225756.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225757.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225758.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225759.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612974010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225800.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225801.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225802.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225803.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225804.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225805.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225806.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225807.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225808.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112391760
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225809.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225810.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225811.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225812.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225813.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225814.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225815.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225816.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 611809510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225817.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225818.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225819.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225820.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225821.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225822.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225823.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225824.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225825.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111227260
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225826.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225827.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225828.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225829.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225830.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225831.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225832.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225833.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610645010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225834.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225835.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225836.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225837.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225838.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225839.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225840.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225841.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225842.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110062760
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225843.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225844.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225845.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225846.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225847.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225848.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225849.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225850.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609480510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225851.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225852.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225853.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225854.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225855.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225856.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225857.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225858.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225859.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108898260
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225900.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225901.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225902.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225903.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225904.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225905.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225906.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225907.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608316010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225908.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225909.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225910.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225911.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.600000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.600000, D:0.000000, U:0.000000, Q:-nan

: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225912.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225913.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225914.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.800000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:-1.800000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,225915.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225916.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225917.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225918.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225919.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225920.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225921.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225922.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225923.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107254260
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225924.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225925.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225926.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225927.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225928.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225929.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225930.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225931.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606672010
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225932.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225933.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225934.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225935.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225936.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225937.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225938.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225939.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225940.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106089760
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225941.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225942.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225943.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225944.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225945.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225946.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225947.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225948.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605507510
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,225949.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225950.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225951.00,,,,,0,00,,,M,,M,,*40

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225952.00,,,,,0,00,,,M,,M,,*43

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225953.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225954.00,,,,,0,00,,,M,,M,,*45

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225955.00,,,,,0,00,,,M,,M,,*44

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225956.00,,,,,0,00,,,M,,M,,*47

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225957.00,,,,,0,00,,,M,,M,,*46

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114924575
: SonardyneDriver::acquireRangeData() - no valid response
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,225958.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,225959.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230000.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230001.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230002.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230003.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230004.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230005.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 614342325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230006.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: AshtechGps::processRecord() - $GPGGA,230007.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=1 vert=0.26
	horzlMode=1 horz=0.00
	speedMode=1 speed=1.50

: LayeredControl::execute() -- (t = 1019.200180) Behavior ascend:-1 has changed to state Finished

: LayeredControl::execute() -- (t = 1019.200180) Behavior getgps:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230008.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230009.00,,,,,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,230010.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230011.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230012.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230013.00,,,,,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,230014.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113760075
: 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,230015.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230016.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230017.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230018.00,,,,,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,230019.00,,,,,0,00,,,M,,M,,*41

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230020.00,,,,,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,230021.00,,,,,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,230022.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 613177825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230023.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230024.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230025.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230026.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230027.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230028.00,,,,,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,230029.00,,,,,0,00,,,M,,M,,*42

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230030.00,,,,,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,230031.00,,,,,0,00,,,M,,M,,*4B

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112595575
: 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,230032.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230033.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230034.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230035.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230036.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230037.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230038.00,,,,,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,230039.00,,,,,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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612013325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230040.00,,,,,0,00,,,M,,M,,*4D

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230041.00,,,,,0,00,,,M,,M,,*4C

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230042.00,,,,,0,00,,,M,,M,,*4F

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230043.00,,,,,0,00,,,M,,M,,*4E

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230044.00,,,,,0,00,,,M,,M,,*49

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230045.00,,,,,0,00,,,M,,M,,*48

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230046.00,,,,,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,230047.00,,,,,0,00,,,M,,M,,*4A

: AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: ,
: AshtechGps::processRecord() - $GPGGA,230048.00,3650.92912,N,12153.83543,W,1,10,0.8,-6.41,M,-32.72,M,,*71

: 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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111431075
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230049.00,3650.92879,N,12153.83530,W,1,10,0.8,-6.08,M,-32.72,M,,*75

: 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,230050.00,3650.92892,N,12153.83524,W,1,10,0.8,-6.63,M,-32.72,M,,*70

: GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed
: AshtechGps::processRecord() - $GPGGA,230051.00,3650.92927,N,12153.83541,W,1,10,0.8,-6.81,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=2 vert=0.00
	horzlMode=0 horz=0.00
	speedMode=1 speed=0.00

: GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed
: AshtechGps::processRecord() - $GPGGA,230052.00,3650.92940,N,12153.83540,W,1,10,0.8,-5.94,M,-32.72,M,,*75

: 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,230053.00,3650.92948,N,12153.83559,W,1,10,0.8,-6.21,M,-32.72,M,,*79

: 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,230054.00,3650.92956,N,12153.83572,W,1,10,0.8,-6.13,M,-32.72,M,,*79

: GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed
: AshtechGps::processRecord() - $GPGGA,230055.00,3650.92960,N,12153.83594,W,1,10,0.8,-6.33,M,-32.72,M,,*77

: 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,230056.00,3650.92978,N,12153.83576,W,1,10,0.8,-5.69,M,-32.72,M,,*7D

: 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

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610848825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230057.00,3650.92967,N,12153.83562,W,1,10,0.8,-5.81,M,-32.72,M,,*71

: GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed
: LayeredControl::execute() -- (t = 1068.396810) 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 = 1068.596796) Behavior setpoint:-1 has changed to state Active

: LayeredControl::execute() -- (t = 1068.596796) Behavior missionTimer:-1 has changed to state Active

: AshtechGps::processRecord() - $GPGGA,230058.00,3650.92981,N,12153.83543,W,1,10,0.8,-6.26,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,230059.00,3650.92977,N,12153.83564,W,1,10,0.8,-6.74,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,230100.00,3650.92987,N,12153.83590,W,1,11,0.8,-6.43,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230101.00,3650.93001,N,12153.83605,W,1,11,0.8,-6.29,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,230102.00,3650.93012,N,12153.83618,W,1,11,0.8,-6.29,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,230103.00,3650.93028,N,12153.83628,W,1,11,0.8,-6.24,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,230104.00,3650.93020,N,12153.83621,W,1,11,0.8,-5.68,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230105.00,3650.93023,N,12153.83602,W,1,11,0.8,-5.76,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 110266575
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230106.00,3650.93012,N,12153.83595,W,1,11,0.8,-5.62,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,230107.00,3650.93027,N,12153.83581,W,1,11,0.8,-5.60,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,230108.00,3650.93017,N,12153.83576,W,1,11,0.8,-5.98,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230109.00,3650.93035,N,12153.83580,W,1,11,0.8,-6.27,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,230110.00,3650.93026,N,12153.83597,W,1,11,0.8,-6.51,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,230111.00,3650.93036,N,12153.83605,W,1,11,0.8,-6.26,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,230112.00,3650.93042,N,12153.83634,W,1,11,0.8,-6.47,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,230113.00,3650.93037,N,12153.83636,W,1,11,0.8,-5.78,M,-32.72,M,,*78

: 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 609684325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230114.00,3650.93045,N,12153.83601,W,1,11,0.8,-5.49,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,230115.00,3650.93026,N,12153.83591,W,1,11,0.8,-6.11,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,230116.00,3650.93032,N,12153.83597,W,1,11,0.8,-5.98,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,230117.00,3650.93026,N,12153.83594,W,1,11,0.8,-5.86,M,-32.72,M,,*76

: SonardyneDriver::acquireDiagData() - S:100.000000, N:-0.800000, D:0.000000, U:0.000000, Q:***************************************

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

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: AshtechGps::processRecord() - $GPGGA,230118.00,3650.93046,N,12153.83594,W,1,11,0.8,-5.97,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230119.00,3650.93024,N,12153.83603,W,1,12,0.7,-6.19,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,230120.00,3650.93023,N,12153.83613,W,1,12,0.7,-6.14,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,230121.00,3650.93018,N,12153.83619,W,1,12,0.7,-6.17,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,230122.00,3650.93023,N,12153.83631,W,1,12,0.7,-5.87,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,230123.00,3650.93021,N,12153.83620,W,1,12,0.7,-5.55,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,230124.00,3650.93018,N,12153.83590,W,1,12,0.7,-5.45,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,230125.00,3650.93015,N,12153.83591,W,1,12,0.7,-5.93,M,-32.72,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 608862325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230126.00,3650.93014,N,12153.83591,W,1,12,0.7,-5.74,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,230127.00,3650.93017,N,12153.83584,W,1,12,0.7,-5.75,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,230128.00,3650.93021,N,12153.83586,W,1,12,0.7,-5.94,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,230129.00,3650.93024,N,12153.83600,W,1,12,0.7,-6.15,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,230130.00,3650.93017,N,12153.83612,W,1,12,0.7,-6.02,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,230131.00,3650.93009,N,12153.83619,W,1,12,0.7,-5.91,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,230132.00,3650.93009,N,12153.83627,W,1,12,0.7,-5.78,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,230133.00,3650.93007,N,12153.83609,W,1,12,0.7,-5.37,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,230134.00,3650.93016,N,12153.83591,W,1,12,0.7,-5.37,M,-32.72,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108280075
: 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,230135.00,3650.93008,N,12153.83576,W,1,12,0.7,-5.57,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,230136.00,3650.93012,N,12153.83584,W,1,12,0.7,-6.03,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230137.00,3650.92994,N,12153.83591,W,1,12,0.7,-6.01,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,230138.00,3650.93005,N,12153.83607,W,1,12,0.7,-5.98,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,230139.00,3650.93005,N,12153.83601,W,1,12,0.7,-5.59,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,230140.00,3650.93023,N,12153.83573,W,1,12,0.7,-5.26,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,230141.00,3650.93003,N,12153.83550,W,1,12,0.7,-5.69,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,230142.00,3650.93000,N,12153.83568,W,1,12,0.7,-6.23,M,-32.72,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 607697825
: 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,230143.00,3650.92985,N,12153.83585,W,1,12,0.7,-6.19,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230144.00,3650.93000,N,12153.83583,W,1,12,0.7,-5.66,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,230145.00,3650.92993,N,12153.83566,W,1,12,0.7,-5.70,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,230146.00,3650.93003,N,12153.83554,W,1,12,0.7,-5.69,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,230147.00,3650.92994,N,12153.83543,W,1,12,0.7,-5.76,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,230148.00,3650.92992,N,12153.83569,W,1,12,0.7,-6.19,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,230149.00,3650.92986,N,12153.83570,W,1,12,0.7,-5.61,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,230150.00,3650.92987,N,12153.83538,W,1,12,0.7,-5.25,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,230151.00,3650.92992,N,12153.83490,W,1,12,0.7,-5.26,M,-32.72,M,,*70

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107115575
: 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,230152.00,3650.92986,N,12153.83477,W,1,12,0.7,-6.22,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,230153.00,3650.92979,N,12153.83511,W,1,12,0.7,-6.71,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,230154.00,3650.92977,N,12153.83535,W,1,12,0.7,-6.45,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,230155.00,3650.92974,N,12153.83541,W,1,12,0.7,-5.97,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,230156.00,3650.92977,N,12153.83512,W,1,12,0.7,-5.39,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,230157.00,3650.92977,N,12153.83495,W,1,12,0.7,-5.65,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230158.00,3650.92980,N,12153.83493,W,1,12,0.7,-5.71,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,230159.00,3650.92969,N,12153.83479,W,1,12,0.7,-5.43,M,-32.72,M,,*78

: 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 606533325
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230200.00,3650.92960,N,12153.83465,W,1,12,0.7,-5.55,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,230201.00,3650.92959,N,12153.83467,W,1,12,0.7,-5.81,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,230202.00,3650.92967,N,12153.83471,W,1,12,0.7,-5.85,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,230203.00,3650.92963,N,12153.83448,W,1,12,0.7,-5.44,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,230204.00,3650.92977,N,12153.83452,W,1,12,0.7,-6.06,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230205.00,3650.92961,N,12153.83454,W,1,12,0.7,-6.36,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,230206.00,3650.92966,N,12153.83457,W,1,12,0.7,-6.22,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,230207.00,3650.92957,N,12153.83453,W,1,12,0.7,-6.24,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230208.00,3650.92953,N,12153.83446,W,1,12,0.7,-5.96,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 105951075
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230209.00,3650.92953,N,12153.83448,W,1,12,0.7,-6.11,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,230210.00,3650.92947,N,12153.83446,W,1,12,0.7,-5.85,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,230211.00,3650.92955,N,12153.83437,W,1,12,0.7,-5.71,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,230212.00,3650.92951,N,12153.83431,W,1,12,0.7,-5.85,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,230213.00,3650.92959,N,12153.83430,W,1,12,0.7,-5.73,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,230214.00,3650.92952,N,12153.83417,W,1,12,0.7,-5.58,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,230215.00,3650.92937,N,12153.83396,W,1,12,0.7,-5.50,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,230216.00,3650.92945,N,12153.83388,W,1,12,0.7,-5.73,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 605368825
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230217.00,3650.92941,N,12153.83385,W,1,12,0.7,-6.00,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230218.00,3650.92953,N,12153.83387,W,1,12,0.7,-6.23,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,230219.00,3650.92950,N,12153.83399,W,1,12,0.7,-6.21,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,230220.00,3650.92955,N,12153.83409,W,1,12,0.7,-5.98,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,230221.00,3650.92948,N,12153.83404,W,1,12,0.7,-5.85,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230222.00,3650.92947,N,12153.83410,W,1,12,0.7,-5.77,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,230223.00,3650.92944,N,12153.83380,W,1,12,0.7,-5.20,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,230224.00,3650.92944,N,12153.83328,W,1,12,0.7,-5.06,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,230225.00,3650.92930,N,12153.83291,W,1,12,0.7,-5.50,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 114785890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230226.00,3650.92941,N,12153.83308,W,1,11,0.8,-6.57,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,230227.00,3650.92942,N,12153.83340,W,1,11,0.8,-6.73,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,230228.00,3650.92958,N,12153.83354,W,1,11,0.8,-6.35,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230229.00,3650.92942,N,12153.83322,W,1,11,0.8,-5.76,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,230230.00,3650.92948,N,12153.83309,W,1,11,0.8,-5.81,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,230231.00,3650.92935,N,12153.83301,W,1,11,0.8,-5.79,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230232.00,3650.92933,N,12153.83288,W,1,11,0.8,-5.86,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,230233.00,3650.92937,N,12153.83279,W,1,11,0.8,-5.88,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 614203640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230234.00,3650.92934,N,12153.83265,W,1,11,0.8,-6.02,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,230235.00,3650.92944,N,12153.83267,W,1,11,0.8,-6.17,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230236.00,3650.92926,N,12153.83276,W,1,11,0.8,-6.49,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,230237.00,3650.92929,N,12153.83276,W,1,11,0.8,-6.06,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,230238.00,3650.92934,N,12153.83266,W,1,11,0.8,-6.04,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,230239.00,3650.92943,N,12153.83260,W,1,11,0.8,-5.86,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,230240.00,3650.92940,N,12153.83257,W,1,11,0.8,-5.99,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,230241.00,3650.92930,N,12153.83240,W,1,11,0.8,-5.90,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,230242.00,3650.92926,N,12153.83227,W,1,11,0.8,-6.07,M,-32.72,M,,*78

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113621390
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230243.00,3650.92920,N,12153.83226,W,1,11,0.8,-6.10,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,230244.00,3650.92927,N,12153.83231,W,1,11,0.8,-6.09,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,230245.00,3650.92929,N,12153.83226,W,1,11,0.8,-5.81,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,230246.00,3650.92935,N,12153.83215,W,1,11,0.8,-5.74,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,230247.00,3650.92931,N,12153.83199,W,1,11,0.8,-5.84,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,230248.00,3650.92922,N,12153.83179,W,1,11,0.8,-5.84,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,230249.00,3650.92923,N,12153.83172,W,1,11,0.8,-6.12,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230250.00,3650.92929,N,12153.83173,W,1,11,0.8,-6.17,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 613039140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230251.00,3650.92931,N,12153.83198,W,1,11,0.8,-6.42,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,230252.00,3650.92929,N,12153.83207,W,1,11,0.8,-6.05,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,230253.00,3650.92934,N,12153.83181,W,1,11,0.8,-5.61,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230254.00,3650.92934,N,12153.83148,W,1,11,0.8,-5.47,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,230255.00,3650.92929,N,12153.83119,W,1,11,0.8,-5.60,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,230256.00,3650.92927,N,12153.83112,W,1,11,0.8,-6.05,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230257.00,3650.92922,N,12153.83118,W,1,11,0.8,-6.29,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,230258.00,3650.92925,N,12153.83111,W,1,11,0.8,-6.05,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,230259.00,3650.92931,N,12153.83119,W,1,11,0.8,-6.53,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 112456890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230300.00,3650.92932,N,12153.83135,W,1,11,0.8,-6.38,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,230301.00,3650.92933,N,12153.83107,W,1,11,0.8,-5.64,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,230302.00,3650.92925,N,12153.83066,W,1,11,0.8,-5.70,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,230303.00,3650.92929,N,12153.83046,W,1,11,0.8,-5.98,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,230304.00,3650.92924,N,12153.83041,W,1,11,0.8,-6.44,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,230305.00,3650.92931,N,12153.83049,W,1,11,0.8,-6.51,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,230306.00,3650.92924,N,12153.83066,W,1,11,0.8,-6.55,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230307.00,3650.92932,N,12153.83060,W,1,11,0.8,-5.99,M,-32.72,M,,*78

: 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 611874640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230308.00,3650.92939,N,12153.83032,W,1,11,0.8,-5.70,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,230309.00,3650.92937,N,12153.83015,W,1,11,0.8,-5.75,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,230310.00,3650.92941,N,12153.83007,W,1,11,0.8,-5.79,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,230311.00,3650.92933,N,12153.83002,W,1,11,0.8,-5.91,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,230312.00,3650.92940,N,12153.83008,W,1,11,0.8,-5.99,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,230313.00,3650.92944,N,12153.82980,W,1,11,0.8,-5.45,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230314.00,3650.92940,N,12153.82948,W,1,11,0.8,-5.77,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,230315.00,3650.92944,N,12153.82973,W,1,11,0.8,-6.52,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,230316.00,3650.92943,N,12153.82991,W,1,11,0.8,-6.08,M,-32.72,M,,*73

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111292390
: 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,230317.00,3650.92946,N,12153.82960,W,1,11,0.8,-5.43,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,230318.00,3650.92936,N,12153.82922,W,1,11,0.8,-5.59,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,230319.00,3650.92931,N,12153.82901,W,1,11,0.8,-5.77,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,230320.00,3650.92918,N,12153.82892,W,1,11,0.8,-5.99,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,230321.00,3650.92911,N,12153.82891,W,1,11,0.8,-5.84,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,230322.00,3650.92917,N,12153.82876,W,1,11,0.8,-5.57,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,230323.00,3650.92935,N,12153.82877,W,1,10,1.0,-5.96,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,230324.00,3650.92940,N,12153.82889,W,1,10,1.0,-6.11,M,-32.72,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610710140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230325.00,3650.92936,N,12153.82884,W,1,10,1.0,-5.80,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,230326.00,3650.92928,N,12153.82864,W,1,10,1.0,-5.69,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,230327.00,3650.92913,N,12153.82851,W,1,10,1.0,-5.95,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,230328.00,3650.92924,N,12153.82835,W,1,10,1.0,-5.49,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,230329.00,3650.92924,N,12153.82805,W,1,10,1.0,-5.65,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,230330.00,3650.92935,N,12153.82798,W,1,10,1.0,-6.16,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,230331.00,3650.92935,N,12153.82808,W,1,10,1.0,-6.49,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230332.00,3650.92926,N,12153.82816,W,1,10,1.0,-6.55,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,230333.00,3650.92921,N,12153.82832,W,1,11,0.8,-6.26,M,-32.72,M,,*74

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110127890
: 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,230334.00,3650.92912,N,12153.82826,W,1,11,0.8,-5.82,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,230335.00,3650.92925,N,12153.82797,W,1,11,0.8,-5.52,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,230336.00,3650.92925,N,12153.82772,W,1,11,0.8,-5.71,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,230337.00,3650.92922,N,12153.82762,W,1,11,0.8,-5.97,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,230338.00,3650.92922,N,12153.82759,W,1,11,0.8,-5.91,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230339.00,3650.92912,N,12153.82748,W,1,11,0.8,-5.74,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,230340.00,3650.92923,N,12153.82730,W,1,11,0.8,-5.76,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,230341.00,3650.92910,N,12153.82715,W,1,11,0.8,-5.89,M,-32.72,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 609545640
: 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,230342.00,3650.92916,N,12153.82703,W,1,11,0.8,-6.24,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230343.00,3650.92908,N,12153.82718,W,1,11,0.8,-6.53,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,230344.00,3650.92912,N,12153.82728,W,1,11,0.8,-6.10,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,230345.00,3650.92915,N,12153.82706,W,1,11,0.8,-5.62,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230346.00,3650.92906,N,12153.82680,W,1,11,0.8,-5.59,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,230347.00,3650.92905,N,12153.82653,W,1,11,0.8,-5.59,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,230348.00,3650.92888,N,12153.82646,W,1,11,0.8,-5.96,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,230349.00,3650.92897,N,12153.82650,W,1,11,0.8,-6.31,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230350.00,3650.92888,N,12153.82671,W,1,11,0.8,-6.14,M,-32.72,M,,*7B

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108963390
: 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,230351.00,3650.92903,N,12153.82672,W,1,11,0.8,-6.04,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,230352.00,3650.92910,N,12153.82636,W,1,11,0.8,-5.41,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230353.00,3650.92904,N,12153.82607,W,1,11,0.8,-5.79,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,230354.00,3650.92903,N,12153.82595,W,1,11,0.8,-6.23,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,230355.00,3650.92895,N,12153.82609,W,1,11,0.8,-6.39,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,230356.00,3650.92901,N,12153.82617,W,1,11,0.8,-6.26,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,230357.00,3650.92904,N,12153.82605,W,1,11,0.8,-5.83,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,230358.00,3650.92900,N,12153.82575,W,1,11,0.8,-5.62,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 608381140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230359.00,3650.92911,N,12153.82551,W,1,11,0.8,-5.87,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230400.00,3650.92904,N,12153.82544,W,1,11,0.8,-6.35,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,230401.00,3650.92908,N,12153.82550,W,1,11,0.8,-6.64,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,230402.00,3650.92903,N,12153.82560,W,1,11,0.8,-6.30,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,230403.00,3650.92910,N,12153.82568,W,1,11,0.8,-6.35,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,230404.00,3650.92921,N,12153.82556,W,1,11,0.8,-5.97,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,230405.00,3650.92911,N,12153.82524,W,1,11,0.8,-5.66,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,230406.00,3650.92907,N,12153.82501,W,1,11,0.8,-5.88,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230407.00,3650.92900,N,12153.82493,W,1,11,0.8,-6.01,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 107798890
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230408.00,3650.92912,N,12153.82487,W,1,11,0.8,-6.12,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,230409.00,3650.92912,N,12153.82497,W,1,11,0.8,-6.31,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,230410.00,3650.92910,N,12153.82508,W,1,11,0.8,-5.86,M,-32.72,M,,*7D

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

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

: AshtechGps::processRecord() - $GPGGA,230411.00,3650.92910,N,12153.82483,W,1,11,0.8,-5.46,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,230412.00,3650.92924,N,12153.82469,W,1,11,0.8,-5.64,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,230413.00,3650.92908,N,12153.82467,W,1,11,0.8,-5.77,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230414.00,3650.92912,N,12153.82459,W,1,11,0.8,-5.71,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,230415.00,3650.92906,N,12153.82437,W,1,11,0.8,-5.64,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,230416.00,3650.92907,N,12153.82416,W,1,11,0.8,-5.71,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,230417.00,3650.92908,N,12153.82404,W,1,11,0.8,-6.00,M,-32.72,M,,*73

: AshtechGps::processRecord() - $GPGGA,230418.00,3650.92905,N,12153.82426,W,1,11,0.8,-6.59,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,230419.00,3650.92902,N,12153.82452,W,1,11,0.8,-6.41,M,-32.72,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 106976890
: 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,230420.00,3650.92913,N,12153.82469,W,1,11,0.8,-6.18,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230421.00,3650.92924,N,12153.82452,W,1,11,0.8,-5.45,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,230422.00,3650.92919,N,12153.82391,W,1,11,0.8,-4.81,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,230423.00,3650.92901,N,12153.82349,W,1,11,0.8,-5.25,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,230424.00,3650.92892,N,12153.82326,W,1,11,0.8,-5.80,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230425.00,3650.92910,N,12153.82323,W,1,11,0.8,-6.14,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,230426.00,3650.92916,N,12153.82347,W,1,11,0.8,-6.54,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,230427.00,3650.92916,N,12153.82364,W,1,11,0.8,-6.15,M,-32.72,M,,*7A

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606394640
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230428.00,3650.92916,N,12153.82352,W,1,11,0.8,-5.78,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,230429.00,3650.92915,N,12153.82329,W,1,11,0.8,-5.68,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,230430.00,3650.92921,N,12153.82317,W,1,11,0.8,-5.93,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,230431.00,3650.92915,N,12153.82316,W,1,11,0.8,-6.04,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230432.00,3650.92917,N,12153.82325,W,1,11,0.8,-6.02,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,230433.00,3650.92906,N,12153.82329,W,1,11,0.8,-5.94,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,230434.00,3650.92910,N,12153.82295,W,1,11,0.8,-5.28,M,-32.72,M,,*7C

: AshtechGps::processRecord() - $GPGGA,230435.00,3650.92909,N,12153.82273,W,1,11,0.8,-5.64,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,230436.00,3650.92914,N,12153.82258,W,1,11,0.8,-5.86,M,-32.72,M,,*7F

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 105812390
: 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,230437.00,3650.92926,N,12153.82249,W,1,11,0.8,-6.02,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,230438.00,3650.92925,N,12153.82252,W,1,11,0.8,-6.21,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230439.00,3650.92930,N,12153.82261,W,1,11,0.8,-6.04,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,230440.00,3650.92925,N,12153.82248,W,1,11,0.8,-5.85,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,230441.00,3650.92926,N,12153.82221,W,1,11,0.8,-5.78,M,-32.72,M,,*71

: AshtechGps::processRecord() - $GPGGA,230442.00,3650.92913,N,12153.82211,W,1,11,0.8,-6.22,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,230443.00,3650.92928,N,12153.82225,W,1,11,0.8,-6.26,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,230444.00,3650.92939,N,12153.82215,W,1,11,0.8,-5.96,M,-32.72,M,,*7D

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 605230140
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230445.00,3650.92954,N,12153.82216,W,1,11,0.8,-6.19,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,230446.00,3650.92955,N,12153.82219,W,1,11,0.8,-6.18,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,230447.00,3650.92956,N,12153.82217,W,1,11,0.8,-5.94,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,230448.00,3650.92944,N,12153.82186,W,1,11,0.8,-5.53,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230449.00,3650.92941,N,12153.82171,W,1,11,0.8,-5.85,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,230450.00,3650.92945,N,12153.82154,W,1,11,0.8,-5.68,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,230451.00,3650.92958,N,12153.82135,W,1,11,0.8,-5.82,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,230452.00,3650.92950,N,12153.82124,W,1,11,0.8,-6.17,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,230453.00,3650.92951,N,12153.82131,W,1,11,0.8,-6.14,M,-32.72,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 114647205
: 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,230454.00,3650.92951,N,12153.82140,W,1,11,0.8,-6.16,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,230455.00,3650.92960,N,12153.82138,W,1,11,0.8,-5.78,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230456.00,3650.92961,N,12153.82104,W,1,11,0.8,-5.55,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,230457.00,3650.92953,N,12153.82085,W,1,11,0.8,-5.79,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,230458.00,3650.92951,N,12153.82100,W,1,11,0.8,-6.43,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,230459.00,3650.92962,N,12153.82101,W,1,11,0.8,-6.22,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,230500.00,3650.92980,N,12153.82074,W,1,11,0.8,-5.96,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,230501.00,3650.92971,N,12153.82053,W,1,11,0.8,-6.30,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 614064955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230502.00,3650.92968,N,12153.82047,W,1,11,0.8,-6.54,M,-32.72,M,,*72

: AshtechGps::processRecord() - $GPGGA,230503.00,3650.92964,N,12153.82031,W,1,11,0.8,-6.31,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,230504.00,3650.92970,N,12153.82024,W,1,11,0.8,-6.46,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,230505.00,3650.92960,N,12153.82030,W,1,11,0.8,-6.47,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230506.00,3650.92971,N,12153.82049,W,1,11,0.8,-6.44,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,230507.00,3650.92973,N,12153.82024,W,1,11,0.8,-5.83,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,230508.00,3650.92982,N,12153.81962,W,1,11,0.8,-5.48,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,230509.00,3650.92973,N,12153.81917,W,1,11,0.8,-5.91,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,230510.00,3650.92974,N,12153.81934,W,1,11,0.8,-6.63,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 113482705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230511.00,3650.92970,N,12153.81976,W,1,11,0.8,-6.98,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,230512.00,3650.92975,N,12153.81994,W,1,11,0.8,-6.62,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,230513.00,3650.92982,N,12153.81967,W,1,11,0.8,-6.32,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,230514.00,3650.92984,N,12153.81918,W,1,11,0.8,-6.14,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,230515.00,3650.92976,N,12153.81890,W,1,11,0.8,-6.46,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,230516.00,3650.92982,N,12153.81868,W,1,11,0.8,-6.29,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230517.00,3650.92964,N,12153.81837,W,1,11,0.8,-6.54,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,230518.00,3650.92967,N,12153.81849,W,1,11,0.8,-7.05,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 612900455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230519.00,3650.92966,N,12153.81871,W,1,11,0.8,-6.87,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,230520.00,3650.92977,N,12153.81889,W,1,11,0.8,-6.25,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,230521.00,3650.92967,N,12153.81856,W,1,11,0.8,-5.73,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,230522.00,3650.92964,N,12153.81818,W,1,11,0.8,-5.79,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,230523.00,3650.92954,N,12153.81782,W,1,11,0.8,-5.90,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,230524.00,3650.92946,N,12153.81777,W,1,11,0.8,-6.97,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,230525.00,3650.92950,N,12153.81783,W,1,11,0.8,-6.47,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,230526.00,3650.92947,N,12153.81798,W,1,11,0.8,-6.52,M,-32.72,M,,*79

: AshtechGps::processRecord() - $GPGGA,230527.00,3650.92962,N,12153.81789,W,1,11,0.8,-5.80,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 112318205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230528.00,3650.92952,N,12153.81746,W,1,11,0.8,-5.31,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,230529.00,3650.92964,N,12153.81735,W,1,11,0.8,-5.48,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,230530.00,3650.92954,N,12153.81724,W,1,11,0.8,-5.94,M,-32.72,M,,*72

: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.000000, D:0.000000, U:0.000000, Q:***************************************

: SonardyneDriver::acquireRangeData() - no valid response
: SonardyneDriver::acquireDiagData() - S:100.000000, N:9.000000, D:0.000000, U:0.000000, Q:-nan

: AshtechGps::processRecord() - $GPGGA,230531.00,3650.92958,N,12153.81723,W,1,11,0.8,-6.07,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,230532.00,3650.92949,N,12153.81716,W,1,11,0.8,-6.11,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,230533.00,3650.92949,N,12153.81706,W,1,11,0.8,-6.08,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230534.00,3650.92951,N,12153.81698,W,1,11,0.8,-6.09,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,230535.00,3650.92956,N,12153.81690,W,1,11,0.8,-6.06,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,230536.00,3650.92957,N,12153.81682,W,1,11,0.8,-6.06,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,230537.00,3650.92957,N,12153.81685,W,1,11,0.8,-6.26,M,-32.72,M,,*76

: AshtechGps::processRecord() - $GPGGA,230538.00,3650.92965,N,12153.81698,W,1,11,0.8,-6.25,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,230539.00,3650.92958,N,12153.81690,W,1,11,0.8,-6.02,M,-32.72,M,,*75

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 111496205
: 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,230540.00,3650.92944,N,12153.81670,W,1,11,0.8,-5.83,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,230541.00,3650.92942,N,12153.81641,W,1,11,0.8,-5.67,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230542.00,3650.92960,N,12153.81629,W,1,11,0.8,-5.78,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,230543.00,3650.92972,N,12153.81628,W,1,11,0.8,-6.04,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,230544.00,3650.92972,N,12153.81599,W,1,11,0.8,-5.67,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230545.00,3650.92969,N,12153.81584,W,1,11,0.8,-6.04,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,230546.00,3650.92953,N,12153.81593,W,1,11,0.8,-6.52,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,230547.00,3650.92948,N,12153.81612,W,1,11,0.8,-6.65,M,-32.72,M,,*76

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 610913955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230548.00,3650.92947,N,12153.81616,W,1,11,0.8,-6.19,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,230549.00,3650.92954,N,12153.81597,W,1,11,0.8,-5.83,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,230550.00,3650.92964,N,12153.81573,W,1,11,0.8,-5.90,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,230551.00,3650.92967,N,12153.81566,W,1,11,0.8,-5.95,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,230552.00,3650.92975,N,12153.81543,W,1,11,0.8,-5.63,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,230553.00,3650.92957,N,12153.81520,W,1,11,0.8,-5.93,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,230554.00,3650.92956,N,12153.81519,W,1,11,0.8,-6.19,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,230555.00,3650.92952,N,12153.81524,W,1,11,0.8,-6.15,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,230556.00,3650.92966,N,12153.81513,W,1,11,0.8,-5.78,M,-32.72,M,,*77

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 110331705
: 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,230557.00,3650.92976,N,12153.81502,W,1,11,0.8,-6.02,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,230558.00,3650.92971,N,12153.81500,W,1,11,0.8,-6.05,M,-32.72,M,,*74

: AshtechGps::processRecord() - $GPGGA,230559.00,3650.92986,N,12153.81473,W,1,11,0.8,-5.40,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,230600.00,3650.92970,N,12153.81446,W,1,11,0.8,-5.60,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,230601.00,3650.92975,N,12153.81438,W,1,11,0.8,-5.73,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,230602.00,3650.92958,N,12153.81426,W,1,11,0.8,-5.69,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230603.00,3650.92978,N,12153.81416,W,1,11,0.8,-5.82,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,230604.00,3650.92976,N,12153.81405,W,1,11,0.8,-5.81,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 609749455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230605.00,3650.92974,N,12153.81396,W,1,11,0.8,-5.93,M,-32.72,M,,*7F

: AshtechGps::processRecord() - $GPGGA,230606.00,3650.92969,N,12153.81406,W,1,11,0.8,-6.03,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,230607.00,3650.92963,N,12153.81410,W,1,11,0.8,-5.71,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,230608.00,3650.92975,N,12153.81397,W,1,11,0.8,-5.55,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,230609.00,3650.92988,N,12153.81386,W,1,11,0.8,-5.63,M,-32.72,M,,*7E

: AshtechGps::processRecord() - $GPGGA,230610.00,3650.92991,N,12153.81361,W,1,11,0.8,-5.32,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,230611.00,3650.92997,N,12153.81334,W,1,11,0.8,-5.37,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,230612.00,3650.92991,N,12153.81328,W,1,11,0.8,-5.95,M,-32.72,M,,*71

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 1229987166
: AshtechGps::processRecord() - $GPGGA,230613.00,3650.92999,N,12153.81335,W,1,11,0.8,-6.29,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,230614.00,3650.92985,N,12153.81341,W,1,11,0.8,-6.11,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,230615.00,3650.93006,N,12153.81335,W,1,11,0.8,-5.84,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,230616.00,3650.93003,N,12153.81325,W,1,11,0.8,-5.84,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230617.00,3650.93006,N,12153.81305,W,1,11,0.8,-5.54,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,230618.00,3650.93001,N,12153.81282,W,1,11,0.8,-5.86,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,230619.00,3650.93003,N,12153.81280,W,1,11,0.8,-6.05,M,-32.72,M,,*70

: AshtechGps::processRecord() - $GPGGA,230620.00,3650.93015,N,12153.81283,W,1,11,0.8,-6.26,M,-32.72,M,,*7F

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 108687705
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230621.00,3650.93011,N,12153.81278,W,1,11,0.8,-5.94,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,230622.00,3650.93016,N,12153.81279,W,1,11,0.8,-5.88,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,230623.00,3650.93010,N,12153.81251,W,1,11,0.8,-5.40,M,-32.72,M,,*75

: AshtechGps::processRecord() - $GPGGA,230624.00,3650.93016,N,12153.81219,W,1,11,0.8,-5.50,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,230625.00,3650.93014,N,12153.81204,W,1,11,0.8,-6.10,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,230626.00,3650.93012,N,12153.81208,W,1,11,0.8,-6.37,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230627.00,3650.93016,N,12153.81218,W,1,11,0.8,-6.24,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,230628.00,3650.93012,N,12153.81215,W,1,11,0.8,-6.07,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 608105455
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230629.00,3650.93030,N,12153.81200,W,1,11,0.8,-5.62,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,230630.00,3650.93029,N,12153.81181,W,1,11,0.8,-5.77,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230631.00,3650.93033,N,12153.81169,W,1,11,0.8,-5.73,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,230632.00,3650.93025,N,12153.81149,W,1,11,0.8,-5.61,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,230633.00,3650.93017,N,12153.81121,W,1,11,0.8,-5.51,M,-32.72,M,,*77

: AshtechGps::processRecord() - $GPGGA,230634.00,3650.93014,N,12153.81103,W,1,11,0.8,-5.91,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,230635.00,3650.93025,N,12153.81105,W,1,11,0.8,-6.23,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,230636.00,3650.93038,N,12153.81113,W,1,11,0.8,-6.26,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,230637.00,3650.93052,N,12153.81129,W,1,11,0.8,-6.15,M,-32.72,M,,*79

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 107523205
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230638.00,3650.93057,N,12153.81131,W,1,11,0.8,-5.92,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,230639.00,3650.93058,N,12153.81090,W,1,11,0.8,-5.06,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,230640.00,3650.93042,N,12153.81043,W,1,11,0.8,-5.18,M,-32.72,M,,*7B

: AshtechGps::processRecord() - $GPGGA,230641.00,3650.93042,N,12153.81039,W,1,11,0.8,-5.74,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,230642.00,3650.93031,N,12153.81021,W,1,11,0.8,-5.65,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,230643.00,3650.93040,N,12153.81013,W,1,11,0.8,-5.89,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,230644.00,3650.93039,N,12153.81007,W,1,11,0.8,-5.88,M,-32.72,M,,*7A

: AshtechGps::processRecord() - $GPGGA,230645.00,3650.93054,N,12153.81007,W,1,11,0.8,-6.14,M,-32.72,M,,*76

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: SonardyneDriver - caught exception during DIAG cycle: Timed Out 606940955
: SonardyneDriver::acquireRangeData() - no valid response
: AshtechGps::processRecord() - $GPGGA,230646.00,3650.93055,N,12153.81011,W,1,11,0.8,-6.17,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,230647.00,3650.93061,N,12153.81029,W,1,11,0.8,-6.06,M,-32.72,M,,*7D

: AshtechGps::processRecord() - $GPGGA,230648.00,3650.93057,N,12153.81028,W,1,11,0.8,-5.81,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,230649.00,3650.93051,N,12153.80986,W,1,11,0.8,-5.07,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,230650.00,3650.93047,N,12153.80959,W,1,11,0.8,-5.55,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,230651.00,3650.93047,N,12153.80933,W,1,11,0.8,-5.33,M,-32.72,M,,*78

: AshtechGps::processRecord() - $GPGGA,230652.00,3650.93056,N,12153.80918,W,1,11,0.8,-5.74,M,-32.72,M,,*71

: LayeredControl _resolvedCommand - vertMode=1 vert=0.52
	horzlMode=1 horz=3.14
	speedMode=1 speed=0.00

: Supervisor::signalHandler(); caught signal 15
: Supervisor::signalHandler(); 
Received a SIGTERM or SIGQUIT. 
DropWeightServer NOT started.
: Supervisor::cleanup() - delete _theSupervisor

: Supervisor::shutdown()

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2

: TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2

: NavigationOutput::~NavigationOutput()

: TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2

: TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2

: TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2

: TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2

: Supervisor::shutdown() - done()

:  CameraDestructor Executing.
: TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2


//10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2

 terminated (SIG: TaskServer::signalHandler() for task FanIFServer - exit() on signal 2

SEGV: TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2

) at :  Fan Destructor Executing.
0007:  DropWeight Destructor Executing.
:0004: **** SharedData destructor for object GpsOutput_ShmemName ****

22A0.
: TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18

: TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18

: **** SharedData destructor for object m3dmgx1 ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: **** SharedData destructor for object SonardyneOutput_ShmemName ****

: SerialDeviceExt::closeSD() - closed

: **** SharedData destructor for object GpsOutput_ShmemName ****

: **** SharedData destructor for object DvlOutput_ShmemName ****

: **** SharedData destructor for object navigationOutput ****

: NavigationOutput::~NavigationOutput()

: **** SharedData destructor for object TailConeInput_ShmemName ****

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object fanOutput ****

: **** SharedData destructor for object ParosciOutput_ShmemName ****

: **** SharedData destructor for object dropWeightOutput ****

: **** SharedData destructor for object LayeredControlInput_ShmemName ****

: **** SharedData destructor for object m3dmgx1Cmd ****

: TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18


//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 m3dmgx1 ****

: TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18

: **** SharedData destructor for object CameraOutput ****

: **** SharedData destructor for object TailConeOutput_ShmemName ****

: **** SharedData destructor for object LayeredControlOutput_ShmemName ****

: **** 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.
